Pub Date : 2017-12-18DOI: 10.1109/IECON.2017.8217429
Mohammad Ali Nassiri Abrishamchi, A. Abdullah, A. Cheok, K. Bielawski
This paper provides an overview on side-channel attacks with emphasis on vulnerabilities in the smart home. Smart homes are enabled by the latest developments in sensors, communication technologies, internet protocols, and cloud services. The goal of a smart home is to have smart household devices collaborate without involvement of residents to deliver the variety of services needed for a higher quality of life. However, security and privacy challenges of smart homes have to be overcome in order to fully realize the smart home. Side channel attacks assume data is always leaking, and leakage of data from a smart home reveals sensitive information. This paper starts by reviewing side-channel attack categories, then it gives an overview on recent attack studies on different layers of a smart home and their malicious goals.
{"title":"Side channel attacks on smart home systems: A short overview","authors":"Mohammad Ali Nassiri Abrishamchi, A. Abdullah, A. Cheok, K. Bielawski","doi":"10.1109/IECON.2017.8217429","DOIUrl":"https://doi.org/10.1109/IECON.2017.8217429","url":null,"abstract":"This paper provides an overview on side-channel attacks with emphasis on vulnerabilities in the smart home. Smart homes are enabled by the latest developments in sensors, communication technologies, internet protocols, and cloud services. The goal of a smart home is to have smart household devices collaborate without involvement of residents to deliver the variety of services needed for a higher quality of life. However, security and privacy challenges of smart homes have to be overcome in order to fully realize the smart home. Side channel attacks assume data is always leaking, and leakage of data from a smart home reveals sensitive information. This paper starts by reviewing side-channel attack categories, then it gives an overview on recent attack studies on different layers of a smart home and their malicious goals.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"110 1","pages":"8144-8149"},"PeriodicalIF":0.0,"publicationDate":"2017-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85752130","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}
Pub Date : 2017-12-18DOI: 10.1109/IECON.2017.8217548
G. Valente, A. Formentini, L. Papini, P. Zanchetta, C. Gerada
Bearingless motors combine in the same structure the characteristics of conventional motors and magnetic bearings. Traditional bearingless machines rely on two independent sets of winding for suspension force and torque production, respectively. The proposed Multi-Sector Permanent Magnet (MSPM) motor exploits the spatial distribution of the multi-three-phase windings within the stator circumference in order to produce a controllable suspension force. Therefore, force and torque generation are embedded in the same winding setting. In this paper the force and torque generation principles are investigated and a mathematical model is presented considering the rotor displacement. A two Degree of freedom (DOF) position controller is designed taking into consideration the rotor overall dynamic system and a controller gains selection strategy is suggested. A simulation study of the bearingless system in different operating conditions is presented and the suspension force and torque produced are validated through Finite Element Analysis (FEA).
{"title":"Position control study of a bearingless multi-sector permanent magnet machine","authors":"G. Valente, A. Formentini, L. Papini, P. Zanchetta, C. Gerada","doi":"10.1109/IECON.2017.8217548","DOIUrl":"https://doi.org/10.1109/IECON.2017.8217548","url":null,"abstract":"Bearingless motors combine in the same structure the characteristics of conventional motors and magnetic bearings. Traditional bearingless machines rely on two independent sets of winding for suspension force and torque production, respectively. The proposed Multi-Sector Permanent Magnet (MSPM) motor exploits the spatial distribution of the multi-three-phase windings within the stator circumference in order to produce a controllable suspension force. Therefore, force and torque generation are embedded in the same winding setting. In this paper the force and torque generation principles are investigated and a mathematical model is presented considering the rotor displacement. A two Degree of freedom (DOF) position controller is designed taking into consideration the rotor overall dynamic system and a controller gains selection strategy is suggested. A simulation study of the bearingless system in different operating conditions is presented and the suspension force and torque produced are validated through Finite Element Analysis (FEA).","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"30 1","pages":"8808-8813"},"PeriodicalIF":0.0,"publicationDate":"2017-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74219498","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}
Pub Date : 2017-12-18DOI: 10.1109/IECON.2017.8216818
G. Jombo, Yu Zhang, J. Griffiths, T. Latimer
To prove to a customer that a new or overhauled gas turbine satisfies its contractual performance, mechanical and emissions target, an acceptance test is normally performed by the manufacturer. Such acceptance tests typically involve running the turbine through its operational envelope based on a predefined test schedule, with information regarding the thermodynamic and mechanical performance as well as exhaust emission levels gathered. Decisions relating to acceptance and subsequent certification are made on the basis of agreed criteria. At present, these tests proceed in a time-consuming, sequential manner which relies heavily on manual intervention. Proposed is an automated system for acceptance testing which will directly address the aforementioned issues through improvements in efficiency and throughput. The proposed system will provide a data archive and access system which will automate data acquisition, facilitate real-time fault diagnostics and create and manage all test documentation. In this paper, an overview of the requirements for acceptance testing is presented and the principal components of an automated system for industrial gas turbine acceptance testing are identified.
