Pub Date : 2005-07-10DOI: 10.1109/ICMECH.2005.1529280
Huan Tan, Jianxun Zhang, Wenqin Luo
This paper proposes a design of a multiple stepping-motors' micro-stepping driving controller which based on DSP and CPLD circuits. It first introduces the principle of micro-stepping control and power driving of multiple stepping-motors. Then it explains the hardware and software that was particularly designed for micro-stepping driving controller of multiple stepping-motors with the technical requirements for the robot assistant microsurgery system. It also gives the experimental results in different situations. The experimental results demonstrate that the driving controller satisfies the technical requirements of a robot. At last, the paper summarizes the performances of the driving controller and briefly forecasts its further applications.
{"title":"Design of DSP based multiple stepping-motors' micro-stepping driving controller","authors":"Huan Tan, Jianxun Zhang, Wenqin Luo","doi":"10.1109/ICMECH.2005.1529280","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529280","url":null,"abstract":"This paper proposes a design of a multiple stepping-motors' micro-stepping driving controller which based on DSP and CPLD circuits. It first introduces the principle of micro-stepping control and power driving of multiple stepping-motors. Then it explains the hardware and software that was particularly designed for micro-stepping driving controller of multiple stepping-motors with the technical requirements for the robot assistant microsurgery system. It also gives the experimental results in different situations. The experimental results demonstrate that the driving controller satisfies the technical requirements of a robot. At last, the paper summarizes the performances of the driving controller and briefly forecasts its further applications.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116658619","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529261
Yaote Chang, Chien-Wen Chung
In this paper, a nonlinear field weakening controller is proposed for speed tracking control of a separately excited DC motors (SEDCMs). The method is based on Lyapounov stability and variable structure control theorems. When the system is in the sliding mode, the adaptive gain in the designed of the sliding surface is used to tackle the mismatched and unknown load torque disturbance. The simulation result shows that the algorithm is robust and the speed tracking error can be achieved in stability asymptotically.
{"title":"Design of adaptive sliding mode controller for a separately excited DC motor","authors":"Yaote Chang, Chien-Wen Chung","doi":"10.1109/ICMECH.2005.1529261","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529261","url":null,"abstract":"In this paper, a nonlinear field weakening controller is proposed for speed tracking control of a separately excited DC motors (SEDCMs). The method is based on Lyapounov stability and variable structure control theorems. When the system is in the sliding mode, the adaptive gain in the designed of the sliding surface is used to tackle the mismatched and unknown load torque disturbance. The simulation result shows that the algorithm is robust and the speed tracking error can be achieved in stability asymptotically.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122141277","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}
Sound waves are the most direct ways to broadcast messages in nature, but due to high-tech skills, the tracing of sound signals can come true only when lots of expenditures human resources, and fine are used. Consequently, this paper offers the advantages of the combination of the grey theory and the fuzzy controller to realize the design of realizing the tracing of sound signals. In order to get a sound source tracing system fast and with high accuracy, we proposed three steps in this paper. The first is to use the piezo-electric element to make a set of four-direction sound-drawing sensor. It's used to make samples from analog signal information we obtain, and these samples are transformed into digital signals for the computer to analyze, compute and handle. The second is to use the advantages of the gray color theory to make analyses and decisions of the characteristic values about grey relational grade. The last is to use the fuzzy controller to make output control of the target object and the returning back of the location sensor.
