2012 IEEE International Conference on Mechatronics and Automation最新文献

Simple adaptive control of water hydraulic servo cylinder system 水液压伺服缸系统的简单自适应控制

2012 IEEE International Conference on Mechatronics and Automation Pub Date : 2012-10-23 DOI: 10.1109/ICMA.2012.6283394

T. Yamada, K. Ito

{"title":"Simple adaptive control of water hydraulic servo cylinder system","authors":"T. Yamada, K. Ito","doi":"10.1109/ICMA.2012.6283394","DOIUrl":"https://doi.org/10.1109/ICMA.2012.6283394","url":null,"abstract":"In this research, the positioning control of a water hydraulic servo cylinder system with the simple adaptive control (SAC) is discussed. Conventional model reference adaptive control (MRAC) also achieves good tracking performance for cylinder control, but the controller structure is much more complicated and has less robustness for disturbance in real application. Compared with MRAC, SAC has simpler and lower order structure, i.e. higher feasibility. In this paper, we examined and evaluated the control performance of SAC on a water hydraulic servo cylinder system. With the recent increased concerns over global environmental problems, the water hydraulic technique using pure tap water as a pressure medium has become a new drive source comparable to electric, oil hydraulic and pneumatic drive systems. This technique is also preferred due to its high power density, high safety against fire hazard in production plants, and easy availability. However, the main problems for precise control in a water hydraulic system are steady state errors and overshoot due to its large friction torque and considerable leakage flow. To compensate these effects, MRAC had been already applied and the better control performances were obtained. However, no result has been reported on SAC application for water hydraulics. To make clear the merits of SAC, tracking control performance and robustness were discussed via experimental results. It was confirmed that SAC gives (1) better tracking performance compared with PI control, and (2) comparable control precision with MRAC within 70 micrometers to the reference position and higher robustness for parameter change despite simple controller. These results ensure wider application of simple adaptive control in real mechanical system.","PeriodicalId":398445,"journal":{"name":"2012 IEEE International Conference on Mechatronics and Automation","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132789587","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

New rocker-bogie and terramechanics-based wheel/soil interaction models for planetary rovers 新的摇臂转向架和基于地形力学的行星探测车车轮/土壤相互作用模型

2012 IEEE International Conference on Mechatronics and Automation Pub Date : 2012-08-27 DOI: 10.1109/ICMA.2012.6285724

D. Michel, K. McIsaac

{"title":"New rocker-bogie and terramechanics-based wheel/soil interaction models for planetary rovers","authors":"D. Michel, K. McIsaac","doi":"10.1109/ICMA.2012.6285724","DOIUrl":"https://doi.org/10.1109/ICMA.2012.6285724","url":null,"abstract":"Mars rovers have to this point been almost completely reliant on the solar panel/rechargeable battery combination as a source of power. Curiosity, currently en route, relies on radio isotope decay as its source of electrical power. Given the limited amount of space available for solar panels and that the wattage available from radioisotope decay is limited; power is clearly a critical resource for any rover. The goal of this work is to estimate the energy cost of traversing terrains of various properties. Knowledge of energy costs for terrain traversal will allow for more efficient path planning enabling rovers to have longer periods of activity. Our system accepts grid-based terrain elevation data in the form of a Digital Elevation Model (DEM) along with rover and soil parameters, and uses a newly developed model of the most common rover suspension design (rocker-bogie) along with a terramechanics-based wheel-soil interaction model to build a map of the estimated torque required by each wheel to move the rover to each adjacent terrain square. Future work will involve real world testing and verification of our model.","PeriodicalId":398445,"journal":{"name":"2012 IEEE International Conference on Mechatronics and Automation","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115150283","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Implementation of LabVIEW®-based joint-linear motion blending on a lab-manufactured 6-axis articulated robot (RS2) 基于LabVIEW®的实验室制造的六轴关节机器人(RS2)关节-直线运动混合的实现