{"title":"Towards an automated system for industrial gas turbine acceptance testing","authors":"G. Jombo, Yu Zhang, J. Griffiths, T. Latimer","doi":"10.1109/IECON.2017.8216818","DOIUrl":"https://doi.org/10.1109/IECON.2017.8216818","url":null,"abstract":"To prove to a customer that a new or overhauled gas turbine satisfies its contractual performance, mechanical and emissions target, an acceptance test is normally performed by the manufacturer. Such acceptance tests typically involve running the turbine through its operational envelope based on a predefined test schedule, with information regarding the thermodynamic and mechanical performance as well as exhaust emission levels gathered. Decisions relating to acceptance and subsequent certification are made on the basis of agreed criteria. At present, these tests proceed in a time-consuming, sequential manner which relies heavily on manual intervention. Proposed is an automated system for acceptance testing which will directly address the aforementioned issues through improvements in efficiency and throughput. The proposed system will provide a data archive and access system which will automate data acquisition, facilitate real-time fault diagnostics and create and manage all test documentation. In this paper, an overview of the requirements for acceptance testing is presented and the principal components of an automated system for industrial gas turbine acceptance testing are identified.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"41 1","pages":"4746-4751"},"PeriodicalIF":0.0,"publicationDate":"2017-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87710156","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}
Pub Date : 2017-12-18DOI: 10.1109/IECON.2017.8216381
D. Sarafianos, T. Flack, D. Llano, R. McMahon, Bo Wen, S. Pickering
A control strategy for a conventional Lundell alternator and an active-rectifier using different modulation schemes was proposed in previous work. The modulation techniques examined indicated that the system could operate more efficiently than a passive rectifier over a certain speed and power range. This paper extends the modulation scheme analysis using a SVM scheme with six commutations per switching cycle, giving better electrical and overall efficiency. Furthermore, a power loss breakdown is performed for the active-rectifier with the assistance of experimental and simulation results of double pulse tests. Switching loss estimation curves are produced allowing the loss examination of the active-rectifier. Switching losses account only for a minor portion of the total rectifier losses in comparison to conduction losses. Finally, a higher dc-link voltage of 14.5 V was introduced using SVM scheme, giving better efficiency, in order to exploit further the rectifier loss distribution.
