Pub Date : 2011-11-01DOI: 10.1109/ICA.2011.6130118
J. Dankelman, J. J. van den Dobbelsteen, P. Breedveld
Minimally invasive techniques (MIT) are used in interventions making use of long instruments inserted via natural openings or small incisions in the skin. There is a large role for technology in these interventions focusing on treating the patient with minimal damage to healthy tissue. Because of the interposition of these instruments, the degrees of movements are limited, visual feedback is indirect via use of endoscopic camera or imaging techniques, and haptic feedback is limited to force feedback to the human hand. Extensive training is needed to master the difficult minimally invasive methods. Traditionally, surgical training is performed on patients in the OR under supervision of an experienced surgeon/interventionist. Several training methods became available to train minimally invasive skills outside the operating room, e.g. box-trainers, VR-trainers, with and without a haptic feedback. In this paper, technology recently developed or under development for minimally invasive surgery, single port surgery, flexible endoscopy, NOTES (Natural Orifice Transluminal Endoscopic Surgery), needle and other type of interventions will be described, including recent developments in robotic systems. In addition, recent advancements in training systems development will be described and the advantages and disadvantages of the different training methods will be compared. Furthermore, the role of force feedback will be discussed.
{"title":"Current technology on minimally invasive surgery and Interventional Techniques","authors":"J. Dankelman, J. J. van den Dobbelsteen, P. Breedveld","doi":"10.1109/ICA.2011.6130118","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130118","url":null,"abstract":"Minimally invasive techniques (MIT) are used in interventions making use of long instruments inserted via natural openings or small incisions in the skin. There is a large role for technology in these interventions focusing on treating the patient with minimal damage to healthy tissue. Because of the interposition of these instruments, the degrees of movements are limited, visual feedback is indirect via use of endoscopic camera or imaging techniques, and haptic feedback is limited to force feedback to the human hand. Extensive training is needed to master the difficult minimally invasive methods. Traditionally, surgical training is performed on patients in the OR under supervision of an experienced surgeon/interventionist. Several training methods became available to train minimally invasive skills outside the operating room, e.g. box-trainers, VR-trainers, with and without a haptic feedback. In this paper, technology recently developed or under development for minimally invasive surgery, single port surgery, flexible endoscopy, NOTES (Natural Orifice Transluminal Endoscopic Surgery), needle and other type of interventions will be described, including recent developments in robotic systems. In addition, recent advancements in training systems development will be described and the advantages and disadvantages of the different training methods will be compared. Furthermore, the role of force feedback will be discussed.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"123 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115612702","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 : 2011-11-01DOI: 10.1109/ICA.2011.6130132
I.M. Farida, Suprijanto, Gunawan Ismail, H. Susanti, Maria E Prasetio
The acupuncture therapy has been known since thousands of years ago in China as the TCM (Traditional Chinese Medicine). From testimonials, there has been recognition on the positive effects of accupunture therapy for variety of diseases. Unfortunately, there have not been any clinical proofs as in modern medicine or through the stages of analytical laboratory. It has been known that human stamina can be improved by treating with acupuncture. In this paper, electrical signals from muscle or called Electromyography (EMG) are studied in order to show the effect of acupuncture therapy on human stamina. In the experiment, the EMG of volunteers are measured when they receive stimulation from 5 kg physical load. The effect of acupuncture is analyzed by comparing EMG from two groups with the same exercise, where the first group received acupuncture treatment and the second group did not. Analytical method is carried out on the EMG data by converting into Power Spectral Density (PSD) and Median Frequency (MF). Results show that the acupuncture therapy can improve the human stamina on muscular exercises.
