发布求助
文献互助 智能选刊 最新文献

2009 IEEE International Conference on Mechatronics最新文献

筛选
英文 中文
Oblique coordinate control for advanced motion control - Applied to micro-macro bilateral control - 斜坐标控制用于高级运动控制-应用于微观宏观双边控制-
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957183
S. Sakaino, Tomoya Sato, K. Ohnishi
{"title":"Oblique coordinate control for advanced motion control - Applied to micro-macro bilateral control -","authors":"S. Sakaino, Tomoya Sato, K. Ohnishi","doi":"10.1109/ICMECH.2009.4957183","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957183","url":null,"abstract":"A controller for oblique coordinates is proposed in this paper. In an oblique coordinate, certain vector is expressed by two forms. One is a covariant vector, the other is contravariant vector. Usually, position is described by a contravariant vector, and force is given by a covariant vector. In order to realize hybrid control in a oblique coordinate, position and force should be unified into same vectors. These vectors are synthesized by a metric tensor, and a novel hybrid controller for oblique coordinate is obtained. The dynamic properties are given by “task mass matrix”. By this method, whatever tasks given by position and force would be decoupled. Micro-macro bilateral is considered as an example of the oblique coordinate control. It was confirmed by some simulations and an experiment.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"23 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":"121881266","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: 19
SANCHO, a fair host robot. A description 桑乔，一个公平的机器人主人。一个描述
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957181
J. González, C. Galindo, J. Blanco, J. Fernández-Madrigal, V. Arévalo, F. Moreno
{"title":"SANCHO, a fair host robot. A description","authors":"J. González, C. Galindo, J. Blanco, J. Fernández-Madrigal, V. Arévalo, F. Moreno","doi":"10.1109/ICMECH.2009.4957181","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957181","url":null,"abstract":"This paper describes SANCHO, a mobile robot intended to perform within crowded areas as a servant, for instance as a fair or congress host. This robot has been constructed upon a commercial platform on which a number of sensors and devices have been integrated. A software control architecture has been implemented and adapted to this particular robot, enabling it to perform in human scenarios. Among the different subsystems of the control architecture developed for SANCHO, we highlight in this paper two of the most relevant ones: the navigation component which permits the robot to navigate in a safe and robust manner within crowded and dynamic environments, and the communication component which provides different possibilities for human-robot interaction. We illustrate the performance of SANCHO through a number of experiences carried out in public shows.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"62 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":"115448050","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
Active wrists endoscope navigation in robotized laparoscopic surgery 机器人腹腔镜手术中主动手腕内窥镜导航
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957177
E. Bauzano, V. Muñoz, I. García-Morales, B. Estebanez
{"title":"Active wrists endoscope navigation in robotized laparoscopic surgery","authors":"E. Bauzano, V. Muñoz, I. García-Morales, B. Estebanez","doi":"10.1109/ICMECH.2009.4957177","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957177","url":null,"abstract":"This paper is focused on the motion control problem for a laparoscopic surgery robot assistant with an actuated wrist. These assistants may apply non-desired efforts through the patient abdomen. Therefore, this article studies these efforts, which have been measured by a force sensor located between the wrist and the endoscope, and how to remove gravity and friction actions in order to obtain the abdominal efforts. The measure of these efforts indicates if the movements are done accordingly to the fulcrum point. To achieve this goal, a new control strategy, based on the emulation of passive wrists behavior, is proposed. Such methodology allows the assistant to minimize efforts over the patient. Finally, this work presents the advantages of actuated wrists for possible future applications.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"31 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":"115527705","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
Concept for an active cabin suspension 主动座舱悬架的概念
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957178
Christian Graf, J. Maas, Hans-Christian Pflug
{"title":"Concept for an active cabin suspension","authors":"Christian Graf, J. Maas, Hans-Christian Pflug","doi":"10.1109/ICMECH.2009.4957178","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957178","url":null,"abstract":"By using an active cabin suspension with four bearings for commercial vehicles the degrees of freedom for lifting, rolling and pitching can be isolated actively from the disturbing vibrations. In this paper a model-based design of the vibration controller is described. The achieved reduction of vibrations is proofed by measurements obtained by road tests.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"63 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":"123538243","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: 14
Multi-UAV collision avoidance with separation assurance under uncertainties 不确定条件下具有分离保证的多无人机避碰
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957235
D. Alejo, R. Conde, J. A. Cobano, Aníbal Ollero
{"title":"Multi-UAV collision avoidance with separation assurance under uncertainties","authors":"D. Alejo, R. Conde, J. A. Cobano, Aníbal Ollero","doi":"10.1109/ICMECH.2009.4957235","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957235","url":null,"abstract":"This paper presents a collision avoidance method for multiple UAVs and other non-cooperative aircraft based on velocity planning and taking into account the trajectory prediction under uncertainties. The proposed method finds a safe trajectory from the predicted trajectory modifying the velocity profile of the different co-operative vehicles involved in the collision. A particle filter is used to predict the trajectories under uncertainties dealing with the influence of different sources of uncertainty such as the atmospheric conditions, the UAV model and the limitations of the sensors and control system on board the UAV.","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":"115353020","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: 57
An automatic procedure to code the inspection guideline for vehicle headlamp lenses 车辆前照灯透镜检验准则的自动编码程序
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957140
S. Satorres Martínez, J. Gómez Ortega, J. Gámez García, A. S. Garcia
