Pub Date : 2005-07-10DOI: 10.1109/ICMECH.2005.1529386
P. Liu, C. Lee, M. Hsiung, C. Lee, O. Yaroshchuk, R. Kravchuk
A method of plasma beam treatment providing liquid crystal (LC) aligning substrates of improved alignment stability is described. In this method the aligning substrates are obliquely treated with a plasma flux containing alignment and passivation agents simultaneously. This method is applicable for the substrates of organic and inorganic origin. During this treating process, good pretilt angle stability and alignment quality are much promised.
{"title":"Plasma beam alignment of liquid crystal with improved alignment stability [LCD manufacture]","authors":"P. Liu, C. Lee, M. Hsiung, C. Lee, O. Yaroshchuk, R. Kravchuk","doi":"10.1109/ICMECH.2005.1529386","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529386","url":null,"abstract":"A method of plasma beam treatment providing liquid crystal (LC) aligning substrates of improved alignment stability is described. In this method the aligning substrates are obliquely treated with a plasma flux containing alignment and passivation agents simultaneously. This method is applicable for the substrates of organic and inorganic origin. During this treating process, good pretilt angle stability and alignment quality are much promised.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"11 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":"115884084","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.2005.1529306
Y. Chiu, J. Chang
The approach of complex insert packaging fabrication in stereolithography is studied in the paper. There are many difficulties being overcome, such as the dispensing shadowing problem caused by the geometric shape of insert, the polymer feeding problem caused by greater insert height than the layer thickness, and the positioning problem of insert that leads to instability of packaging. These drawbacks led to unsatisfactory results of the insert packaging in stereolithography. In order to solve the problems, a new method of complex inserts packaging fabrication and its associated algorithm in stereolithography is proposed in this paper. Based on the geometric information, function and assembly direction of the inserts, the packaging approach is developed. The approach proposed in this paper has been verified by experiments. It brings considerable contributions to the application of insert packaging in stereolithography. It is also favorable to the improvement of insert packaging efficiency and assembly fabrication.
{"title":"The algorithm of on line insert packaging fabrication in stereolithography","authors":"Y. Chiu, J. Chang","doi":"10.1109/ICMECH.2005.1529306","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529306","url":null,"abstract":"The approach of complex insert packaging fabrication in stereolithography is studied in the paper. There are many difficulties being overcome, such as the dispensing shadowing problem caused by the geometric shape of insert, the polymer feeding problem caused by greater insert height than the layer thickness, and the positioning problem of insert that leads to instability of packaging. These drawbacks led to unsatisfactory results of the insert packaging in stereolithography. In order to solve the problems, a new method of complex inserts packaging fabrication and its associated algorithm in stereolithography is proposed in this paper. Based on the geometric information, function and assembly direction of the inserts, the packaging approach is developed. The approach proposed in this paper has been verified by experiments. It brings considerable contributions to the application of insert packaging in stereolithography. It is also favorable to the improvement of insert packaging efficiency and assembly fabrication.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"115 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":"115008317","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.2005.1529222
Yuan-Chen Yu, Ming-Kung Lee
The piezoelectric actuator (PEA) is commonly used in the micro-nano precision positioning. However, PEA exhibits nonlinearities, such as hysteresis, saturation, and creep. Also, together with the actuated stage, mechanical and electrical dynamics exist. For ultra high precision and fast response positioning control, all those dynamics and nonlinearities have to be taken into account. In this paper, a simple dynamic nonlinearity control model for a piezoactuated positioning system was proposed, in which a sandwich model was proposed for describing the nonlinearities of hysteresis and creep and a total nonlinear dynamic control block diagram with the sandwich model embedded was derived. This model makes the identification and compensation of the piezoelectric nonlinearities much easier due to the simplicity of the model.
{"title":"A dynamic nonlinearity model for a piezo-actuated positioning system","authors":"Yuan-Chen Yu, Ming-Kung Lee","doi":"10.1109/ICMECH.2005.1529222","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529222","url":null,"abstract":"The piezoelectric actuator (PEA) is commonly used in the micro-nano precision positioning. However, PEA exhibits nonlinearities, such as hysteresis, saturation, and creep. Also, together with the actuated stage, mechanical and electrical dynamics exist. For ultra high precision and fast response positioning control, all those dynamics and nonlinearities have to be taken into account. In this paper, a simple dynamic nonlinearity control model for a piezoactuated positioning system was proposed, in which a sandwich model was proposed for describing the nonlinearities of hysteresis and creep and a total nonlinear dynamic control block diagram with the sandwich model embedded was derived. This model makes the identification and compensation of the piezoelectric nonlinearities much easier due to the simplicity of the model.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"56 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":"124594555","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.2005.1529379
Hann-Shing Ju, Ching-Chih Tsai, Chi-Tai Lee
This paper develops the flight path angle control for the glide-slope tracking via backstepping design. A candidate controller structure for an aircraft glide-slope tracking is presented. Using the backstepping procedure to synthesize a glide-slope tracking control law is different from designing the guidance and control loops separately in autopilot. The derived glide-slope control law is much simpler and easier to construct with localizer controller. Nonlinear 6DOF simulation results demonstrate that the backstepping tracking law can effectively guide the aircraft along the glide-slope centerline until the flare control before touchdown.
