Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5669636
W. Petchmaneelumka, A. Julsereewong
This paper presents one-bit cell supporting input voltage to synthesize triangular-like DC transfer characteristic and digital output of Gray-code algorithmic analog-to-digital converter. The proposed one-bit cell is based on the use of operational conveyors in connection with resistors, diodes, and voltage comparator. An N-bit resolution can be simply realized by cascading the N proposed one-bit cells. Surpassing the previous one-bit cells using operational transconductance amplifiers, the proposed converter affords higher resolution and simpler configuration. The circuit operations of the proposed converter are confirmed through PSPICE simulation and experimental results.
{"title":"A Gray-code algorithmic analog-to-digital converter based on operational conveyors","authors":"W. Petchmaneelumka, A. Julsereewong","doi":"10.1109/ICCAS.2010.5669636","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669636","url":null,"abstract":"This paper presents one-bit cell supporting input voltage to synthesize triangular-like DC transfer characteristic and digital output of Gray-code algorithmic analog-to-digital converter. The proposed one-bit cell is based on the use of operational conveyors in connection with resistors, diodes, and voltage comparator. An N-bit resolution can be simply realized by cascading the N proposed one-bit cells. Surpassing the previous one-bit cells using operational transconductance amplifiers, the proposed converter affords higher resolution and simpler configuration. The circuit operations of the proposed converter are confirmed through PSPICE simulation and experimental results.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124034410","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5669953
H. R. Karampoorian, R. Mohseni
In this paper, we designed generalized model predictive control for linearized magnetic levitation system and applied to the nonlinear system. The proposed control strategy is guarantee the stability of the open loop unstable system and tracking the desired values of the state variables with the stabilizing constraints. The simulation results show that the tracking performance and effectiveness of generalized predictive control strategy. Furthermore, robustness with respect to mismatch between model/process with changes in the parameters of the system are investigated.
{"title":"Control of a nonlinear magnetic levitation system by using constraint generalized model predictive control","authors":"H. R. Karampoorian, R. Mohseni","doi":"10.1109/ICCAS.2010.5669953","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669953","url":null,"abstract":"In this paper, we designed generalized model predictive control for linearized magnetic levitation system and applied to the nonlinear system. The proposed control strategy is guarantee the stability of the open loop unstable system and tracking the desired values of the state variables with the stabilizing constraints. The simulation results show that the tracking performance and effectiveness of generalized predictive control strategy. Furthermore, robustness with respect to mismatch between model/process with changes in the parameters of the system are investigated.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127675739","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5669853
Donghwan Lee, Jin-Bae Park, Y. Joo
This paper investigates the problem of robust D-stabilization for polynomial matrix polytopes. By employing proportional-derivative (PD) state-feedback controllers, a new sufficient condition is formulated in terms of a linear matrix inequality (LMI) feasibility problem. Example is given to demonstrate the validity and efficiency of the proposed approach.
{"title":"A new linear matrix inequality condition for robust D-stabilizing proportional-derivative state-feedback controller design of polynomial matrix polytopes","authors":"Donghwan Lee, Jin-Bae Park, Y. Joo","doi":"10.1109/ICCAS.2010.5669853","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669853","url":null,"abstract":"This paper investigates the problem of robust D-stabilization for polynomial matrix polytopes. By employing proportional-derivative (PD) state-feedback controllers, a new sufficient condition is formulated in terms of a linear matrix inequality (LMI) feasibility problem. Example is given to demonstrate the validity and efficiency of the proposed approach.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127684452","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670311
Yunjung Park, Yongseok Cho, Sihyeon Yang, Eunmi Choi, D. Min
User Created Robots (UCRs) are personal robots that consist of toy blocks. Usually user controls UCR via short-range wireless communications such as IR, ZigBee, Bluetooth and so on. However, this current technology has some spatial limitations. UCR remote control system gives extension of UCR related services and activities. Also this system allows in conjunction with e-education services and other external services such as web services and virtual worlds. In this paper, we handle two key issues for expansion of UCR applications. One is how to control UCR in a place far away, and the other is how to support interoperability between UCR and its controller. We solve these issues by network protocol transformation and logical key mapping structure. We suggest system architecture of UCR remote control system that supports interoperability and our implementation and evaluation results show efficiency of proposed system.