针灸疗法在中国几千年前就被称为中医(Traditional Chinese Medicine)。从证词来看，人们已经认识到针灸治疗对各种疾病的积极作用。不幸的是，没有任何临床证据，如在现代医学或通过分析实验室的阶段。人们已经知道，通过针灸治疗可以提高人的耐力。本文研究了肌肉电信号或称为肌电图(EMG)，以显示针灸治疗对人体耐力的影响。在实验中，志愿者接受5kg体力负荷刺激时的肌电图被测量。针灸的效果是通过比较两组相同运动的肌电图来分析的，第一组接受针灸治疗，第二组没有。将肌电数据转化为功率谱密度(PSD)和中位数频率(MF)进行分析。结果表明，针灸疗法可以提高人体肌肉运动的耐力。
{"title":"Observation of acupuncture stimulation on human stamina improvement using EMG","authors":"I.M. Farida, Suprijanto, Gunawan Ismail, H. Susanti, Maria E Prasetio","doi":"10.1109/ICA.2011.6130132","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130132","url":null,"abstract":"The acupuncture therapy has been known since thousands of years ago in China as the TCM (Traditional Chinese Medicine). From testimonials, there has been recognition on the positive effects of accupunture therapy for variety of diseases. Unfortunately, there have not been any clinical proofs as in modern medicine or through the stages of analytical laboratory. It has been known that human stamina can be improved by treating with acupuncture. In this paper, electrical signals from muscle or called Electromyography (EMG) are studied in order to show the effect of acupuncture therapy on human stamina. In the experiment, the EMG of volunteers are measured when they receive stimulation from 5 kg physical load. The effect of acupuncture is analyzed by comparing EMG from two groups with the same exercise, where the first group received acupuncture treatment and the second group did not. Analytical method is carried out on the EMG data by converting into Power Spectral Density (PSD) and Median Frequency (MF). Results show that the acupuncture therapy can improve the human stamina on muscular exercises.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125620270","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 : 2011-11-01DOI: 10.1109/ICA.2011.6130130
Jochen Grieser, H. Klingbeil, J. Adamy
In this paper a fuzzy controller is presented which guides a disturbed particle beam in a heavy-ion synchrotron back to the stable fixed point and thus prevents undesired longitudinal beam oscillations. The advantage over common control systems which only provide additional damping of the beam oscillations is the minimal increase of the rms beam emittance. The decision making of the controller depends on the position of the barycenter of the bunch in phase space which consists of the phase slip to the accelerating gap voltage and the energy deviation to the reference particle. As only the phase slip can be measured it is shown how the energy deviation can be obtained by differentiating the phase slip with a robust sliding mode differentiator as developed by Levant [8]. The performance of the proposed fuzzy controller is demonstrated by macro particle simulations.
{"title":"Fuzzy controller for beam stabilization in a heavy-ion synchrotron","authors":"Jochen Grieser, H. Klingbeil, J. Adamy","doi":"10.1109/ICA.2011.6130130","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130130","url":null,"abstract":"In this paper a fuzzy controller is presented which guides a disturbed particle beam in a heavy-ion synchrotron back to the stable fixed point and thus prevents undesired longitudinal beam oscillations. The advantage over common control systems which only provide additional damping of the beam oscillations is the minimal increase of the rms beam emittance. The decision making of the controller depends on the position of the barycenter of the bunch in phase space which consists of the phase slip to the accelerating gap voltage and the energy deviation to the reference particle. As only the phase slip can be measured it is shown how the energy deviation can be obtained by differentiating the phase slip with a robust sliding mode differentiator as developed by Levant [8]. The performance of the proposed fuzzy controller is demonstrated by macro particle simulations.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126656363","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 : 2011-11-01DOI: 10.1109/ICA.2011.6130174
Sumardi, Munnik Haryanti, Y. Dewanto
Aerodrome Terminal Information Service (ATIS) is a tool to support telecommunications which serves flights to provide navigation information about weather conditions around it along with the information necessary to take off and landing process. Because limited number of human resources, it is often the case that missing data resulting in fatal aircraft, and live-time equipment condition performance are to be reduced. One solution is to create an automatic device for cope with the amount of human resources at the transmitter ATIS. Test results obtained that the design of this automatic device very practical use at airports that provide / service information ATIS for 24 hours continuously, with a transmitter that can operate alternately every 6 hours, so that the safety and comfort information service on flights to underserved and secure, with a limited number of human resources.
{"title":"Design of automatic change over unit ATIS PAE time as well as maintaining the presence of E 5000 M and T6T Airport-Jakarta","authors":"Sumardi, Munnik Haryanti, Y. Dewanto","doi":"10.1109/ICA.2011.6130174","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130174","url":null,"abstract":"Aerodrome Terminal Information Service (ATIS) is a tool to support telecommunications which serves flights to provide navigation information about weather conditions around it along with the information necessary to take off and landing process. Because limited number of human resources, it is often the case that missing data resulting in fatal aircraft, and live-time equipment condition performance are to be reduced. One solution is to create an automatic device for cope with the amount of human resources at the transmitter ATIS. Test results obtained that the design of this automatic device very practical use at airports that provide / service information ATIS for 24 hours continuously, with a transmitter that can operate alternately every 6 hours, so that the safety and comfort information service on flights to underserved and secure, with a limited number of human resources.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126174256","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}
Record devices turning radius is needed to record the turning radius on vehicles. If you created an electronic recording devices turning radius then it could be utilized to serve as a standard, so it can determine the appropriate class path for a vehicle. The working principle of such a device is an ultrasound sensor mounted on one wheel of a car, and then the car goes around the arena that has been determined. Ultrasound is detected by the microcontroller then the received data is processed, to determine the radius of rotation. Test results from this tool to calculate the turning radius compared with the data issued by vehicle manufacturers were tested for turning radius, resulting in an average error of 0.4%.
