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What do walking humans want from mechatronics? 行走的人类想从机电一体化中得到什么?
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518504
S. Collins
{"title":"What do walking humans want from mechatronics?","authors":"S. Collins","doi":"10.1109/ICMECH.2013.6518504","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518504","url":null,"abstract":"It is an exciting time to be developing robotic prostheses, exoskeletons, and gait trainers, with clever new innovations emerging at a rapid pace. But are these the droids we're looking for? It is very difficult to predict how a human will respond and adapt to forceful interactions with an electromechanical device, and many years of development are typically required before proposed designs can be tested on humans. What if we could test our ideas for device function quickly, without the overhead of designing a product-ready prototype? This might lead to faster, and more meaningful, understanding of design requirements and trade-offs for human users. We will describe a system that we have developed for rapid emulation of robotic ankle prostheses and orthoses, and present initial results from the high-throughput experiments that this technology has enabled. One set of experiments provides quantitative insights into the optimal prosthesis motor and battery size for a given user, while another set identifies the relationships between energy cost, balance, and variability during gait. Experiments with an ankle-foot orthosis demonstrate shaping of the human energy-cost landscape, revealing that least-effort drives can be harnessed to shape self-selected coordination patterns, with applications to gait rehabilitation. We think this approach will facilitate faster identification of what humans need from wearable robots, providing detailed design requirements for engineers and resulting in better assistive technologies, sooner.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"4 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":"132078640","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
The power factor in mechanical system 机械系统中的功率因数
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519106
T. Mizoguchi, T. Nozaki, K. Ohnishi
{"title":"The power factor in mechanical system","authors":"T. Mizoguchi, T. Nozaki, K. Ohnishi","doi":"10.1109/ICMECH.2013.6519106","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519106","url":null,"abstract":"This paper represents a analytical, simulation and experimental study of power factor in mechanical system. In electrical system, power factor is often used to evaluate how intense we can use the electrical power as a active electrical power. It is useful when considering the power consumption of the electrical system. However, this kind of approach did not exist in mechanical system. In mechanical system, we consider mechanical loss of energy, however we did not consider the amount of power used in the phase change. Thus this study introduces the power factor in the mechanical system and investigates how much power is actually used in the motion. Power factor of certain frequency of the motion was analyzed and compared with the simulation results. Experiments were conducted to further study the behavior of power factor in many situations. Experimental results signify power factor changes due to the speed of the motion and also path of the motion.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"91 1 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":"134011885","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: 13
Performance evaluation of energy-efficient PONs for large-scale sensor-actuator networks 大型传感器-执行器网络中节能pon的性能评价
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519160
R. Kubo, M. Tadokoro, T. Kubo, Ken-ichi Suzuki, Naoto Yoshimoto
{"title":"Performance evaluation of energy-efficient PONs for large-scale sensor-actuator networks","authors":"R. Kubo, M. Tadokoro, T. Kubo, Ken-ichi Suzuki, Naoto Yoshimoto","doi":"10.1109/ICMECH.2013.6519160","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519160","url":null,"abstract":"This paper proposes a next-generation optical access architecture supporting machine-to-machine (M2M) communication in large-scale sensor-actuator networks. Especially, in this paper, we focus on a smart grid system, which is an application of the large-scale sensor-actuator networks. As a communication infrastructure in the smart grid, optical communication has many advantages over other communication technologies such as wireless communication and power line communication. However, the current optical access systems, e.g. Ethernet passive optical network (EPON) systems, cannot satisfy all requirements for the smart grid communication. In this research, some applicable optical access technologies are discussed from the viewpoint of capacity, reliability, security, energy efficiency and so on. In addition, the existing power-saving mechanism for EPON systems is evaluated using M2M traffic. The proposed architecture can be applied to a communication system in future smart communities including the smart grid, intelligent transport systems and other Internet services.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"121 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":"133654220","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
