发布求助
文献互助 智能选刊 最新文献

Proceedings of the 2014 International Conference on Advanced Mechatronic Systems最新文献

筛选
英文 中文
Trial of the PBL education for elementary school children by a workshop to assemble mini-robots — Disassemble and reassemble a mini-robot 微型机器人组装车间对小学生PBL教育的尝试——拆卸和组装微型机器人
Proceedings of the 2014 International Conference on Advanced Mechatronic Systems Pub Date : 2014-09-29 DOI: 10.1109/ICAMECHS.2014.6911667
T. Henmi, Y. Ohnishi, Y. Yamasaki, H. Sogo
{"title":"Trial of the PBL education for elementary school children by a workshop to assemble mini-robots — Disassemble and reassemble a mini-robot","authors":"T. Henmi, Y. Ohnishi, Y. Yamasaki, H. Sogo","doi":"10.1109/ICAMECHS.2014.6911667","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2014.6911667","url":null,"abstract":"This paper explains a workshop to assemble a mini-robot for PBL(Project based Learning) education of elementary schoolchildren. In this workshop, at first, elementary schoolchildren disassemble and analyze a mini-robot, respectively, with the support from a college student who made this minirobot. Finally, a new mini-robot which achieves another new task is designed and rebuilt by each child based on analyzed result of disassembled mini-robot.","PeriodicalId":422387,"journal":{"name":"Proceedings of the 2014 International Conference on Advanced Mechatronic Systems","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115458071","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
Adaptive robust stabilization for a class of uncertain nonlinear systems with unknown virtual control coefficients 一类虚拟控制系数未知的不确定非线性系统的自适应鲁棒镇定
Proceedings of the 2014 International Conference on Advanced Mechatronic Systems Pub Date : 2014-09-29 DOI: 10.1109/ICAMECHS.2014.6911644
Yuchao Wang, Hansheng Wu
{"title":"Adaptive robust stabilization for a class of uncertain nonlinear systems with unknown virtual control coefficients","authors":"Yuchao Wang, Hansheng Wu","doi":"10.1109/ICAMECHS.2014.6911644","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2014.6911644","url":null,"abstract":"The problem of robust stabilization is considered for a class of nonlinear systems in the presence of uncertain system parameters, external disturbances, and unknown time-varying virtual control coefficients. It is supposed that the upper bounds of external disturbances, and the upper and lower bounds of unknown time-varying virtual control coefficients are unknown. Some improved adaptation laws with σ-modification are employed to estimate the values which contain all the unknown bounds of such uncertainties. Then, by making use of the updated values of these unknown bounds, a class of backstepping approach based continuous adaptive robust state feedback controllers is synthesized for such uncertain dynamical systems. Furthermore, by employing the improved Lyapunov-Krasovskii functional method, it is also shown that the proposed adaptive robust backstepping controller can guarantee the uniform asymptotic stability of such uncertain dynamical systems. Finally, a numerical example is given to demonstrate the validity of the results.","PeriodicalId":422387,"journal":{"name":"Proceedings of the 2014 International Conference on Advanced Mechatronic Systems","volume":"50 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123690550","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
Robust vision-based detection and grasping object for manipulator using SIFT keypoint detector 基于SIFT关键点检测器的机械臂鲁棒检测与抓取
Proceedings of the 2014 International Conference on Advanced Mechatronic Systems Pub Date : 2014-09-29 DOI: 10.1109/ICAMECHS.2014.6911587
W. Budiharto
{"title":"Robust vision-based detection and grasping object for manipulator using SIFT keypoint detector","authors":"W. Budiharto","doi":"10.1109/ICAMECHS.2014.6911587","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2014.6911587","url":null,"abstract":"The ability for a manipulator to detect and grasp an object accurately and fast is very important. Vision-based manipulator using stereo vision is proposed in this paper in order able to detect and grasp an object in a good manner. We propose a framework, fast algorithm for object detection using SIFT(Scale Invariant Features Transform) keypoint detector and FLANN (Fast Library for Approximate Nearest Neighbor) based matcher. Stereo vision is used in order the system knows the position (pose estimation) of the object. Bayesian filtering implemented in order to reduce noise from camera and robust tracking. Experimental result presented and we analyze the result.","PeriodicalId":422387,"journal":{"name":"Proceedings of the 2014 International Conference on Advanced Mechatronic Systems","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129546482","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
Proposal for semiautonomous centipede-like robot for rubble — Development of an actual scale robot and validation of its mobility 半自主类蜈蚣碎石机器人的设计——实际规模机器人的研制及其机动性验证
Proceedings of the 2014 International Conference on Advanced Mechatronic Systems Pub Date : 2014-09-29 DOI: 10.1109/ICAMECHS.2014.6911580
Yasunori Ishigaki, Kazuyuki Ito
