Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449201
Cho-Yu Yang, Yi-Feng Chang, Chin-Wen Cheng, C. Sung
This paper proposes an embedded system, as a major part of intelligent module, to improve the reliability and precision of the hydrostatic bearing, which is known as a key subsystem of precision machine tools. The embedded system integrated with sensory devices has two main functions: virtual metrology and fault diagnosis. By employing virtual metrology, the embedded system can accurately estimate the change of oil-film thickness as well as bearing stiffness based on on-line measured pressure, temperature and flow rate with the sensory devices, which will provide to the controller of machine tool to either compensate the dimensional inaccuracy or initiate preventive maintenance. To fulfill the function of embedded system the equations governing the relationship among the oil-film thickness, pocket pressure and flow rate are derived and employed to train the predictive model of virtual metrology by a large amount of experimental data with Linear Regression method. Comparing the error predictive model with theoretical derivation, the error of the predictive model was reduced less than 5%.
{"title":"Design of an Intelligent Module for Hydrostatic Bearing","authors":"Cho-Yu Yang, Yi-Feng Chang, Chin-Wen Cheng, C. Sung","doi":"10.1109/MESA.2018.8449201","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449201","url":null,"abstract":"This paper proposes an embedded system, as a major part of intelligent module, to improve the reliability and precision of the hydrostatic bearing, which is known as a key subsystem of precision machine tools. The embedded system integrated with sensory devices has two main functions: virtual metrology and fault diagnosis. By employing virtual metrology, the embedded system can accurately estimate the change of oil-film thickness as well as bearing stiffness based on on-line measured pressure, temperature and flow rate with the sensory devices, which will provide to the controller of machine tool to either compensate the dimensional inaccuracy or initiate preventive maintenance. To fulfill the function of embedded system the equations governing the relationship among the oil-film thickness, pocket pressure and flow rate are derived and employed to train the predictive model of virtual metrology by a large amount of experimental data with Linear Regression method. Comparing the error predictive model with theoretical derivation, the error of the predictive model was reduced less than 5%.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115868604","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 : 2018-07-01DOI: 10.1109/MESA.2018.8449146
D. Pup, G. Szakallas, J. Polak
Our long-term goal is to implement autonomous vehicle control functions on a standard vehicle. At first we started with the investigation of the steering, which is a crucial area of the control of autonomous vehicles. As a part of the program, vehicle dynamical measurements were carried out on a Nissan Leaf electric vehicle equipped with a sensor system.
{"title":"Research of vehicle parameter and sensor systems necessary to control autonomous vehicles","authors":"D. Pup, G. Szakallas, J. Polak","doi":"10.1109/MESA.2018.8449146","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449146","url":null,"abstract":"Our long-term goal is to implement autonomous vehicle control functions on a standard vehicle. At first we started with the investigation of the steering, which is a crucial area of the control of autonomous vehicles. As a part of the program, vehicle dynamical measurements were carried out on a Nissan Leaf electric vehicle equipped with a sensor system.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115978498","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 : 2018-07-01DOI: 10.1109/MESA.2018.8449155
P. Boscariol, D. Richiedei
The design of optimal trajectories for automatic machines is an effective tool to reduce their energy consumption. This work investigates the topic by proposing a method tailored for functionally redundant robots, i.e., the ones which have more degrees of freedom than the ones required by the task. The test case under consideration is a serial 3R robot used for a positioning task in a planar space, described by a sequence of via-points in the operative space. Speed limits and smoothness constraints, in terms of speed and jerk limitations are taken into account to ensure trajectory feasibility. The method finds the optimal time intervals between two consecutive via-points, as well as the optimal robot configurations at the via-points (i.e., the optimal solution of the inverse kinematic problem among the infinite ones). The results show the capability of the method in producing energy-efficient motion profile, and the improved results over the optimization of just the time intervals.
{"title":"Spline-based energy-optimal trajectory planning for functionally redundant robots","authors":"P. Boscariol, D. Richiedei","doi":"10.1109/MESA.2018.8449155","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449155","url":null,"abstract":"The design of optimal trajectories for automatic machines is an effective tool to reduce their energy consumption. This work investigates the topic by proposing a method tailored for functionally redundant robots, i.e., the ones which have more degrees of freedom than the ones required by the task. The test case under consideration is a serial 3R robot used for a positioning task in a planar space, described by a sequence of via-points in the operative space. Speed limits and smoothness constraints, in terms of speed and jerk limitations are taken into account to ensure trajectory feasibility. The method finds the optimal time intervals between two consecutive via-points, as well as the optimal robot configurations at the via-points (i.e., the optimal solution of the inverse kinematic problem among the infinite ones). The results show the capability of the method in producing energy-efficient motion profile, and the improved results over the optimization of just the time intervals.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126826657","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 : 2018-07-01DOI: 10.1109/MESA.2018.8449156
Burak Teke, Minna Lanz, J. Kämäräinen, A. Hietanen
Recent development in depth sensing provide various opportunities for the development of new methods for Human Robot Interaction (HRI). Collaborative robots (co-bots) are redefining HRI across the manufacturing industry. However, little work has been done yet in the field of HRI with Kinect sensor in this industry. In this paper, we will present a HRI study using nearest-point approach with Microsoft Kinect v2 sensor’s depth image (RGB-D). The approach is based on the Euclidean distance which has robust properties against different environments. The study aims to improve the motion performance of Universal Robot–5 (UR5) and interaction efficiency during the possible collaboration using the Robot Operating System (ROS) framework and its tools. After the depth data from the Kinect sensor has been processed, the nearest points differences are transmitted to the robot via ROS.
