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2009 IEEE International Conference on Mechatronics最新文献

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Exploiting collision information in probabilistic roadmap planning 利用概率路径规划中的碰撞信息
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957210
Serene W. H. Wong, M. Jenkin
{"title":"Exploiting collision information in probabilistic roadmap planning","authors":"Serene W. H. Wong, M. Jenkin","doi":"10.1109/ICMECH.2009.4957210","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957210","url":null,"abstract":"This paper develops a novel approach to combining probabilistic motion planners. Rather than trying to develop a single planner that works over a wide range of environments, we develop a strategy for combining different motion planners within a single framework. Specifically we examine how planners designed for open spaces and those designed for narrow passages can be integrated within a single planning framework. Information that is normally discarded in the planning process is used to identify regions as being potentially ‘narrow’ or ‘cluttered’, and we then apply the planner most suited for that region based on this information. Experimental results demonstrate our approach outperforms the basic PRM approach as well as a Gaussian sampler designed for narrow regions in three test environments.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126669611","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: 8
A hybrid control strategy for vibration damping and precise tip-positioning of a single-link flexible manipulator 一种单连杆柔性机械臂减振与尖端精确定位的混合控制策略
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957128
E. Pereira, S. S. Aphale, V. Feliu, S. Moheimani
{"title":"A hybrid control strategy for vibration damping and precise tip-positioning of a single-link flexible manipulator","authors":"E. Pereira, S. S. Aphale, V. Feliu, S. Moheimani","doi":"10.1109/ICMECH.2009.4957128","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957128","url":null,"abstract":"In this work, we propose a new control approach for a single-link flexible manipulator, based on the Integral Resonant Control (IRC) scheme. A hybrid control scheme consisting of two nested loops by treating the joint angle and the torque measured at the base of the arm (coupling torque) as the system outputs are formulated. It is shown that the IRC scheme, a high performance controller design methodology for flexible structures with collocated actuator-sensor pairs, can be implemented in a flexible manipulator to achieve precise end-point positioning with effective vibration suppression. Experimental results are presented in order to validate the proposed control scheme. Finally, a brief discussion is included to highlight the contributions of this work in broad area of controlling single-link flexible manipulators.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126265449","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: 16
Robust model predictive control of a twin rotor MIMO system 双转子MIMO系统的鲁棒模型预测控制
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957145
A. Rahideh, M. Shaheed
{"title":"Robust model predictive control of a twin rotor MIMO system","authors":"A. Rahideh, M. Shaheed","doi":"10.1109/ICMECH.2009.4957145","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957145","url":null,"abstract":"This paper investigates a robust model predictive control approach for a nonlinear aerodynamic test rig, a twin rotor multi-input-multi-output system (TRMS). A highly nonlinear dynamic model of the system has been used to design the robust controller. According to the nonlinear model a polytopic model has been developed considering the nonlinearities and uncertainties of the plant. To this end, a subset of polytopic model is extracted to cover the necessary dynamics of the system in order to make the optimisation problem more feasible. In other words, the subset of polytopic model mitigates the stringent conditions imposed due to robustness. However, some additional conditions on inputs, outputs and states may need to be imposed in order to prevent any violation from the polytope. When the control system is infeasible, the polytope is redesigned and a new optimisation problem is formulated, accordingly. The robust model predictive control approach based on linear matrix inequalities has been used as a regulator in this study. The responses of the control system show the efficacy and feasibility of the proposed control technique.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"30 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116715387","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: 18
Structure-control mechatronic design of the planar 5R 2DoF parallel robot 平面5R 2自由度并联机器人的结构控制机电一体化设计
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957169
M. G. Villarreal-Cervantes, C. Cruz-Villar, J. Álvarez-Gallegos
{"title":"Structure-control mechatronic design of the planar 5R 2DoF parallel robot","authors":"M. G. Villarreal-Cervantes, C. Cruz-Villar, J. Álvarez-Gallegos","doi":"10.1109/ICMECH.2009.4957169","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957169","url":null,"abstract":"In this paper, a concurrent design methodology to formulate the mechatronic design problem of the planar five revolute two degrees of freedom (5R 2DoF) parallel robot and its PID controller is presented. This methodology involves a synergetic design of the mechanical structure and the control system. A nolinear dynamic optimization problem is stated for this approach and two optimization techniques, one based on a nonlinear programming technique and the other based on a novel evolutionary approach, are used to solve it. Finally, the optimal mechanical structure and controller parameters show the effectiveness of the proposed approach via simulation and experimental results.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122566450","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
Comparison of position control algorithms of embedded shape memory alloy actuators 嵌入式形状记忆合金作动器位置控制算法的比较
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957137
Jari M. Ahola, T. Makkonen, K. Nevala, Pekka Isto
{"title":"Comparison of position control algorithms of embedded shape memory alloy actuators","authors":"Jari M. Ahola, T. Makkonen, K. Nevala, Pekka Isto","doi":"10.1109/ICMECH.2009.4957137","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957137","url":null,"abstract":"This paper presents a comparison of the algorithms for control of shape memory alloy (SMA) actuators. An adaptive airfoil is a case of smart composites which utilize embedded SMA actuators. The airfoil is deformed by the SMA actuators which are heated with electric current. The controller adjusts the electric current of the actuators to reach the desired shape of the airfoil.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131505161","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: 8