{"title":"An automatic procedure to code the inspection guideline for vehicle headlamp lenses","authors":"S. Satorres Martínez, J. Gómez Ortega, J. Gámez García, A. S. Garcia","doi":"10.1109/ICMECH.2009.4957140","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957140","url":null,"abstract":"Nowadays the quality control of headlamp lenses for vehicles is visually made by expert operators, known as inspectors. To establish a standard in this manual process, the inspectors must follow the inspection guideline. This guideline is a document, defined by experts in the inspection of lenses and validated by the customer, that presents the criterions of acceptance and rejection for the flaws that may appear on the lens surface. This paper proposes a methodology to include the inspection guideline in an automated headlamp lens inspection system based on computer vision. As the way in which the guideline includes the knowledge of an expert in the inspection of lenses is inherently qualitative and vague, a Fuzzy Rule-Based System is developed to model this information.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"81 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":"122621003","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: 4
A high level language approach to matrix converter modelling and FPGA controller design 矩阵转换器建模和FPGA控制器设计的高级语言方法
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957131
Adel Ghadedo, M. Cirstea, S. Cirstea
{"title":"A high level language approach to matrix converter modelling and FPGA controller design","authors":"Adel Ghadedo, M. Cirstea, S. Cirstea","doi":"10.1109/ICMECH.2009.4957131","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957131","url":null,"abstract":"The research work presented in this paper is focused on the modelling of matrix converter systems, targeting Field Programmable Gate Arrays (FPGA) for the rapid prototyping of the associated digital electronic controllers. The novel approach is based on a high level description language, Handel-C, used within a modelling environment created by Celoxica Ltd., called DK5. The matrix converter system considered consists of nine bi-directional switches. The model was successfully developed in Handel-C, following the new method, which allows the holistic functional simulation and optimisation of a system to be performed in the same environment as its controller hardware implementation and timing analysis / verification. The controller design is being physically implemented in hardware onto a RC10 development board, fitted with a 1.5 million-gate Spartan 3 FPGA. The experimental testing is currently being carried out.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"5 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":"123615094","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
Robotic crawler for inspecting generators with very narrow air gaps 用于检查气隙非常窄的发电机的履带机器人
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957165
W. Fischer, G. Caprari, R. Siegwart, R. Moser
{"title":"Robotic crawler for inspecting generators with very narrow air gaps","authors":"W. Fischer, G. Caprari, R. Siegwart, R. Moser","doi":"10.1109/ICMECH.2009.4957165","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957165","url":null,"abstract":"The non-destructive inspection of generator stators is a repetitive and cost-intensive task. For some types with very small entrance gaps (around 9mm height), it was even necessary to always remove the rotor. This paper describes the design and prototype implementation of a new robotic crawler which is only 8mm high and thus can inspect all types of generators with the rotor installed. Different solutions of how to realize torque transmission and attraction forces at such a small size are discussed, as well as the design of magnetic guiding wheels with a mechanism to fold them when passing the narrow entrance gap. The paper concludes with some test results - both in an artificial test environment and in real generators - and provides an outlook on future improvements of the prototype.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"46 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":"125479955","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: 12
A mechatronic analysis and synthesis of human walking gait 人体行走步态的机电分析与综合
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957242
L. I. Lugo-Villeda, A. Frisoli, O. O. Sandoval González, M. Bergamasco, Vicente Parra‐Vega
{"title":"A mechatronic analysis and synthesis of human walking gait","authors":"L. I. Lugo-Villeda, A. Frisoli, O. O. Sandoval González, M. Bergamasco, Vicente Parra‐Vega","doi":"10.1109/ICMECH.2009.4957242","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957242","url":null,"abstract":"Human walking gait (HWG) involves concurrently complex aspects of control, signal conditioning and processing, motion capture and biomechanical analysis as well as bioelectronic instrumentation and robot control. To merge some of these concepts into a unique framework, in this paper, a computational mechatronics scheme is proposed for the analysis and synthesis of HWG based on a seven-link sagittal rigid dynamical biped robot in closed-loop with an advanced force/position/velocity model-free position-force controller. Desired trajectories come from real human motion data: Lower-limbs walking gaits kinematic patterns are captured with a human motion Vicon ® tracker system, including landing point, and impact (ground reaction) forces are obtained from femur/tibial muscles via EMG. A criteria is established to map such signals into a 7 DoF workspace of the dynamical biped robot. Fast dynamical tracking is achieved under real HWG patters, which provides greater insight into the design and control process of humanoid robotic biped locomotion.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"31 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":"130005688","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: 4
A novel passive adhesion principle and application for an inspired climbing caterpillar robot 一种新型被动粘附原理及其在履带机器人上的应用
2009 IEEE International Conference on Mechatronics Pub Date : 2009-04-14 DOI: 10.1109/ICMECH.2009.4957150
Houxiang Zhang, Wei Wang, Jianwei Zhang
{"title":"A novel passive adhesion principle and application for an inspired climbing caterpillar robot","authors":"Houxiang Zhang, Wei Wang, Jianwei Zhang","doi":"10.1109/ICMECH.2009.4957150","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957150","url":null,"abstract":"This paper presents a novel passive adhesion principle which is used firstly for an inspired modular climbing caterpillar project. After a related survey on the natural creatures which can climb on the vertical surface with different materials, a systematical summarizing on four attachment methods adopted by climbing robots worldwide is given. Then a low-frequency vibrating passive attachment principle is presented in order to keep the merits and eliminate the shortcomings of using the normal active vacuum suckers. The adhesion principle, related mathematic model and rational testing are presented step by step. The new passive suckers based on this principle are used on an inspired modular climbing robot, which is currently under development in our consortium. On-site testing shows application of our passive suction method can free climbing robots from the heavy vacuum ejectors and realize an effective simple adsorption, furthermore improve the inspired technological level and flexibility of the locomotion capability.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"60 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":"121337835","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: 10
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信