2013 IEEE International Conference on Mechatronics (ICM)最新文献_第10页

Optimal mapping from a continuous 3D curve to the position and shape of a snake robot 从连续的三维曲线到蛇形机器人的位置和形状的最佳映射

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518553

C. Holden, K. Pettersen, Ø. Stavdahl, J. Gravdahl

引用次数: 0

Adaptive control of piezoelectric walker actuator 压电行走驱动器的自适应控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518524

Edin Golubovic, T. Uzunović, Zhenishbek Zhakypov, A. Sabanoviç

引用次数: 9

Performance improvement of bilateral control with multi-degree-of-freedom based on disturbance observer design 基于扰动观测器设计的多自由度双边控制性能改进

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519103

Nobuyuki Togashi, T. Shimono, N. Motoi

引用次数: 1

Optimal optical mouse placement for mobile robot velocity estimation 移动机器人速度估计的最佳光学鼠标放置

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518554

Sungbok Kim, Hyunbin Kim

{"title":"Optimal optical mouse placement for mobile robot velocity estimation","authors":"Sungbok Kim, Hyunbin Kim","doi":"10.1109/ICMECH.2013.6518554","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518554","url":null,"abstract":"This paper presents the optimal placement of optical mice for the velocity estimation of a mobile robot. It is assumed that there can be some structural restriction on the installation of two or more optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot equipped with an array o f optical mice is obtained, which maps the velocity of a mobile robot in the world coordinate frame to the velocities of optical mice in their local frames. Second, the error characteristics of the mobile robot velocity estimation using optical mice is represented by the so - called uncertainty ellipsoid, and then the performance index for the optimal optical mouse placement is defined as the inverse of the volume of the uncertainty ellipsoid. Third, the global optimization strategy is stated in terms of the distance to each optical mouse and the geometrical center of optical mice, and the local optimization strategy is stated as the condition of the positional change of each optical mouse leading to the optimal placement. Fourth, simulation results for the optimal placements of three optical mice within a given elliptical region are given.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132927289","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

Comparison of two control approaches for a linear axis with pneumatic muscles using one or two valves 用一个或两个阀门气动肌肉控制直线轴的两种方法的比较

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519131

D. Schindele, H. Aschemann

引用次数: 0

Direct visual servoing of a redundant robot with chaos compensation 混沌补偿冗余度机器人的直接视觉伺服

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518514

J. Pomares, Iván Perea, C. Jara, Fernando Torres Medina

引用次数: 0

Unbalance vibration control for active magnetic bearing using automatic balancing system and peak-of-gain control 利用自动平衡系统和峰值增益控制主动磁轴承的不平衡振动控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518519

S. Okubo, Yukinori Nakamura, S. Wakui

引用次数: 12

FPGA-based high performance bilateral control of different master-slave mechanism using highorder disturbance observer 采用高阶干扰观测器的基于fpga的不同主从机构的高性能双边控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519099

Thao Tran Phuong, Y. Yokokura, Kiyoshi Ohishi, C. Mitsantisuk

{"title":"FPGA-based high performance bilateral control of different master-slave mechanism using highorder disturbance observer","authors":"Thao Tran Phuong, Y. Yokokura, Kiyoshi Ohishi, C. Mitsantisuk","doi":"10.1109/ICMECH.2013.6519099","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519099","url":null,"abstract":"This paper presents a new force sensing approach for a bilateral control system with different mechanisms of the master and the slave devices. A linear shaft motor and a ball screw perform the roles of the master and the slave, respectively. Using a frictionless mechanism as the master while the slave mechanism is affected by high friction, together with an appropriate force scaling ratio between the master and the slave, the human operator can easily manipulate the device and perceive the interaction of the slave and environments. To reduce the friction effect on force estimation due to the ball screw mechanism, a periodic signal is inserted into the control signal of the slave side. A high-order disturbance observer is designed for force sensing operation on the slave side to reduce the effect of oscillatory disturbance on force information. The control algorithm consists of a conventional disturbance observer and a high-order disturbance observer for the master and the slave, respectively. All the control algorithms are implemented in FPGA to achieve a high sampling rate of the control cycle. The effectiveness of the proposed method is verified by the experimental results.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122531534","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

Big-Stiquito: An enlarged and faster version of the autonomous Stiquito hexapod robot 大Stiquito:自主的Stiquito六足机器人的放大版和更快的版本

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518557

A. Février, Quentin Fauvel, Nicolas Carbonel, B. Tondu, P. Souéres

引用次数: 2

Objective performance evaluation on mountain routes of diesel-electric hybrid busses 柴电混合动力客车山路行驶性能客观评价

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518569

F. Biral, M. Galvani, Michele Zucchelli, Giulia Giacomelli

{"title":"Objective performance evaluation on mountain routes of diesel-electric hybrid busses","authors":"F. Biral, M. Galvani, Michele Zucchelli, Giulia Giacomelli","doi":"10.1109/ICMECH.2013.6518569","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518569","url":null,"abstract":"The application of hybrid buses for public transport on mountain route is an attractive idea because of the low pollutant emission footprint in touristic areas and the possibility to exploit the down hill route and the frequent stops to recover energy. Nevertheless the use of these vehicles is challenging for many aspects: technologically, the winter weather conditions may have a detrimental effect on batteries and electrical components, and road profile elevation may not allow to satisfy the target speeds required by the traditional bus' stop-to-stop schedule. In order to objectively assess the possibility to employ such type of vehicles on mountain routes, the actual fuel consumption and emission, logged in field operational tests, are compared with reference optimal stop-to-stop manoeuvres calculated a posteriori, which also include the interaction with the front traffic situation. The optimal reference manoeuvres are calculated based on two multi-physics dynamic models of the series hybrid diesel-electric buses, one with lithium batteries and the second with ultra-capacitors. Here the details of the two model developed are presented and discussed together with the first stage of the validation process carried out with the experimental data collected on-board.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"61 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120940091","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