Sensor fault detection in small autonomous helicopters using observer/Kalman filter identification 基于观测器/卡尔曼滤波识别的小型自主直升机传感器故障检测
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957236
G. Heredia, A. Ollero
{"title":"Sensor fault detection in small autonomous helicopters using observer/Kalman filter identification","authors":"G. Heredia, A. Ollero","doi":"10.1109/ICMECH.2009.4957236","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957236","url":null,"abstract":"This paper presents a sensor fault detection and diagnosis system for small autonomous helicopters. Fault detection is accomplished by evaluating any significant change in the behaviour of the vehicle with respect to the fault-free behaviour, which is estimated by using an observer. The observer is obtained from input-output experimental data with the observer/Kalman filter identification method. The system is tested with real helicopter flight data.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121871756","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: 68
Exploitation method for functional product requirements - An integrated function oriented approach 功能性产品需求的开发方法。面向功能的集成方法
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957186
D. Politze, J. Bathelt
{"title":"Exploitation method for functional product requirements - An integrated function oriented approach","authors":"D. Politze, J. Bathelt","doi":"10.1109/ICMECH.2009.4957186","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957186","url":null,"abstract":"The development of mechatronic products - in particular across the domain borders - is challenging. Possible interdisciplinary improvements are neglected and design inconsistencies are neither prevented nor identified efficiently. Moreover, the complexity of mechatronic products is growing continuously due to an ongoing impact of software on product functions. In addition, the quality of a product is often judged by the quality of its functions. Thus it becomes hard to track the functions of a specific product and how they are realized and the quality of the product functions cannot be assured. Daimler is facing this problem by extending the traditional requirement list with functional requirements in the early design stages. This Function Oriented Product Description (FOPD) is leading to a mature product specification, because it is able to grow and adapt while designing the current mechatronic product and the following product generations of one product family. This work presents a novel approach to gain a benefit directly from the FOPD for the succeeding design process. Therefore the authors provide directions for deriving the so-called Extended Function Structure (EFS) from a FOPD. The EFS is enhancing the traditional function structure by considering sensors, actors and the control logic explicitly. This approach will be exemplified in a case study.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127675073","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: 6
Cooperative localization and tracking with a camera-based WSN 基于摄像头的WSN协同定位与跟踪
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957244
J. M. Sánchez-Matamoros, J. R. Martínez-De Dios, A. Ollero
{"title":"Cooperative localization and tracking with a camera-based WSN","authors":"J. M. Sánchez-Matamoros, J. R. Martínez-De Dios, A. Ollero","doi":"10.1109/ICMECH.2009.4957244","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957244","url":null,"abstract":"This paper presents a vision-based system for cooperative object detection, localization and tracking using Wireless Sensor Networks (WSNs). The proposed system exploits the distributed sensing capabilities, communication infrastructure and parallel computing capabilities of the WSN. To reduce the bandwidth requirements, the images captured are processed at each camera node with the objective of extracting the location of the object on each image plane, which is transmitted to the WSN. The measures from all the camera nodes are processed by means of sensor fusion techniques such as Maximum Likelihood (ML) and Extended Kalman Filter (EKF). The paper describes hardware and software aspects and presents some experimental results.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133548669","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: 28
Adaptive method for skin detection in coloured images 彩色图像中皮肤检测的自适应方法
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957116
Frederico J. Lapa Grilo, Joao M. G. Figueiredo, O. Dias, T. Amaral
{"title":"Adaptive method for skin detection in coloured images","authors":"Frederico J. Lapa Grilo, Joao M. G. Figueiredo, O. Dias, T. Amaral","doi":"10.1109/ICMECH.2009.4957116","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957116","url":null,"abstract":"In this paper a new approach to detect skin in coloured images is proposed. The new method uses the classification of the three colour components of the RGB system (Red, Green and Blue), with a skin classifier. The proposed approach uses an adaptive methodology embedded in the skin classifier algorithm for pixel classification. The adaptive algorithm varies the image brightness in each one of the RGB colour components, in order to reduce the influence of different illumination environments (lighting conditions). Experimental results show the validity of the proposed methodology.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115712182","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: 3
Synergetic design approach referring to integrated drive systems 协同设计方法指的是集成驱动系统
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957245
J. Zentner
{"title":"Synergetic design approach referring to integrated drive systems","authors":"J. Zentner","doi":"10.1109/ICMECH.2009.4957245","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957245","url":null,"abstract":"Optimal adjusted drive systems in which synergetic effects are used as rule have better technical and economical properties. A well suitable method to create synergies is the principle of function integration. In integrated systems very complex interactions occur which have an essential influence to their function. For optimal design of such systems a modelling approach is necessary which also contain domain-spanning modelling methods. An analysis of existing domain-spanning simulation approaches is given and a new mixed approach is proposed. Finally the modelling approach is demonstrated on an integrated electro-magnetic levitation and propulsion module.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116996590","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: 0
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