{"title":"Remote control system for User Created Robot supporting interoperability between controller and robot","authors":"Yunjung Park, Yongseok Cho, Sihyeon Yang, Eunmi Choi, D. Min","doi":"10.1109/ICCAS.2010.5670311","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670311","url":null,"abstract":"User Created Robots (UCRs) are personal robots that consist of toy blocks. Usually user controls UCR via short-range wireless communications such as IR, ZigBee, Bluetooth and so on. However, this current technology has some spatial limitations. UCR remote control system gives extension of UCR related services and activities. Also this system allows in conjunction with e-education services and other external services such as web services and virtual worlds. In this paper, we handle two key issues for expansion of UCR applications. One is how to control UCR in a place far away, and the other is how to support interoperability between UCR and its controller. We solve these issues by network protocol transformation and logical key mapping structure. We suggest system architecture of UCR remote control system that supports interoperability and our implementation and evaluation results show efficiency of proposed system.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126390777","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670273
Hongbin Liu, MinJung Kim, JungJin Lim, C. Yoo
As the public awareness of environmental protection increases and the environmental regulations become more stringent, effective control of the wastewater treatment process (WWTP) has become a research hotspot. In this paper, a cascade MPC and PID control strategy is introduced to the Benchmark Simulation Model 1 (BSM1). The proposed cascade control structure is composed of a primary MPC controller to control the nitrate concentration in the effluent and a secondary PID controller to control the nitrate concentration in the final anoxic compartment. The suggested method controls the nitrate concentrations in the effluent as well as in the final anoxic reactor simultaneously to strictly satisfy the quality of the effluent as well as to remove the effects of disturbances more quickly by manipulating the external carbon dosage. Because the control performance assessment (CPA) technique has the features of determining the capability of the current controller and locating the best achievable performance, the other novelty of this paper is to take the CPA technology into the wastewater treatment process. The CPA results indicate that the primary MPC controller has more potential to improve compared with the secondary PID controller.
{"title":"Performance assessment of cascade control strategy in wastewater treatment process","authors":"Hongbin Liu, MinJung Kim, JungJin Lim, C. Yoo","doi":"10.1109/ICCAS.2010.5670273","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670273","url":null,"abstract":"As the public awareness of environmental protection increases and the environmental regulations become more stringent, effective control of the wastewater treatment process (WWTP) has become a research hotspot. In this paper, a cascade MPC and PID control strategy is introduced to the Benchmark Simulation Model 1 (BSM1). The proposed cascade control structure is composed of a primary MPC controller to control the nitrate concentration in the effluent and a secondary PID controller to control the nitrate concentration in the final anoxic compartment. The suggested method controls the nitrate concentrations in the effluent as well as in the final anoxic reactor simultaneously to strictly satisfy the quality of the effluent as well as to remove the effects of disturbances more quickly by manipulating the external carbon dosage. Because the control performance assessment (CPA) technique has the features of determining the capability of the current controller and locating the best achievable performance, the other novelty of this paper is to take the CPA technology into the wastewater treatment process. The CPA results indicate that the primary MPC controller has more potential to improve compared with the secondary PID controller.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125446752","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670172
Mathieu Stephan, G. Rognini, A. Sengul, R. Beira, L. Santos-Carreras, H. Bleuler
This paper reports the design of a Minimally Invasive Surgery (MIS) gripper with four degrees of freedom force sensing capabilities. It will be used to provide force feedback during surgical interventions in which the surgeon will remotely manipulate surgical instruments through the use of a robotic arm directly inserted into the patient's insufflated abdominal cavity. Suturing, dissection and ablation instruments will be attached on this 8 mm× 9 mm× 3 mm MIS gripper. Finite Element Analysis is used to model the gripper and determine the deformation matrix coefficients. Gripping and XYZ Cartesian direction applied forces can be measured with a resolution of 0.1N for a maximum force of 10N. However a significant difference between the predicted values by the Finite Element model and those obtained in the characterization of the force sensor is found. This divergence is due to misalignments of the strain gages located on the blades of the gripper. Future work will be focused on reducing misalignment of force sensors as well as other error sources.
{"title":"Modeling and design of a gripper for a robotic surgical system integrating force sensing capabilities in 4 DOF","authors":"Mathieu Stephan, G. Rognini, A. Sengul, R. Beira, L. Santos-Carreras, H. Bleuler","doi":"10.1109/ICCAS.2010.5670172","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670172","url":null,"abstract":"This paper reports the design of a Minimally Invasive Surgery (MIS) gripper with four degrees of freedom force sensing capabilities. It will be used to provide force feedback during surgical interventions in which the surgeon will remotely manipulate surgical instruments through the use of a robotic arm directly inserted into the patient's insufflated abdominal cavity. Suturing, dissection and ablation instruments will be attached on this 8 mm× 9 mm× 3 mm MIS gripper. Finite Element Analysis is used to model the gripper and determine the deformation matrix coefficients. Gripping and XYZ Cartesian direction applied forces can be measured with a resolution of 0.1N for a maximum force of 10N. However a significant difference between the predicted values by the Finite Element model and those obtained in the characterization of the force sensor is found. This divergence is due to misalignments of the strain gages located on the blades of the gripper. Future work will be focused on reducing misalignment of force sensors as well as other error sources.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125480137","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670243
Young-Jin Lee, M. Park, S. Go
This paper is dealing with a smart actuator for a modular robot. Modular robot means that robot has modular actuator in each axis. Smart actuator consists of harmonic reducer, servo motor, electric brake, multi-turns absolute encoder, drive, network board. All of them are hollow shaft type module. The robot which is linked to the smart actuator with EtherCAT and SPI communication is easily able to assemble and disassemble or reconfigure it. We try to implement a smart actuator and this tries to be verified through an experiment in order to implement the robot.