{"title":"Real-time and Robust Collaborative Robot Motion Control with Microsoft Kinect ® v2","authors":"Burak Teke, Minna Lanz, J. Kämäräinen, A. Hietanen","doi":"10.1109/MESA.2018.8449156","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449156","url":null,"abstract":"Recent development in depth sensing provide various opportunities for the development of new methods for Human Robot Interaction (HRI). Collaborative robots (co-bots) are redefining HRI across the manufacturing industry. However, little work has been done yet in the field of HRI with Kinect sensor in this industry. In this paper, we will present a HRI study using nearest-point approach with Microsoft Kinect v2 sensor’s depth image (RGB-D). The approach is based on the Euclidean distance which has robust properties against different environments. The study aims to improve the motion performance of Universal Robot–5 (UR5) and interaction efficiency during the possible collaboration using the Robot Operating System (ROS) framework and its tools. After the depth data from the Kinect sensor has been processed, the nearest points differences are transmitted to the robot via ROS.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123531106","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 : 2018-07-01DOI: 10.1109/MESA.2018.8449147
Chih-Chun Cheng, W. Cheng, M. Liao, C. Sung
A cost-effective sensor-embedded smart linear guideway type (LGT) recirculating linear ball bearing is proposed. Two kinds of sensors are installed on this linear ball bearing. The first one is an optical mouse sensor which provides the positioning information. The second one is a tactile load cell, called Force Sensitive Resistor (FSR) which measures the forces from the guide ways. With these sensors, the recirculating linear ball bearing is utilized to monitor the position and the onset of preload loss and, moreover; the straightness and parallelism of linear guide ways. By tracking the change of force sensed by the FSR along the guide way, the LGT linear bearing preload degradation and the guide way alignment can be on-line monitored automatically without taking off the worktable. The performance of this proposed sensor-embedded smart linear ball bearing is assessed experimentally.
{"title":"Sensor-embedded Linear Ball Bearing for Linear Guide Way Pre-load and Straightness Monitoring","authors":"Chih-Chun Cheng, W. Cheng, M. Liao, C. Sung","doi":"10.1109/MESA.2018.8449147","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449147","url":null,"abstract":"A cost-effective sensor-embedded smart linear guideway type (LGT) recirculating linear ball bearing is proposed. Two kinds of sensors are installed on this linear ball bearing. The first one is an optical mouse sensor which provides the positioning information. The second one is a tactile load cell, called Force Sensitive Resistor (FSR) which measures the forces from the guide ways. With these sensors, the recirculating linear ball bearing is utilized to monitor the position and the onset of preload loss and, moreover; the straightness and parallelism of linear guide ways. By tracking the change of force sensed by the FSR along the guide way, the LGT linear bearing preload degradation and the guide way alignment can be on-line monitored automatically without taking off the worktable. The performance of this proposed sensor-embedded smart linear ball bearing is assessed experimentally.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116477285","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 : 2018-07-01DOI: 10.1109/MESA.2018.8449206
A. Galdelli, A. Mancini, E. Frontoni, P. Zingaretti
Three-dimensional reconstruction is a very important technique of Computer Vision that produces a three-dimensional (3D) model of a real scene. For this purpose, we use Photometric Stereo that allows you to shape estimation from several images under different lighting conditions. In the last few years, this technology has been used in many areas both working and scientific. An important sector where Photometric Stereo is used is quality control inside productive cycle. In some case, the model 3D is used to identify defects or to make measurements of the order of hundredths or even thousandths of millimeters. To obtain an accurate 3D model, it is necessary to use an cost-effective reconstruction system with a performance hardware. Alternatively, we propose a method that combine Photometric Stereo with Super Resolution that produces a very accurate model using cheap and lower performance hardware that is suitable for optical inspection. Indeed, the Super Resolution allows to overcome the hardware constraint and produce one high resolution image from a set of low resolution images. With this novel method, we obtain a very accurate 3D model that could be in a decision support system for optical inspection.