{"title":"Sound signal trace design by using grey and fuzzy theory","authors":"Yung-Nan Hu, Tian-Wen Liao, Tzu-Hsia Hsu, Chuan-Jie Chen","doi":"10.1109/ICMECH.2005.1529380","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529380","url":null,"abstract":"Sound waves are the most direct ways to broadcast messages in nature, but due to high-tech skills, the tracing of sound signals can come true only when lots of expenditures human resources, and fine are used. Consequently, this paper offers the advantages of the combination of the grey theory and the fuzzy controller to realize the design of realizing the tracing of sound signals. In order to get a sound source tracing system fast and with high accuracy, we proposed three steps in this paper. The first is to use the piezo-electric element to make a set of four-direction sound-drawing sensor. It's used to make samples from analog signal information we obtain, and these samples are transformed into digital signals for the computer to analyze, compute and handle. The second is to use the advantages of the gray color theory to make analyses and decisions of the characteristic values about grey relational grade. The last is to use the fuzzy controller to make output control of the target object and the returning back of the location sensor.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128374155","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529258
Zhao Xi-mei, Guo Qingding, Sun Yibiao
For the direct-drive servo system of permanent magnet linear synchronous motor (PMLSM), a two-degrees of freedom (2-DOF) robust tracking control strategy based on combining zero phase error tracking control (ZPETC) with H/sub /spl infin// robust control is proposed in this paper. The control scheme solves the conflict between fast tracking performance and interference rejection of the linear servo system. The zero phase error tracking controller is designed to ensure that the system has fast tracking performance and implements exactly tracking, especially when it is used for contour control, better effect is obtained, it can effectively improve positioning accuracy and the fast tracking performance. While H/sub /spl infin// robust controller can overcome the influences of uncertainties of the parameters perturbation and the external load disturbances, achieve the stability and robustness of the system. The simulation results show that the control scheme not only can enhance the fast tracking performance in the linear servo system, but also has the stronger robustness to parametric variations and resistance disturbances.
{"title":"Zero phase two-degrees of freedom H/sub /spl infin// robust tracking control for permanent magnet linear synchronous motor","authors":"Zhao Xi-mei, Guo Qingding, Sun Yibiao","doi":"10.1109/ICMECH.2005.1529258","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529258","url":null,"abstract":"For the direct-drive servo system of permanent magnet linear synchronous motor (PMLSM), a two-degrees of freedom (2-DOF) robust tracking control strategy based on combining zero phase error tracking control (ZPETC) with H/sub /spl infin// robust control is proposed in this paper. The control scheme solves the conflict between fast tracking performance and interference rejection of the linear servo system. The zero phase error tracking controller is designed to ensure that the system has fast tracking performance and implements exactly tracking, especially when it is used for contour control, better effect is obtained, it can effectively improve positioning accuracy and the fast tracking performance. While H/sub /spl infin// robust controller can overcome the influences of uncertainties of the parameters perturbation and the external load disturbances, achieve the stability and robustness of the system. The simulation results show that the control scheme not only can enhance the fast tracking performance in the linear servo system, but also has the stronger robustness to parametric variations and resistance disturbances.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129664725","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529391
Hang-Sheng Chen, Chun-Chih Wang, W. Lai, M. Tsai, I. Chen, M. Cheng, M. Tsai
The use of high temperature superconductors (HTS) in the levitation system has received considerable attentions since it was discovered in 1987. One of the unique characters of HTS is its flux trapping capability, which enables a stable levitation/suspension over a permanent magnet. In this paper, a non-contact X-Y table that uses HTS bulks and its flux trapping property is proposed. This X-Y table is composed of a mover with three superconductors and a stator with electromagnets and permanent magnets. Due to the special properties of the superconductor bulks, such as the Meissner effect and the flux pinning effect, there is no mechanical contact or wear between the mover and the stator during the positioning process. Experimental results demonstrate the feasibility of proposed non-contact X-Y table.
{"title":"Design and implementation of a non-contact X-Y table with high temperature superconductors","authors":"Hang-Sheng Chen, Chun-Chih Wang, W. Lai, M. Tsai, I. Chen, M. Cheng, M. Tsai","doi":"10.1109/ICMECH.2005.1529391","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529391","url":null,"abstract":"The use of high temperature superconductors (HTS) in the levitation system has received considerable attentions since it was discovered in 1987. One of the unique characters of HTS is its flux trapping capability, which enables a stable levitation/suspension over a permanent magnet. In this paper, a non-contact X-Y table that uses HTS bulks and its flux trapping property is proposed. This X-Y table is composed of a mover with three superconductors and a stator with electromagnets and permanent magnets. Due to the special properties of the superconductor bulks, such as the Meissner effect and the flux pinning effect, there is no mechanical contact or wear between the mover and the stator during the positioning process. Experimental results demonstrate the feasibility of proposed non-contact X-Y table.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126700014","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529304
T. Chung, Chao-Yaug Liao
This paper develops an integrated scanning system for reconstructing 3D color models of general objects. First, a laser scanner is used to digitize the 3D shape of an object. When scanning the darker surface of an object, laser beams with different laser power are emitted onto the object surface to obtain adaptive scan lines, and the scan line with best quality is automatically selected to improve the quality of the scan data. 3D triangular meshes are constructed from scan data points and the 3D surface model of the object can be obtained. Then, a digital camera is used to capture color texture images of the object. A texture mapping method is developed to automatically wrap texture images onto triangular meshes to form the 3D color model of the object. Finally, an integrated scanning system is established by combining a laser scanner and a digital camera. Using this system, 3D color models of two tested objects are reconstructed and good results are obtained.