{"title":"Efficiency improvement and power loss breakdown for a Lundell-alternator/active-rectifier system in automotive applications","authors":"D. Sarafianos, T. Flack, D. Llano, R. McMahon, Bo Wen, S. Pickering","doi":"10.1109/IECON.2017.8216381","DOIUrl":"https://doi.org/10.1109/IECON.2017.8216381","url":null,"abstract":"A control strategy for a conventional Lundell alternator and an active-rectifier using different modulation schemes was proposed in previous work. The modulation techniques examined indicated that the system could operate more efficiently than a passive rectifier over a certain speed and power range. This paper extends the modulation scheme analysis using a SVM scheme with six commutations per switching cycle, giving better electrical and overall efficiency. Furthermore, a power loss breakdown is performed for the active-rectifier with the assistance of experimental and simulation results of double pulse tests. Switching loss estimation curves are produced allowing the loss examination of the active-rectifier. Switching losses account only for a minor portion of the total rectifier losses in comparison to conduction losses. Finally, a higher dc-link voltage of 14.5 V was introduced using SVM scheme, giving better efficiency, in order to exploit further the rectifier loss distribution.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"7 1","pages":"2264-2279"},"PeriodicalIF":0.0,"publicationDate":"2017-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88830515","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}
Pub Date : 2017-12-18DOI: 10.1109/IECON.2017.8217275
Li Hong Idris Lim, Dazhi Yang
This paper presents a reliable but low-cost way for industrial digital microscopy to implement μm-level precision of X/Y stage motion control. Other than the prevailing designs using stepper motors with open-loop control algorithms, the proposed method uses DC motors with closed-loop sliding mode control (SMC) to save the cost and allow a smooth switching between manual and motorized mode for stage movement. Boundary layer (saturator) method is then applied to alleviate the chattering cause by SMC, and its accuracy loss is completely eliminated by a simple position fine-tune trick to limit the error within ±2 μm. Comparing with the main stream μm-level industrial microscopies with stepper motors, the proposed solution achieves similar performance with almost half costs.
{"title":"Low-cost precision motion control for industrial digital microscopy","authors":"Li Hong Idris Lim, Dazhi Yang","doi":"10.1109/IECON.2017.8217275","DOIUrl":"https://doi.org/10.1109/IECON.2017.8217275","url":null,"abstract":"This paper presents a reliable but low-cost way for industrial digital microscopy to implement μm-level precision of X/Y stage motion control. Other than the prevailing designs using stepper motors with open-loop control algorithms, the proposed method uses DC motors with closed-loop sliding mode control (SMC) to save the cost and allow a smooth switching between manual and motorized mode for stage movement. Boundary layer (saturator) method is then applied to alleviate the chattering cause by SMC, and its accuracy loss is completely eliminated by a simple position fine-tune trick to limit the error within ±2 μm. Comparing with the main stream μm-level industrial microscopies with stepper motors, the proposed solution achieves similar performance with almost half costs.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"28 1","pages":"7281-7287"},"PeriodicalIF":0.0,"publicationDate":"2017-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83695608","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}
Pub Date : 2017-12-18DOI: 10.1109/IECON.2017.8216626
Mi Tang, A. Formentini, S. Odhano, P. Zanchetta
Periodic speed errors can occur in permanent magnet linear synchronous machines for two reasons: 1) a periodic reference signal; 2) cogging force and friction. For reducing such periodic errors, iterative learning control or repetitive control approaches, used in conjunction with more common control actions, can be strongly effective. However, the design of the stability filter, robustness filter and other parameters for a traditional repetitive controller can be a complex task and may need to be adjusted when the frequency of such periodic error varies. Existing solutions tend to develop more adaptive tuning methods for repetitive controller to enhance the whole control system. This paper shows that the performance of a traditional speed loop can be enhanced with a repetitive controller without complicating the tuning of the repetitive controller. Consequently, a position-based repetitive control combined with deadbeat current control method is proposed. Simulation results show that the proposed method is effective for reducing speed ripple at difference frequencies without necessarily adjusting its parameters.