2012 IEEE International Conference on Mechatronics and Automation Pub Date : 2012-08-27 DOI: 10.7735/KSMTE.2013.22.2.318

Dong Sun Lee, W. Chung, C. Jung, J. Jang

{"title":"Implementation of LabVIEW®-based joint-linear motion blending on a lab-manufactured 6-axis articulated robot (RS2)","authors":"Dong Sun Lee, W. Chung, C. Jung, J. Jang","doi":"10.7735/KSMTE.2013.22.2.318","DOIUrl":"https://doi.org/10.7735/KSMTE.2013.22.2.318","url":null,"abstract":"For fast and accurate motion of 6-axis articulated robot, more noble motion control strategy is needed. In general, the movement strategy of industrial robots can be divided into two kinds, PTP (Point to Point) and CP (Continuous Path). In recent, industrial robots which should be co-worked with machine tools are increasingly needed for performing various jobs, as well as simple handling or welding. Therefore, in order to cope with high-speed handling of the cooperation of industrial robots with machine tools or other devices, CP should be implemented so as to reduce vibration and noise, as well as decreasing operation time. This paper will realize CP motion (especially joint-linear) blending in 3-dimensional space for a 6-axis articulated (lab-manufactured) robot (called as “RS2”) by using LabVIEW® [6] programming, based on a parametric interpolation. Another small contribution of this paper is the proposal of motion blending simulation technique based on Recurdyn® V7, in order to figure out whether the joint-linear blending motion can generate the stable motion of robot in the sense of velocity magnitude at the end-effector of robot or not. In order to evaluate the performance of joint-linear motion blending, simple PTP (i.e., linear-linear) is also physically implemented on RS2. The implementation results of joint-linear motion blending and PTP are compared in terms of vibration magnitude and travel time by using the vibration testing equipment of Medallion of Zonic®. It can be confirmed verified that the vibration peak of joint-linear motion blending has been reduced to 1/10, compared to that of PTP.","PeriodicalId":398445,"journal":{"name":"2012 IEEE International Conference on Mechatronics and Automation","volume":"246 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115229389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

Feature extraction and multi-sensor data fusion in monitoring and pre-warning system for security of pipeline based on multi-seismic sensors 基于多地震传感器的管道安全监测预警系统特征提取与多传感器数据融合

2012 IEEE International Conference on Mechatronics and Automation Pub Date : 2012-08-27 DOI: 10.1109/ICMA.2012.6285757

Jiedi Sun, Jinquan Zhang, Xiaojun Wang

{"title":"Feature extraction and multi-sensor data fusion in monitoring and pre-warning system for security of pipeline based on multi-seismic sensors","authors":"Jiedi Sun, Jinquan Zhang, Xiaojun Wang","doi":"10.1109/ICMA.2012.6285757","DOIUrl":"https://doi.org/10.1109/ICMA.2012.6285757","url":null,"abstract":"In recent years, aiming at the increasingly serious pipeline damages because of the artificial factors, we investigate the characteristic of seismic signals and develop a monitoring and pre-warning system for security of pipelines based on multi-seismic sensors. There are many sensors and processing modules to acquire the seismic signals generated by the ground targets. If these modules all transmit the original data to host machine, it will jam the information channel. So in this system, the seismic signals are processed and extracted the features in respective modules. The non-stationary signal analysis method based on empirical mode decomposition is used to process the seismic signals and acquire some intrinsic mode functions. The target feature vectors were composed of the normalized kurtosis extracted from the decomposition results. The single sensor's judgment was made by the main normalized kurtosis values in the important decomposed frequency bands. Then the features vectors are transmitted to the host machine which will finish the pattern recognition, multi-sensor data fusion and target classification analysis. It will greatly reduce the dimension of feature vectors, the data amount and complexity. This paper will mainly introduce the feature extraction and multi-sensor data fusion. This D-S evidence reasoning was to fuse the recognition results for improving the target recognition accuracy. Then the last judgment was made. The processing methods above were proved effective by the experiment data analysis.","PeriodicalId":398445,"journal":{"name":"2012 IEEE International Conference on Mechatronics and Automation","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115270851","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Study of MTF measurement technique based on special object image analyzing 基于特殊目标图像分析的MTF测量技术研究