{"title":"Proposal for semiautonomous centipede-like robot for rubble — Development of an actual scale robot and validation of its mobility","authors":"Yasunori Ishigaki, Kazuyuki Ito","doi":"10.1109/ICAMECHS.2014.6911580","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2014.6911580","url":null,"abstract":"In this study, we develop a multi-legged robot that is designed to operate on rubble. Generally, conventional multi-legged robots have many actuators for driving the legs and body. Hence, control of these robots is more complicated than that of crawler robots such as tank robots, and it is very difficult to operate multi-legged robots adaptively in a complex environment such as that containing rubble. To solve this problem, we have designed a mechanism for a multi-legged robot that reduces the controller load by using a passive mechanism. To design the robot, we focused on a centipede. First, we observed the behavior of a centipede by using a high-speed camera, and then, to realize this behavior by a simple mechanism, we proposed a multi-legged robot that was built by connecting many links serially through rubber joints. In this mechanism, every joint has a leg on each side, and the legs move regularly like a centipede. The elasticity of the rubber joints compensates for the bumps on the ground. To control the moving direction, wires are installed through the links, and by pulling the wires, the front of body of the robot can be lifted up or turned. By simply pulling the wires, we can control the moving direction of the robot; therefore, we do not have to control many joints individually to overcome bumps. The joints can move passively to adapt to bumps. To demonstrate the effectiveness of the proposed mechanism, we developed an actual-scale prototype robot and conducted experiments. The results showed that the robot can move on rubble to desired positions.","PeriodicalId":422387,"journal":{"name":"Proceedings of the 2014 International Conference on Advanced Mechatronic Systems","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128767898","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
Implementation of model following control for a pneumatic stage: Improvement of repeatability and positioning speed 气动工作台模型跟随控制的实现:提高了可重复性和定位速度
Proceedings of the 2014 International Conference on Advanced Mechatronic Systems Pub Date : 2014-09-29 DOI: 10.1109/ICAMECHS.2014.6911570
Naoki Ito, S. Wakui, Yukinori Nakamura
{"title":"Implementation of model following control for a pneumatic stage: Improvement of repeatability and positioning speed","authors":"Naoki Ito, S. Wakui, Yukinori Nakamura","doi":"10.1109/ICAMECHS.2014.6911570","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2014.6911570","url":null,"abstract":"In the control of a pneumatic positioning stage, two issues have to be considered. The first issue is the low repeatability caused by variation of parameters in pneumatic system. The second one is the slowness of response due to air compressibility. To overcome these issues, this paper presents the control methods for the pneumatic positioning stage. To compensate for the parameter variation and improve the repeatability, model following control (MFC) is employed. Moreover, to achieve the high-speed positioning, the feedforward (FF) control is utilized. Effectiveness of the MFC and the FF control is shown by experiments.","PeriodicalId":422387,"journal":{"name":"Proceedings of the 2014 International Conference on Advanced Mechatronic Systems","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126981024","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
DC-DC converter based on real-time PWM control for a fuel cell system 基于实时PWM控制的燃料电池DC-DC变换器
Proceedings of the 2014 International Conference on Advanced Mechatronic Systems Pub Date : 2014-09-29 DOI: 10.1109/ICAMECHS.2014.6911609
Junming Xiao, X. Zhang, Shengjun Wen, Dongyun Wang
{"title":"DC-DC converter based on real-time PWM control for a fuel cell system","authors":"Junming Xiao, X. Zhang, Shengjun Wen, Dongyun Wang","doi":"10.1109/ICAMECHS.2014.6911609","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2014.6911609","url":null,"abstract":"In this paper, a 100W PEM fuel cell as the primary power supply provides DC power for a Peltier based cooling process. For the fuel cell, there exist slow dynamic response and soft characteristic. Therefore, fuel cell based hybrid power system is designed, including fuel cell, battery, unidirectional DC-DC converter and bidirectional DC-DC converter. In order to reduce the slow dynamic response and soft characteristic, it is the most important that the duty ratio of PWM wave of the DC-DC converter is required to be controlled real-time. A control scheme combining feedforward and feedback is proposed for the DC-DC converter, where feedforward control is based on the output voltage of the fuel cell and feedback control is based on the requirement voltage of the load. Simulation results by using the designed circuit and proposed method are given to verify the performance of the DC-DC converter.","PeriodicalId":422387,"journal":{"name":"Proceedings of the 2014 International Conference on Advanced Mechatronic Systems","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121806198","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
Design of the LQR controller and observer with fuzzy logic GA and GA-PSO algorithm for triple an inverted pendulum and cart system 基于模糊遗传算法和GA- pso算法的LQR控制器和观测器的设计
Proceedings of the 2014 International Conference on Advanced Mechatronic Systems Pub Date : 2014-09-29 DOI: 10.1109/ICAMECHS.2014.6911560
V. Molazadeh, A. Banazadeh, I. Shafieenejad