{"title":"The design of a position-based repetitive control for speed ripple reduction in PMLSMs","authors":"Mi Tang, A. Formentini, S. Odhano, P. Zanchetta","doi":"10.1109/IECON.2017.8216626","DOIUrl":"https://doi.org/10.1109/IECON.2017.8216626","url":null,"abstract":"Periodic speed errors can occur in permanent magnet linear synchronous machines for two reasons: 1) a periodic reference signal; 2) cogging force and friction. For reducing such periodic errors, iterative learning control or repetitive control approaches, used in conjunction with more common control actions, can be strongly effective. However, the design of the stability filter, robustness filter and other parameters for a traditional repetitive controller can be a complex task and may need to be adjusted when the frequency of such periodic error varies. Existing solutions tend to develop more adaptive tuning methods for repetitive controller to enhance the whole control system. This paper shows that the performance of a traditional speed loop can be enhanced with a repetitive controller without complicating the tuning of the repetitive controller. Consequently, a position-based repetitive control combined with deadbeat current control method is proposed. Simulation results show that the proposed method is effective for reducing speed ripple at difference frequencies without necessarily adjusting its parameters.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"51 1","pages":"3688-3692"},"PeriodicalIF":0.0,"publicationDate":"2017-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84810917","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}
Pub Date : 2017-12-18DOI: 10.1109/IECON.2017.8216294
E. Trancho, E. Ibarra, A. Arias, I. Kortabarria, P. Prieto
Sensorless control is a promising alternative for controlling Electric Vehicle (EV) and Hybrid Electric Vehicle (HEV) propulsion systems without the need of complex devices, such as resolvers or encoders. As the usage of a physical sensor is avoided, this allows significant cost reductions of the drive, and the reliability of the system is also improved. EVs require an operation range from standstill to high speeds. At low speeds, the back-EMF of the electric machine is low, and signal injection techniques are required in order to estimate the position and speed of the machine. This paper presents practical implementation details of the High Frequency Injection (HFI) technique, giving special attention to signal processing, offset compensation due to filtering delays and robust speed estimation. The approach is validated in an automotive Permanent Magnet Assisted Synchronous Reluctance Machine (PM-assisted SynRM) of 51 kW.
{"title":"A practical approach to HFI based sensorless control of PM-assisted synchronous reluctance machines applied to EVs and HEVs","authors":"E. Trancho, E. Ibarra, A. Arias, I. Kortabarria, P. Prieto","doi":"10.1109/IECON.2017.8216294","DOIUrl":"https://doi.org/10.1109/IECON.2017.8216294","url":null,"abstract":"Sensorless control is a promising alternative for controlling Electric Vehicle (EV) and Hybrid Electric Vehicle (HEV) propulsion systems without the need of complex devices, such as resolvers or encoders. As the usage of a physical sensor is avoided, this allows significant cost reductions of the drive, and the reliability of the system is also improved. EVs require an operation range from standstill to high speeds. At low speeds, the back-EMF of the electric machine is low, and signal injection techniques are required in order to estimate the position and speed of the machine. This paper presents practical implementation details of the High Frequency Injection (HFI) technique, giving special attention to signal processing, offset compensation due to filtering delays and robust speed estimation. The approach is validated in an automotive Permanent Magnet Assisted Synchronous Reluctance Machine (PM-assisted SynRM) of 51 kW.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"45 1","pages":"1735-1740"},"PeriodicalIF":0.0,"publicationDate":"2017-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89267591","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}
Pub Date : 2017-12-15DOI: 10.1109/IECON.2017.8217273
Koya Nambo, S. Katsura
This paper proposes a event-triggered formation control method for a leader-follower multi-agent system. The purpose of the multi-agent system is to add more function to the system by cooperative control of multi-robots. Research of multi-agent system is useful for society. Generally, in conventional research, each agent always need to communicate with neighbor agents. So, communication failure like as cross-talk is likely to occur. Furthermore, energy resource of robot is limited. So, it is necessary to save the energy. To solve this problem event-triggered control is researched. In these research, the control input is generated only transmitted information in triggered-time. On the other hand, in the proposed method, each agent estimate the trajectory of neighbor agents. When error between estimated and true trajectory become over the threshold, information is transmitted. By using the proposed method, it is expected to reduce the number of information transmission.