{"title":"The design of recorder radius tools to play four wheel vehicle based on microcontroller","authors":"Dandy Oktodify, Hilda Rizky Aulia, Tiara Nurul Anggraeni","doi":"10.1109/ICA.2011.6130159","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130159","url":null,"abstract":"Record devices turning radius is needed to record the turning radius on vehicles. If you created an electronic recording devices turning radius then it could be utilized to serve as a standard, so it can determine the appropriate class path for a vehicle. The working principle of such a device is an ultrasound sensor mounted on one wheel of a car, and then the car goes around the arena that has been determined. Ultrasound is detected by the microcontroller then the received data is processed, to determine the radius of rotation. Test results from this tool to calculate the turning radius compared with the data issued by vehicle manufacturers were tested for turning radius, resulting in an average error of 0.4%.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126513631","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 : 2011-11-01DOI: 10.1109/ICA.2011.6130151
E. Joelianto, Iqbal Ginanjar Prasetia
This paper proposes a robust multiplexed model predictive control (MMPC) for a bake plate control system. The bake plate is a multi-inputs multi-outputs (MIMO) system which is required to have uniform temperature. In bake plate sytem, the controller must be able to reduce the disturbances caused when placing a cold wafer inside. Results show that the proposed robust MMPC can outperform in attenuating disturbance compare with the MMPC and the standard MPC.
{"title":"Bake plate control using a robust multiplexed model predictive control (RMMPC)","authors":"E. Joelianto, Iqbal Ginanjar Prasetia","doi":"10.1109/ICA.2011.6130151","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130151","url":null,"abstract":"This paper proposes a robust multiplexed model predictive control (MMPC) for a bake plate control system. The bake plate is a multi-inputs multi-outputs (MIMO) system which is required to have uniform temperature. In bake plate sytem, the controller must be able to reduce the disturbances caused when placing a cold wafer inside. Results show that the proposed robust MMPC can outperform in attenuating disturbance compare with the MMPC and the standard MPC.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129791757","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 : 2011-11-01DOI: 10.1109/ICA.2011.6130141
E. Joelianto, D. Chaerani, A. Setiawan
The paper considers hardware in the loop simulation (HILS) of railway traffic re-scheduling during disturbances. The traffic re-scheduling during disturbances is formulated as a mixed integer linear programming (MILP) solved by using branch and bound algorithm. The HILS apparatus is then set-up to verify the results.
{"title":"Hardware in the loop simulation of railway traffic re-scheduling by means of MILP algorithm","authors":"E. Joelianto, D. Chaerani, A. Setiawan","doi":"10.1109/ICA.2011.6130141","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130141","url":null,"abstract":"The paper considers hardware in the loop simulation (HILS) of railway traffic re-scheduling during disturbances. The traffic re-scheduling during disturbances is formulated as a mixed integer linear programming (MILP) solved by using branch and bound algorithm. The HILS apparatus is then set-up to verify the results.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123795707","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 : 2011-11-01DOI: 10.1109/ICA.2011.6130136
A. Halim, Irwan Prasetya Gunawan
We propose a new Reduced Reference model for assessing the quality of JPEG and JPEG2000 images. We utilize the Haar Wavelet Decomposition as a tool to model the image information along with the distortions presents in JPEG or JPEG2000 images. One of the superiority of our method is the ability to independently assess the quality of JPEG and JPEG2000 images without using any additional discrimination method. Our method also incorporate a simple design to model the distortions in the image without using complex Human Visual System (HVS) model. Despite its simple design, our method has demonstrated an accurate and reliable quality metric. Experimental results using several categories of JPEG and JPEG2000 images using LIVE Image Database Release 2 will be presented to verify our metric. The results of our experiments show that the method has achieved high correlation with the subjective data in most of the categories.
{"title":"Haar wavelet based reduced reference quality assessment technique for JPEG/JPEG2000 images","authors":"A. Halim, Irwan Prasetya Gunawan","doi":"10.1109/ICA.2011.6130136","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130136","url":null,"abstract":"We propose a new Reduced Reference model for assessing the quality of JPEG and JPEG2000 images. We utilize the Haar Wavelet Decomposition as a tool to model the image information along with the distortions presents in JPEG or JPEG2000 images. One of the superiority of our method is the ability to independently assess the quality of JPEG and JPEG2000 images without using any additional discrimination method. Our method also incorporate a simple design to model the distortions in the image without using complex Human Visual System (HVS) model. Despite its simple design, our method has demonstrated an accurate and reliable quality metric. Experimental results using several categories of JPEG and JPEG2000 images using LIVE Image Database Release 2 will be presented to verify our metric. The results of our experiments show that the method has achieved high correlation with the subjective data in most of the categories.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122027867","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 : 2011-11-01DOI: 10.1109/ICA.2011.6130184
O. Inayatullah, N. Jamaludin, Aidy Ali, Mohd Jailani Mohd Nor
This paper presents an investigation of the capability of the acoustic emission (AE) technique in the processes of monitoring and detecting the variation of engine oil's viscosity via in-situ operation. The investigations were conducted on an 8.5-hp single cylinder of four strokes with a water cooling engine. One single grade engine oil's condition has been put to the test; namely, SAE 40 VI 96. The oil condition in the engine was successfully monitored based on the AE signatures generated by the interaction between the piston surface and the layer of the oil during the time that the engine was in operation. The generated AE signatures were captured using an AE wide band transducer that was bonded outside the engine block and located at the lower part of the bottom dead centre (BDC). The captured waveform signatures were then analysed using the MATLAB software. The results of the experimental works show that the statistical analysis parameters including the root-mean-square (rms), maximum amplitude and AE energy values are capable of distinguishing the variant of the viscosity. The AE technique can assist the owner of the engine in determining the engine oil's condition before replacing it.