{"title":"Design of the LQR controller and observer with fuzzy logic GA and GA-PSO algorithm for triple an inverted pendulum and cart system","authors":"V. Molazadeh, A. Banazadeh, I. Shafieenejad","doi":"10.1109/ICAMECHS.2014.6911560","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2014.6911560","url":null,"abstract":"In this paper, designing of the LQR controller and observer with intelligent tools for the triple inverted pendulum is investigated. Intelligent tools are considered as GA and GA-PSO optimization algorithms and fuzzy logic to qualify achieving LQR gains. The pendulum is swung up from the vertical position to the unstable position. The rules for the controlled swing up are heuristically achieved such that each swing results are controlled. The inverted pendulum and cart system are modeled and constructed their equation based on energy method. Also, the performances of the proposed fuzzy logic controller, GA and GA-PSO tuning LQR gains are investigated and compared. Simulation results show that the fuzzy Logic Controllers are far more superior in terms of overshoot, settling time and response to parameter changes.","PeriodicalId":422387,"journal":{"name":"Proceedings of the 2014 International Conference on Advanced Mechatronic Systems","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134600027","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
State of the art in excavators 最先进的挖掘机
Proceedings of the 2014 International Conference on Advanced Mechatronic Systems Pub Date : 2014-09-29 DOI: 10.1109/ICAMECHS.2014.6911593
V. Chacko, Hongnian Yu, S. Cang, L. Vlădăreanu
{"title":"State of the art in excavators","authors":"V. Chacko, Hongnian Yu, S. Cang, L. Vlădăreanu","doi":"10.1109/ICAMECHS.2014.6911593","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2014.6911593","url":null,"abstract":"Survey of literature has revealed research on excavators in trajectory analysis, modeling, control, soil-tool interaction, energy efficiency, and simulators. Kinematics of excavators has largely remained unchanged over time. Dynamic models of 3 degree of freedom (DOF) manipulator have been applied in literature. Soil-tool interaction models are becoming computationally less demanding and more accurate, for predicting interaction forces of end effector or bucket. Control of excavators through adaptive/robust control and high level behavioral control may fully automate such systems. Simulators provide platforms for testing and operator training and require dynamically accurate models. Even though much research has occurred in different areas of excavators, still fully automated excavators are rare. This paper investigates the state of art in excavators and reports the recent progress. The aim of this paper is to identify gaps in existing technology and the demands on excavators with the idea of suggesting future trends in research and as a reference for new research.","PeriodicalId":422387,"journal":{"name":"Proceedings of the 2014 International Conference on Advanced Mechatronic Systems","volume":"29 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123570208","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
Analysis of Japanese national consumer price index using fuzzy autocorrelation model with fuzzy confidence intervals 用模糊置信区间模糊自相关模型分析日本国民消费物价指数
Proceedings of the 2014 International Conference on Advanced Mechatronic Systems Pub Date : 2014-09-29 DOI: 10.1109/ICAMECHS.2014.6911662
Y. Yabuuchi, T. Kawaura
{"title":"Analysis of Japanese national consumer price index using fuzzy autocorrelation model with fuzzy confidence intervals","authors":"Y. Yabuuchi, T. Kawaura","doi":"10.1109/ICAMECHS.2014.6911662","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2014.6911662","url":null,"abstract":"Management systems and economic systems are complex because they involve human behaviors and are affected by many factors. When a system includes uncertainty such as those concerning human behaviors, a fuzzy system approach plays a pivotal role in its analysis. Therefore, many results concerning their work have been reported. Yabuuchi et al. have proposed a fuzzy autocorrelation model which uses the concept of soft computing for the Box-Jenkins model. Moreover, fuzzy random variables have been used for the fuzzy autocorrelation model and a predictive accuracy of the model improved. In this work, an improved fuzzy autocorrelation model by using fuzzy random variables will be compared with a fuzzy autocorrelation model by Japanese national consumer price index. And we will be confirmed the proposed model can be with high accuracy.","PeriodicalId":422387,"journal":{"name":"Proceedings of the 2014 International Conference on Advanced Mechatronic Systems","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123952461","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
Improvement of the walking robot dynamic stability using the DSmT and the neutrosophic logic 基于DSmT和嗜中性逻辑的步行机器人动态稳定性改进
Proceedings of the 2014 International Conference on Advanced Mechatronic Systems Pub Date : 2014-09-29 DOI: 10.1109/ICAMECHS.2014.6911621
L. Vlădăreanu, Alexandru Gal, Hongnian Yu, M. Deng
{"title":"Improvement of the walking robot dynamic stability using the DSmT and the neutrosophic logic","authors":"L. Vlădăreanu, Alexandru Gal, Hongnian Yu, M. Deng","doi":"10.1109/ICAMECHS.2014.6911621","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2014.6911621","url":null,"abstract":"This paper presents an innovative algorithm for improvement of the walking robot dynamic stability, using the Desert Smarandache Theory (DSmT) and the neutrosophic logic set. Starting from the hybrid force-position control, by applying the Robot Neutrosophic Control (RNC) method we extend the fuzzy control for walking robot stability motion on uneven terrain and in unstructured environments. Results analysis through virtual experimentation for motion control of a mobile walking robot proves that the neutrosophic logic leads to performance improvement of real time control through robustness, adaptation to robot's environment, efficient control and fast and clear identification of robot states.","PeriodicalId":422387,"journal":{"name":"Proceedings of the 2014 International Conference on Advanced Mechatronic Systems","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128631637","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
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