{"title":"Event-triggered formation control of leader-follower multi-agent system for reducing the number of information transmission","authors":"Koya Nambo, S. Katsura","doi":"10.1109/IECON.2017.8217273","DOIUrl":"https://doi.org/10.1109/IECON.2017.8217273","url":null,"abstract":"This paper proposes a event-triggered formation control method for a leader-follower multi-agent system. The purpose of the multi-agent system is to add more function to the system by cooperative control of multi-robots. Research of multi-agent system is useful for society. Generally, in conventional research, each agent always need to communicate with neighbor agents. So, communication failure like as cross-talk is likely to occur. Furthermore, energy resource of robot is limited. So, it is necessary to save the energy. To solve this problem event-triggered control is researched. In these research, the control input is generated only transmitted information in triggered-time. On the other hand, in the proposed method, each agent estimate the trajectory of neighbor agents. When error between estimated and true trajectory become over the threshold, information is transmitted. By using the proposed method, it is expected to reduce the number of information transmission.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"66 1","pages":"7269-7274"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73742406","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}
Pub Date : 2017-12-15DOI: 10.1109/IECON.2017.8217449
H. Kimura, Ryusei Mori, T. Murakami
Nowadays, decreasing birthrate and aging population become to be the serious social problem in Japan. Therefore, needs of assistive devices are more and more increasing. When people use such assistive devices, there is a risk that devices cost user excessive burden. So analysis and evaluation of motions and load of person who uses assistive devices are necessary. In this paper, a model to analyze the effect of external force applied to walking person by fall prevention robot is proposed. A way of suppressing human's lower limbs load in fall prevention assist is discussed through experiments.
{"title":"Analysis and evaluation of fall prevention assist related with the angle of trunk","authors":"H. Kimura, Ryusei Mori, T. Murakami","doi":"10.1109/IECON.2017.8217449","DOIUrl":"https://doi.org/10.1109/IECON.2017.8217449","url":null,"abstract":"Nowadays, decreasing birthrate and aging population become to be the serious social problem in Japan. Therefore, needs of assistive devices are more and more increasing. When people use such assistive devices, there is a risk that devices cost user excessive burden. So analysis and evaluation of motions and load of person who uses assistive devices are necessary. In this paper, a model to analyze the effect of external force applied to walking person by fall prevention robot is proposed. A way of suppressing human's lower limbs load in fall prevention assist is discussed through experiments.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"4 3 1","pages":"8255-8260"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91518544","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}
Pub Date : 2017-12-15DOI: 10.1109/IECON.2017.8217178
Xiaobai Sun, Daisuke Tomizuka, Hiromu Sekiguchi, S. Fukushima, Yuki Saito, T. Nozaki, K. Ohnishi
In this paper, motion-reproduction system for picking by multiple-DoFs manipulator with a stereo camera is proposed. The conventional motion-reproduction is able to pick different sized objects because of considering force in the control system. However, the conventional system has difficulty in picking the positional changed objects in motion-reproduction. The proposed method compensates the positional fluctuation of picking objects by image processing information and reproduce saved motion successfully. The superiority of proposal is confirmed through experiments. In the experiment tomato and a toy strawberry was used for picking by multiple-DoFs manipulator. The manipulator with proposed method picked the object successfully.
{"title":"Motion-reproduction system adaptable to position fluctuation of picking objects based on image information","authors":"Xiaobai Sun, Daisuke Tomizuka, Hiromu Sekiguchi, S. Fukushima, Yuki Saito, T. Nozaki, K. Ohnishi","doi":"10.1109/IECON.2017.8217178","DOIUrl":"https://doi.org/10.1109/IECON.2017.8217178","url":null,"abstract":"In this paper, motion-reproduction system for picking by multiple-DoFs manipulator with a stereo camera is proposed. The conventional motion-reproduction is able to pick different sized objects because of considering force in the control system. However, the conventional system has difficulty in picking the positional changed objects in motion-reproduction. The proposed method compensates the positional fluctuation of picking objects by image processing information and reproduce saved motion successfully. The superiority of proposal is confirmed through experiments. In the experiment tomato and a toy strawberry was used for picking by multiple-DoFs manipulator. The manipulator with proposed method picked the object successfully.","PeriodicalId":13098,"journal":{"name":"IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society","volume":"8 1","pages":"6745-6750"},"PeriodicalIF":0.0,"publicationDate":"2017-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79102360","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}
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