{"title":"A Synergic Photometric Stereo and Super Resolution Approach for Optical Inspection","authors":"A. Galdelli, A. Mancini, E. Frontoni, P. Zingaretti","doi":"10.1109/MESA.2018.8449206","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449206","url":null,"abstract":"Three-dimensional reconstruction is a very important technique of Computer Vision that produces a three-dimensional (3D) model of a real scene. For this purpose, we use Photometric Stereo that allows you to shape estimation from several images under different lighting conditions. In the last few years, this technology has been used in many areas both working and scientific. An important sector where Photometric Stereo is used is quality control inside productive cycle. In some case, the model 3D is used to identify defects or to make measurements of the order of hundredths or even thousandths of millimeters. To obtain an accurate 3D model, it is necessary to use an cost-effective reconstruction system with a performance hardware. Alternatively, we propose a method that combine Photometric Stereo with Super Resolution that produces a very accurate model using cheap and lower performance hardware that is suitable for optical inspection. Indeed, the Super Resolution allows to overcome the hardware constraint and produce one high resolution image from a set of low resolution images. With this novel method, we obtain a very accurate 3D model that could be in a decision support system for optical inspection.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131770232","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 : 2018-07-01DOI: 10.1109/MESA.2018.8449151
G. Andrikopoulos, G. Nikolakopoulos
In this article, the potential of utilizing a commercially available Electric Ducted Fan (EDF) as a negative-pressure actuator for adhesion purposes is experimentally tested. To this purpose, a novel EDF-based Vortex Actuation System (VAS) is proposed and presented from a design, development and experimental evaluation perspective. The effect of different EDF design properties and design alterations to the actuation system is analyzed, for providing novel considerations on optimizing the adhesion efficiency of such a system.
{"title":"Design, Development and Experimental Evaluation of a Vortex Actuation System","authors":"G. Andrikopoulos, G. Nikolakopoulos","doi":"10.1109/MESA.2018.8449151","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449151","url":null,"abstract":"In this article, the potential of utilizing a commercially available Electric Ducted Fan (EDF) as a negative-pressure actuator for adhesion purposes is experimentally tested. To this purpose, a novel EDF-based Vortex Actuation System (VAS) is proposed and presented from a design, development and experimental evaluation perspective. The effect of different EDF design properties and design alterations to the actuation system is analyzed, for providing novel considerations on optimizing the adhesion efficiency of such a system.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"180 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121822619","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 : 2018-07-01DOI: 10.1109/MESA.2018.8449177
Gaozhao Su, Guoliang Lu, Peng Yan
The function of motion estimation (ME) is crucial in micro/nano systems in which the use of RGB/gray cameras attracts an increasing attention in recent years. In this paper, to improve the computational efficiency of existing PSO-based motion estimation method using RGB/gray cameras, we present a novel fast algorithm for the motion estimation problem with application to nano/micro manipulation systems. Particularly, in the proposed method, we improve the PSO with introducing the narrow solution space (NSS), to develop an improved version of PSO which was experimentally demonstrated significant improvements over the standard PSO on the computation speed meanwhile with a comparable estimation accuracy. Moreover, the method can also potentially allow to be integrated with a sub-pixel interpolation technique for the purpose of allowing for more advanced manipulation tasks.
{"title":"Improved particle swarm optimization for fast block matching with application to motion estimation in micro/nano systems","authors":"Gaozhao Su, Guoliang Lu, Peng Yan","doi":"10.1109/MESA.2018.8449177","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449177","url":null,"abstract":"The function of motion estimation (ME) is crucial in micro/nano systems in which the use of RGB/gray cameras attracts an increasing attention in recent years. In this paper, to improve the computational efficiency of existing PSO-based motion estimation method using RGB/gray cameras, we present a novel fast algorithm for the motion estimation problem with application to nano/micro manipulation systems. Particularly, in the proposed method, we improve the PSO with introducing the narrow solution space (NSS), to develop an improved version of PSO which was experimentally demonstrated significant improvements over the standard PSO on the computation speed meanwhile with a comparable estimation accuracy. Moreover, the method can also potentially allow to be integrated with a sub-pixel interpolation technique for the purpose of allowing for more advanced manipulation tasks.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126021166","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 : 2018-07-01DOI: 10.1109/mesa.2018.8449185
{"title":"MESA 2018 Committees","authors":"","doi":"10.1109/mesa.2018.8449185","DOIUrl":"https://doi.org/10.1109/mesa.2018.8449185","url":null,"abstract":"","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121866707","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 : 2018-07-01DOI: 10.1109/MESA.2018.8449171
Tamás Péter, I. Lakatos, Ferenc Szauter, K. Szabo
This paper introduces the mathematical modeling, safety analysis and development of diagnostic methods. Its aim is to establish a new, accredited research laboratory for the testing and quality assurance of hybrid and electric driven vehicles. The task is very complex and it puts special emphasis on environmental and safety issues.
{"title":"Questions regarding vehicle safety and the mathematical analysis of safety in large scale networks using positive dynamic systems and probability theory methods","authors":"Tamás Péter, I. Lakatos, Ferenc Szauter, K. Szabo","doi":"10.1109/MESA.2018.8449171","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449171","url":null,"abstract":"This paper introduces the mathematical modeling, safety analysis and development of diagnostic methods. Its aim is to establish a new, accredited research laboratory for the testing and quality assurance of hybrid and electric driven vehicles. The task is very complex and it puts special emphasis on environmental and safety issues.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124978531","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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