2013 IEEE International Conference on Mechatronics (ICM)最新文献_第5页

HIL test bench to test anti-swing fuzzy control of an overhead crane 用于桥式起重机抗摇摆模糊控制的HIL试验台

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519136

M. Carmeli, M. Mauri

引用次数: 6

A fuzzy programming method for optimization of autonomous logistics objects 自主物流目标优化的模糊规划方法

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518560

A. Mehrsai, K. Thoben, Hamid Karimi

{"title":"A fuzzy programming method for optimization of autonomous logistics objects","authors":"A. Mehrsai, K. Thoben, Hamid Karimi","doi":"10.1109/ICMECH.2013.6518560","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518560","url":null,"abstract":"Recently several studies have explored the realization of autonomous control in production and logistic operations. In doing so, it has been tried to transmit the merit of decision-making from central controllers with offline decisions to decentralized controllers with local and real-time decision makings. However, this mission has still some drawbacks in practice. Lack of global optimization is one of them, i.e., the lost chain between the autonomous decentralized decisions at operational level and the centralized mathematical optimization with offline manner at tactical and strategic levels. This distinction can be reasonably solved by considering fuzzy parameters in mathematical programming to meet the required tolerances for autonomous objects at operational level. This claim is recommended and partially experimented in this paper. An assembly scenario is modeled by a discrete-event simulation, in which autonomous pallets carry products throughout the system. This scenario is optimized with regard to its objectives in a simulation, while fuzzy parameters in optimization programming can consider autonomous decisions done at operational level.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"83 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":"115219885","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

Visual feedback control based on optical flow vector field for biped walking robot 基于光流矢量场的双足步行机器人视觉反馈控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519116

N. Oda, Junichi Yoneda

引用次数: 17

Adaptive deadbeat feedforward compensation for robust positioning performance against plant perturbations 自适应无差拍前馈补偿对植物扰动的鲁棒定位性能

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519122

Souichi Toy Ama, Yousuke Okado, Y. Maeda, M. Iwasaki, H. Hirai

引用次数: 9

Maneuvering assistant for truck and trailer combinations with arbitrary trailer hitching 具有任意挂车悬挂的卡车和挂车组合的机动辅助装置

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519139

Yevgen Sklyarenko, Frank Schreiber, Walter Schumacher

引用次数: 5

Evaluation of seismic absolute displacement sensors based on sensitivity calibration and control tests of an anti-vibration apparatus 基于灵敏度标定和减振装置控制试验的地震绝对位移传感器评价

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518526

T. Kai, Y. Nakamura, S. Wakui

{"title":"Evaluation of seismic absolute displacement sensors based on sensitivity calibration and control tests of an anti-vibration apparatus","authors":"T. Kai, Y. Nakamura, S. Wakui","doi":"10.1109/ICMECH.2013.6518526","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518526","url":null,"abstract":"In the field of vibration control of aero space structures, Direct Velocity and Displacement FeedBack (DVDFB) is well-known as an effective control scheme in terms of robustness. However, according to the skyhook control theory, Direct Acceleration, Velocity, and Displacement FeedBack (DAVDFB) is preferable as to manipulate seismic parameters of controlled objects. To contribute for implementation of the DAVDFB, we have proposed a seismic displacement sensor, which can simultaneously detect absolute acceleration, velocity and displacement signals. Prototype sensors have been applied as feedback or feedforward sensors in vibration control of antivibration apparatuses. However, due to low detection sensitivity and narrow bandwidth, control performance is not enough for practical use in industrial scenes. Thus, the detection sensitivity is mechanically improved by increasing the number of coil turns, and this effect is evaluated by sensitivity calibration. Moreover, to confirm the effect on practical applications, we carry out control tests of an anti-vibration apparatus with one degree-of-freedom by using the improved displacement sensor.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"16 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":"129956538","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

A new asymptotic tracking approach for robot manipulators with actuator saturation 带驱动器饱和的机器人机械臂渐近跟踪方法

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519119

Yuxin Su, J. Swevers

引用次数: 4

Where future robots should go and should not go 未来机器人该何去何从?不该何去何从

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1007/978-3-7091-0277-0_1

M. Kaneko, M. Higashimori

引用次数: 0

H∞ output feedback controller based on complete quadratic Lyapunov-Krasovskii functional for time delay systems 基于完全二次Lyapunov-Krasovskii泛函的时滞系统H∞输出反馈控制器

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519159

Y. Uchimura, Daiki Minagawa

引用次数: 1

Center of mass states and disturbance estimation for a walking biped 行走两足动物的质心状态及扰动估计

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518544

Iyad Hashlamon, K. Erbatur

{"title":"Center of mass states and disturbance estimation for a walking biped","authors":"Iyad Hashlamon, K. Erbatur","doi":"10.1109/ICMECH.2013.6518544","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518544","url":null,"abstract":"An on-line assessment of the balance of the robot requires information of the state variables of the robot dynamics and measurement data about the environmental interaction forces. However, modeling errors, external forces and hard to measure states pose difficulties to the control systems. This paper presents a method of using the motion information to estimate the center of mass (CoM) states and the disturbance of walking humanoid robot. The motion is acquired from the inertial measurement unit (IMU) and forward kinematics only. Kalman filter and disturbance observer are employed, Kalman filter is used for the states and disturbance estimation, and the disturbance observer is used to decompose the disturbance into modeling error and acceleration error based on the frequency band. The disturbance is modeled mathematically in terms of previous CoM and Zero moment point (ZMP) states rather than augmenting it in the system states. The ZMP is estimated using the quadratic programming method to solve the constraint dynamic equations of the humanoid robot in translational motion. A biped robot model of 12-degrees-of-freedom (DOF) is used in the full-dynamics 3-D simulations for the estimation validation. The results indicate that the presented estimation method is successful and promising.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"16 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":"132172990","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