{"title":"An integrated scanning system for reconstructing 3D color models of general objects","authors":"T. Chung, Chao-Yaug Liao","doi":"10.1109/ICMECH.2005.1529304","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529304","url":null,"abstract":"This paper develops an integrated scanning system for reconstructing 3D color models of general objects. First, a laser scanner is used to digitize the 3D shape of an object. When scanning the darker surface of an object, laser beams with different laser power are emitted onto the object surface to obtain adaptive scan lines, and the scan line with best quality is automatically selected to improve the quality of the scan data. 3D triangular meshes are constructed from scan data points and the 3D surface model of the object can be obtained. Then, a digital camera is used to capture color texture images of the object. A texture mapping method is developed to automatically wrap texture images onto triangular meshes to form the 3D color model of the object. Finally, an integrated scanning system is established by combining a laser scanner and a digital camera. Using this system, 3D color models of two tested objects are reconstructed and good results are obtained.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127029983","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529231
H. Yau, Jun-Bin Wang, Wen-Chieh Chen
This paper describes the analysis of a command generator, i.e. interpolator, used for CNC machine motion control. The lookahead algorithm discussed in this paper involves circular contraction error, corner error and deceleration distance limit; hence, planning of a more rational feedrate profile across a series of blocks is made possible. With a prescribed precision, the feedrate and machining performance can be enhanced by looking ahead multi-blocks. To smooth out trajectory interpolation of continuous short blocks, hereafter referred to as CSBs, this paper presents cubic Bezier curve for fitting. Two criteria, the critical corner angle and the bi-chord error, determine if the cubic Bezier curve fits in interpolation. Results from simulation and testrun confirm advantages of cubic Bezier curve for real-time CSBs fitting.
{"title":"Development and implementation for real-time lookahead interpolator by using Bezier curve to fit CNC continuous short blocks","authors":"H. Yau, Jun-Bin Wang, Wen-Chieh Chen","doi":"10.1109/ICMECH.2005.1529231","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529231","url":null,"abstract":"This paper describes the analysis of a command generator, i.e. interpolator, used for CNC machine motion control. The lookahead algorithm discussed in this paper involves circular contraction error, corner error and deceleration distance limit; hence, planning of a more rational feedrate profile across a series of blocks is made possible. With a prescribed precision, the feedrate and machining performance can be enhanced by looking ahead multi-blocks. To smooth out trajectory interpolation of continuous short blocks, hereafter referred to as CSBs, this paper presents cubic Bezier curve for fitting. Two criteria, the critical corner angle and the bi-chord error, determine if the cubic Bezier curve fits in interpolation. Results from simulation and testrun confirm advantages of cubic Bezier curve for real-time CSBs fitting.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129191652","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529320
Ching-Chih Tsai, Chih-Chang Lai, Yung-Ting Huang
This paper develops methodologies and techniques for semi-autonomous control of a wheeled service robot with a gyro rate and a CCD camera. A mechatronic design approach is used to construct a wheeled service robot vehicle that performs missions at any indoor flat environments. A remote manual control technique is developed using a joystick. Using a rate gyro and a CCD camera, four user-friendly semi-autonomous control operations are proposed to steer the vehicle easily and effectively. Several experiments results are conducted to illustrate the efficacy of the proposed methods.