An approximate of the cost-to-go map on rough terrains 在崎岖地形上绘制的地图的近似值
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518543
A. Tahirovic, G. Magnani, Y. Kuwata
{"title":"An approximate of the cost-to-go map on rough terrains","authors":"A. Tahirovic, G. Magnani, Y. Kuwata","doi":"10.1109/ICMECH.2013.6518543","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518543","url":null,"abstract":"The Roughness based Navigation Function (RbNF) is a numerical map that estimates the mobility measure (cost-to-go) from each terrain location toward the goal position. This paper compares the RbNF and the optimal cost-to-go map in terms of computational burden and solution quality. When the terrain is very large and obtaining the optimal cost-to-go map is computationally too expensive, the RbNF is shown to be able to compute an approximate solution much more quickly. As an application example, in which the RbNF is shown to be a powerful tool, the paper considers a Mars rover mission that finds the possible landing site using a mobility cost-to-go map constructed from a Mars terrain data.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"29 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":"132588348","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
Proposal of reducing impact force control system for scan stage with decouplable structure of coarse and fine parts 粗、精零件可解耦扫描工作台减小冲击力控制系统的提出
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519145
Kyota Tokuyama, H. Fujimoto, Daisuke Yumiza, K. Saiki
{"title":"Proposal of reducing impact force control system for scan stage with decouplable structure of coarse and fine parts","authors":"Kyota Tokuyama, H. Fujimoto, Daisuke Yumiza, K. Saiki","doi":"10.1109/ICMECH.2013.6519145","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519145","url":null,"abstract":"The upsizing and obtaining higher control accuracy are required for many large industrial machines. However, the requirements are trade-off against each other from the viewpoint of the conventional machine structure. In this paper, a novel structure of high-precision prototype stage consists of coarse driving part and fine driving part, which can be uncoupled with each other, is developed. In this case, the fine part can be simplified so that it would be more rigid and has higher resonant frequencies. One problem of the structure is that the impact between the fine part and the coarse part would be easily occurred at the beginning of the acceleration/deceleration. Therefore, we also design an practical control approach for reducing the impact force to improve the control performance. A control approach is also proposed for reducing the impact force between the coarse part and the fine part. The effectiveness of the proposed approach is verified via simulations and experiments.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"124 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":"116215562","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 constraints of disturbance observer in the presence of time delay 存在时滞时扰动观测器的设计约束
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518513
E. Sariyildiz, K. Ohnishi
{"title":"Design constraints of disturbance observer in the presence of time delay","authors":"E. Sariyildiz, K. Ohnishi","doi":"10.1109/ICMECH.2013.6518513","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518513","url":null,"abstract":"The design of disturbance observer (DOB) requires a low pass filter (LPF) to satisfy the causality and prevent the inner-loop from algebraic loop. The bandwidth of the LPF is desired to be as high as possible to estimate the disturbances in a wide frequency range. However, it is very-well known that the bandwidth of DOB is limited by noise and robustness. This paper shows that the bandwidth limitation of DOB becomes more severe if the plant includes time delay. Furthermore, a new design constraint on the parameters of the LPF of DOB is proposed to obtain predefined performance and robustness criteria. A second order plant model that includes time delay is analyzed and simulation results are given to show the validity of the proposed method.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"2 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":"121837767","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
Workspace control of a wheel-legged mobile robot for gyrating locomotion with movable leg 带活动腿的轮腿移动机器人旋转运动的工作空间控制
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519117
A. Suzumura, Y. Fujimoto
{"title":"Workspace control of a wheel-legged mobile robot for gyrating locomotion with movable leg","authors":"A. Suzumura, Y. Fujimoto","doi":"10.1109/ICMECH.2013.6519117","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519117","url":null,"abstract":"We discuss motion generation problems of a wheel-legged mobile robot (WLMR) with movable legs. We consider and solve two problems of inverse kinematics of WLMRs. The first problem occurs in the generation of steering commands for WLMRs, which is due to the mechanism of the structure of the wheels. In general, inverse kinematics for WLMRs are applied in the velocity level. However, in our case, it is not possible to generate the proper steering motion. To solve this problem, we show that for WLMRs, the application of inverse kinematics in the acceleration level is effective. The second problem addressed is a singularity problem that occurs when controlling the contact point of legs during the wheeled locomotion of the WLMR. We show that this singularity problem can be avoided by utilizing the redundancy present in the wheel-leg mechanism. Finally, the effectiveness of our motion generation schemes is validated by conducting precise, three-dimensional simulations.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"43 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":"121872325","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