{"title":"Development of smart actuator for leight-weight modular robot","authors":"Young-Jin Lee, M. Park, S. Go","doi":"10.1109/ICCAS.2010.5670243","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670243","url":null,"abstract":"This paper is dealing with a smart actuator for a modular robot. Modular robot means that robot has modular actuator in each axis. Smart actuator consists of harmonic reducer, servo motor, electric brake, multi-turns absolute encoder, drive, network board. All of them are hollow shaft type module. The robot which is linked to the smart actuator with EtherCAT and SPI communication is easily able to assemble and disassemble or reconfigure it. We try to implement a smart actuator and this tries to be verified through an experiment in order to implement the robot.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127979621","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670283
T. Do, S. K. Park, Y. Suh
An attitude algorithm from output vector of accelerometer was proposed with the assumption that the direction of external acceleration is precisely localized or relatively localized on a certain plane. Simulation and experimental results verify that the estimation performance of the proposed method is better than that of the conventional method.
{"title":"Attitude estimation using accelerometers with constrained external acceleration","authors":"T. Do, S. K. Park, Y. Suh","doi":"10.1109/ICCAS.2010.5670283","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670283","url":null,"abstract":"An attitude algorithm from output vector of accelerometer was proposed with the assumption that the direction of external acceleration is precisely localized or relatively localized on a certain plane. Simulation and experimental results verify that the estimation performance of the proposed method is better than that of the conventional method.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121758700","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5669882
Chang-Hoi Kim, Seong-Hyun Kim, H. Lee, Jong-Kwang Lee, Ki-ho Kim
The remote operation in nuclear facilities is essential field since human access is restricted due to the effects of high radiation. Using a haptic device in the roll of a master manipulator enhances the throughput and the reliability of the simulation because of the kinetic sense of reality. This paper describes a 3D graphic based simulator system to simulate the nuclear facilities. The human interface of a virtual arm using a haptic device is proposed to improve the reality during the remote operation of the apparatuses in virtual nuclear facilities. The results of experiments of virtual arm operation in a virtual nuclear facility with the haptic device are evaluated in this paper.
{"title":"A haptic device interface for the operation of the virtual arm","authors":"Chang-Hoi Kim, Seong-Hyun Kim, H. Lee, Jong-Kwang Lee, Ki-ho Kim","doi":"10.1109/ICCAS.2010.5669882","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669882","url":null,"abstract":"The remote operation in nuclear facilities is essential field since human access is restricted due to the effects of high radiation. Using a haptic device in the roll of a master manipulator enhances the throughput and the reliability of the simulation because of the kinetic sense of reality. This paper describes a 3D graphic based simulator system to simulate the nuclear facilities. The human interface of a virtual arm using a haptic device is proposed to improve the reality during the remote operation of the apparatuses in virtual nuclear facilities. The results of experiments of virtual arm operation in a virtual nuclear facility with the haptic device are evaluated in this paper.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133958461","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5669664
T. Maneechukate, T. Yaonun, T. Kamsri, M. Julsereewong, V. Riewruja
This paper presents a simple method based on commercially available operation amplifiers (Opamps) for realizing the square-rooting voltage-to-frequency converter (VFC). The realization of square-root function is provided through the use of the opamp supply-current sensing, which utilizes an inherent quadratic characteristic of the opamp class-AB output state. Experimental results verifying the performances of the proposed square-rooting VFC are included.
{"title":"Simple square-rooting voltage-to-frequency converter using opamps","authors":"T. Maneechukate, T. Yaonun, T. Kamsri, M. Julsereewong, V. Riewruja","doi":"10.1109/ICCAS.2010.5669664","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669664","url":null,"abstract":"This paper presents a simple method based on commercially available operation amplifiers (Opamps) for realizing the square-rooting voltage-to-frequency converter (VFC). The realization of square-root function is provided through the use of the opamp supply-current sensing, which utilizes an inherent quadratic characteristic of the opamp class-AB output state. Experimental results verifying the performances of the proposed square-rooting VFC are included.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131637945","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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