{"title":"Semi-autonomous control of a wheeled mobile service robot using a rate gyro and a CCD camera","authors":"Ching-Chih Tsai, Chih-Chang Lai, Yung-Ting Huang","doi":"10.1109/ICMECH.2005.1529320","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529320","url":null,"abstract":"This paper develops methodologies and techniques for semi-autonomous control of a wheeled service robot with a gyro rate and a CCD camera. A mechatronic design approach is used to construct a wheeled service robot vehicle that performs missions at any indoor flat environments. A remote manual control technique is developed using a joystick. Using a rate gyro and a CCD camera, four user-friendly semi-autonomous control operations are proposed to steer the vehicle easily and effectively. Several experiments results are conducted to illustrate the efficacy of the proposed methods.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121644963","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529359
S.C. Chen, H. Peng, J.A. Chang, W. Jong
In this study, electromagnetic induction heating is developed to achieve a rapid mold surface heating. Both a single turn of circular coil and a spiral coil were properly designed for induction heating experiments on a flat steel mold plate. Mold surface temperature distribution during induction heating process was measured using infrared thermal image system. Simulation tool was also developed by integration of both thermal and electromagnetic analysis modules of ANSYS. The capability and accuracy of simulations on the induction heating were verified via experiments. To evaluate the practical purpose of induction heating on the real injection molding, a mold plate, roughly about an inset size of cellular phone housing, designed with four cooling channel design and running 12deg coolant were utilized for the demo experiment. After 3 seconds' induction heating, mold surface temperature increases from 110degC to 180degC. It takes another 24 seconds for mold surface to cool down to 110degC. The rapid heating and cooling of mold surface temperatures using induction technology was successfully illustrated via both experiments and simulations.
{"title":"Rapid mold surface heating/cooling using electromagnetic induction technology","authors":"S.C. Chen, H. Peng, J.A. Chang, W. Jong","doi":"10.1109/ICMECH.2005.1529359","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529359","url":null,"abstract":"In this study, electromagnetic induction heating is developed to achieve a rapid mold surface heating. Both a single turn of circular coil and a spiral coil were properly designed for induction heating experiments on a flat steel mold plate. Mold surface temperature distribution during induction heating process was measured using infrared thermal image system. Simulation tool was also developed by integration of both thermal and electromagnetic analysis modules of ANSYS. The capability and accuracy of simulations on the induction heating were verified via experiments. To evaluate the practical purpose of induction heating on the real injection molding, a mold plate, roughly about an inset size of cellular phone housing, designed with four cooling channel design and running 12deg coolant were utilized for the demo experiment. After 3 seconds' induction heating, mold surface temperature increases from 110degC to 180degC. It takes another 24 seconds for mold surface to cool down to 110degC. The rapid heating and cooling of mold surface temperatures using induction technology was successfully illustrated via both experiments and simulations.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127678544","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 : 2005-07-10DOI: 10.1109/ICMECH.2005.1529347
N. Mahalik, S. Kim, B. Ahn
Computer assisted development tools have long been the research area in the control domain. This paper introduces original work on specification requirement of computer assisted development platform, in terms of HILS (hardware-in-the-loop-simulation) environment, for RCP (rapid control prototyping) of distributed mechatronic systems (DMS). The research motivation comes from the fact that from control architecture point of view, most of the mechatronic systems are distributed in nature and presently available RCP tools and systems do not provide operational features as far as real-time DCN (distributed control network) is concerned.
{"title":"Specification requirement of temporal HILS environment for RCP of DMS","authors":"N. Mahalik, S. Kim, B. Ahn","doi":"10.1109/ICMECH.2005.1529347","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529347","url":null,"abstract":"Computer assisted development tools have long been the research area in the control domain. This paper introduces original work on specification requirement of computer assisted development platform, in terms of HILS (hardware-in-the-loop-simulation) environment, for RCP (rapid control prototyping) of distributed mechatronic systems (DMS). The research motivation comes from the fact that from control architecture point of view, most of the mechatronic systems are distributed in nature and presently available RCP tools and systems do not provide operational features as far as real-time DCN (distributed control network) is concerned.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125458399","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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