本文研究了声发射(AE)技术在现场监测和检测机油粘度变化过程中的能力。调查是在一台8.5马力的四冲程单缸水冷发动机上进行的。对某单级机油的工况进行了试验;即SAE 40 VI 96。在发动机运行过程中，利用活塞表面与油层相互作用产生的声发射信号，成功地监测了发动机的油况。生成的声发射信号是通过一个声发射宽带换能器捕获的，该换能器连接在发动机缸体外部，位于底部死点(BDC)的下部。然后使用MATLAB软件对捕获的波形特征进行分析。实验结果表明，包括均方根、最大振幅和声发射能值在内的统计分析参数能够区分粘度的变化。声发射技术可以帮助发动机所有者在更换机油前确定机油的状况。
{"title":"Application of acoustic emission technique to observer the engine oil's viscosity","authors":"O. Inayatullah, N. Jamaludin, Aidy Ali, Mohd Jailani Mohd Nor","doi":"10.1109/ICA.2011.6130184","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130184","url":null,"abstract":"This paper presents an investigation of the capability of the acoustic emission (AE) technique in the processes of monitoring and detecting the variation of engine oil's viscosity via in-situ operation. The investigations were conducted on an 8.5-hp single cylinder of four strokes with a water cooling engine. One single grade engine oil's condition has been put to the test; namely, SAE 40 VI 96. The oil condition in the engine was successfully monitored based on the AE signatures generated by the interaction between the piston surface and the layer of the oil during the time that the engine was in operation. The generated AE signatures were captured using an AE wide band transducer that was bonded outside the engine block and located at the lower part of the bottom dead centre (BDC). The captured waveform signatures were then analysed using the MATLAB software. The results of the experimental works show that the statistical analysis parameters including the root-mean-square (rms), maximum amplitude and AE energy values are capable of distinguishing the variant of the viscosity. The AE technique can assist the owner of the engine in determining the engine oil's condition before replacing it.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122189570","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 : 2011-11-01DOI: 10.1109/ICA.2011.6130176
S. Kadam, B. Seth
Reactobot is a one-wheel robot developed at IIT Bombay. It is balanced by reaction wheel actuator suspended from the central axis. The Robot can get accelerated in forward or backward direction by pitching the pendulum mass within the wheel in the same direction. Turns can be- executed by tilting robot to right or left while in motion. In this paper, we describe multi-body dynamic model of the Reactobot. The mathematical model of Reactobot is developed using the Lagrangian constrained generalized formulation. Dynamic model is highly nonlinear and Jacobian linearization has been used to obtain a linear model for operation close to vertical rolling motion. LQR control scheme is proposed to design controller for linearised model. Simulation results demonstrate the effectiveness of this scheme.
{"title":"LQR controller of one wheel robot stabilized by reaction wheel principle","authors":"S. Kadam, B. Seth","doi":"10.1109/ICA.2011.6130176","DOIUrl":"https://doi.org/10.1109/ICA.2011.6130176","url":null,"abstract":"Reactobot is a one-wheel robot developed at IIT Bombay. It is balanced by reaction wheel actuator suspended from the central axis. The Robot can get accelerated in forward or backward direction by pitching the pendulum mass within the wheel in the same direction. Turns can be- executed by tilting robot to right or left while in motion. In this paper, we describe multi-body dynamic model of the Reactobot. The mathematical model of Reactobot is developed using the Lagrangian constrained generalized formulation. Dynamic model is highly nonlinear and Jacobian linearization has been used to obtain a linear model for operation close to vertical rolling motion. LQR control scheme is proposed to design controller for linearised model. Simulation results demonstrate the effectiveness of this scheme.","PeriodicalId":132474,"journal":{"name":"2011 2nd International Conference on Instrumentation Control and Automation","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124689934","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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