Reduction of control input variance of feed drive systems using sliding-mode control with non-linear sliding surface 非线性滑动面滑模控制减小进给驱动系统的控制输入方差
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519147
A. Mohammad, N. Uchiyama, S. Sano
{"title":"Reduction of control input variance of feed drive systems using sliding-mode control with non-linear sliding surface","authors":"A. Mohammad, N. Uchiyama, S. Sano","doi":"10.1109/ICMECH.2013.6519147","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519147","url":null,"abstract":"Ball-screw drives have been widely used in industrial applications delivering high precision motion in work machines, such as machine tools, where both high speed and positioning accuracy are required. Most of control schemes used in industrial application have a constant damping ratio leads to make a tradeoff between the low overshoot and small settling time of the system. This paper presents a novel sliding-mode controller with a non-linear sliding surface to improve the machining accuracy of ball-screw feed drive systems. Unlike the conventional sliding-mode control design, the proposed non-linear sliding surface varies due to the output so that the damping ratio of the system changes from its initial low value to its final high value as the output changes from its initial value to the reference point. Hence, the proposed algorithm allows a closed-loop system to simultaneously achieve low overshoot and a small settling time, resulting in a smaller error and control input variance. Computer simulation and experimental results for a ball-screw feed drive system show that the proposed approach reduces the control input variance by an average of 19.1% than using the conventional linear sliding surface.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"20 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":"124946234","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
A smart lighting system for industrial and domestic use 适用于工业和家庭的智能照明系统
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518523
L. Ciabattoni, A. Freddi, G. Ippoliti, M. Marcantonio, D. Marchei, A. Monteriù, M. Pirro
{"title":"A smart lighting system for industrial and domestic use","authors":"L. Ciabattoni, A. Freddi, G. Ippoliti, M. Marcantonio, D. Marchei, A. Monteriù, M. Pirro","doi":"10.1109/ICMECH.2013.6518523","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518523","url":null,"abstract":"The goal of this work is to develop a smart LED lighting system for industrial and domestic use, taking into account visual comfort and energy saving of interior lighting. The idea is to control the lighting level in an energy efficient way, keeping a desired light level where it is needed, while regulating it to a minimum where not required. In order to achieve this goal, a single control unit is needed for each lamp. In this way the system can individually control the desired light level, adapting the LED illumination according to the environment in which it is installed, by means of light sensors, motion sensors and a smart control system. Experimental results are provided to show the effectiveness of the proposed solution.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"28 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":"127330058","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: 36
Motion reproducing system for pinching and rotational tasks with different size of objects by using a transformation to polar coordinates 利用极坐标变换实现不同尺寸物体的挤压和旋转运动再现系统
2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519101
Yuki Nagatsu, S. Katsura
{"title":"Motion reproducing system for pinching and rotational tasks with different size of objects by using a transformation to polar coordinates","authors":"Yuki Nagatsu, S. Katsura","doi":"10.1109/ICMECH.2013.6519101","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519101","url":null,"abstract":"This paper proposes a motion reproducing system for human pinching and rotational tasks in the two dimension. By using coordinate transformation to polar coordinates from Cartesian coordinates of grasping motion, internal force control and attitude control motions are able to reproduce independently. Proposed method makes it possible to reproduce human pinching and rotational motions even if the size of target objects are different compared to motion saving phase. In the experiments, results demonstrate that conventional method to deal with the difference about the size of objects cannot reproduce the motions concern pinching motions and validity of the proposed method is confirmed.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"29 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":"129293380","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
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