2012 IEEE International Conference on Mechatronics and Automation Pub Date : 2012-08-27 DOI: 10.1109/ICMA.2012.6285669

Da-zhuan Xu, Xuebin Zhang

引用次数: 5

Study on the thermal effects of femtosecond laser ablation on Ti-6A1–4V 飞秒激光烧蚀Ti-6A1-4V的热效应研究

2012 IEEE International Conference on Mechatronics and Automation Pub Date : 2012-08-27 DOI: 10.1109/ICMA.2012.6285704

Chengjuan Yang, Wenjun Wang, X. Mei

引用次数: 1

Design and application of a novel contactless sensor 一种新型非接触式传感器的设计与应用

2012 IEEE International Conference on Mechatronics and Automation Pub Date : 2012-08-27 DOI: 10.1109/ICMA.2012.6283228

Sheu Geeng-Jen, Sie Ming-Jhe

{"title":"Design and application of a novel contactless sensor","authors":"Sheu Geeng-Jen, Sie Ming-Jhe","doi":"10.1109/ICMA.2012.6283228","DOIUrl":"https://doi.org/10.1109/ICMA.2012.6283228","url":null,"abstract":"The paper presents a novel design of the contactless sensor by the giant magnetoresistance (GMR) effect, instead of the traditional Hall effect or optical technology. The contactless sensing device comprises a magnetic stripe fixed on a tested object, a GMR detector and a processor. The magnetic stripe has arranged plurality of N-pole and S-pole blocks. While the object is moving to make the magnetic stripe pass through the GMR detector, the magnetic direction of the free magnetic layer is influenced by the N-pole and S-pole blocks, such that the magnetic direction of the free magnetic layer is parallel or antiparallel to the fixed magnetic layer. The induced change of the magnetoresistance results in the obvious change of the output signal to the processor, and then the information of the tested object is calculated. The advantages of the contactless sensor are demonstrated in the paper, such as: (1)GMR effect is firstly applied to the sensor design, with the advantages of simple structure, easy installation, low power consumption, low cost, portability, and flexible installing function. (2)The output signal, with high sensitivity, noise immunity and bandwidth, is synchronous with external magnetic field change. (3)Compared with traditional contactless sensor, e.g. optical tachometers, which is only applicable to measure RPM, the sensor is multifunctional to detect not only the position, but also RPM, translational speed and abnormal information.","PeriodicalId":398445,"journal":{"name":"2012 IEEE International Conference on Mechatronics and Automation","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123531468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Prediction of sEMG-based tremor joint angle using the RBF neural network 基于表面肌电的震颤关节角RBF神经网络预测

2012 IEEE International Conference on Mechatronics and Automation Pub Date : 2012-08-27 DOI: 10.1109/ICMA.2012.6285668

Shengxin Wang, Yongsheng Gao, Jie Zhao, Tao Yang, Yanhe Zhu

引用次数: 18

A kinematics modeling and stress analysis method for flexible micro-gripper 柔性微夹持器运动学建模与应力分析方法

2012 IEEE International Conference on Mechatronics and Automation Pub Date : 2012-08-27 DOI: 10.1109/ICMA.2012.6283249

Qun Gao, Dapeng Zhang, De Xu, Zhengtao Zhang

引用次数: 9

Measurement of residual stress in the inner wall of steel pipe by ultrasonic 超声测量钢管内壁残余应力

2012 IEEE International Conference on Mechatronics and Automation Pub Date : 2012-08-27 DOI: 10.1109/ICMA.2012.6285667

Yong Li, Lang Xu, Q. Pan, Chunguang Xu

引用次数: 0