{"title":"Flight path control design for glide-slope tracking by backstepping","authors":"Hann-Shing Ju, Ching-Chih Tsai, Chi-Tai Lee","doi":"10.1109/ICMECH.2005.1529379","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529379","url":null,"abstract":"This paper develops the flight path angle control for the glide-slope tracking via backstepping design. A candidate controller structure for an aircraft glide-slope tracking is presented. Using the backstepping procedure to synthesize a glide-slope tracking control law is different from designing the guidance and control loops separately in autopilot. The derived glide-slope control law is much simpler and easier to construct with localizer controller. Nonlinear 6DOF simulation results demonstrate that the backstepping tracking law can effectively guide the aircraft along the glide-slope centerline until the flare control before touchdown.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"470 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":"123387211","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.2005.1529274
Yung-Tien Liu, Chih-Kuei Wang
A miniaturized rotational precision positioning stage using the spring-mounted piezoelectric actuators is proposed in this paper. The positioning stage features micro/nano-meter order moving ability that is caused by piezoelectric (PZT) impact force, and continuous actuation ability with unlimited rotational displacement that is obtained by the integration of compression spring and PZT actuator. A one-DOF (degree-of-freedom) experimental setup consisting of two spring-mounted PZT actuators was configured to examine the motion characteristics of the positioning stage. The main experimental results were obtained as follows: the rotational step motion was recorded as 12times10-6 rad due to one single actuation by pulse driving waveform having an amplitude of 70 V, and the continuous rotational step motion was obtained with an average value of 12times10-6 rad due to 10 times of actuations. Furthermore, the motion behaviors were examined by varying the amplitude of applied voltage. The average step motions due to 10 times of actuations were recorded as 38times10-6 rad and 1.5times10-6 rad, respectively, when the corresponding actuating amplitudes were 100 V and 50 V. The proposed stage having precision rotational ability and self-moving ability was experimentally demonstrated.
{"title":"A miniaturized rotational precision positioning stage","authors":"Yung-Tien Liu, Chih-Kuei Wang","doi":"10.1109/ICMECH.2005.1529274","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529274","url":null,"abstract":"A miniaturized rotational precision positioning stage using the spring-mounted piezoelectric actuators is proposed in this paper. The positioning stage features micro/nano-meter order moving ability that is caused by piezoelectric (PZT) impact force, and continuous actuation ability with unlimited rotational displacement that is obtained by the integration of compression spring and PZT actuator. A one-DOF (degree-of-freedom) experimental setup consisting of two spring-mounted PZT actuators was configured to examine the motion characteristics of the positioning stage. The main experimental results were obtained as follows: the rotational step motion was recorded as 12times10-6 rad due to one single actuation by pulse driving waveform having an amplitude of 70 V, and the continuous rotational step motion was obtained with an average value of 12times10-6 rad due to 10 times of actuations. Furthermore, the motion behaviors were examined by varying the amplitude of applied voltage. The average step motions due to 10 times of actuations were recorded as 38times10-6 rad and 1.5times10-6 rad, respectively, when the corresponding actuating amplitudes were 100 V and 50 V. The proposed stage having precision rotational ability and self-moving ability was experimentally demonstrated.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"13 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":"115547528","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.2005.1529388
C. Chang, H. Chang, Chia-Pin Hsu
Automatic defect inspection systems are becoming more and more important in industrial production lines. Especially in electronics industry, an attempt is often made to achieve almost 100% quality control of all components and final goods. Here we are interested in the defect inspection of color filter, which is one of components in TFT-LCD module and gives each pixel of LCD its own color. The difficulties in the defect inspection of color filter are its complex texture and demand for high-speed processing. In this paper, we propose a neural-fuzzy-inference-network (NFIN)-based defect inspection algorithm to detect the materials with regular pattern such as color filter. The NFIN, which is basically a fuzzy inference system and its fuzzy rules and corresponding parameters can be learned by neural network automatically, is a good alternative to achieve the defect inspection. Experimental results show that the proposed algorithm is a promising method to detect the defects of color filter. The proposed algorithm can apply to not only the detection of color filter but also the detection of web materials.
{"title":"An intelligent defect inspection technique for color filter","authors":"C. Chang, H. Chang, Chia-Pin Hsu","doi":"10.1109/ICMECH.2005.1529388","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529388","url":null,"abstract":"Automatic defect inspection systems are becoming more and more important in industrial production lines. Especially in electronics industry, an attempt is often made to achieve almost 100% quality control of all components and final goods. Here we are interested in the defect inspection of color filter, which is one of components in TFT-LCD module and gives each pixel of LCD its own color. The difficulties in the defect inspection of color filter are its complex texture and demand for high-speed processing. In this paper, we propose a neural-fuzzy-inference-network (NFIN)-based defect inspection algorithm to detect the materials with regular pattern such as color filter. The NFIN, which is basically a fuzzy inference system and its fuzzy rules and corresponding parameters can be learned by neural network automatically, is a good alternative to achieve the defect inspection. Experimental results show that the proposed algorithm is a promising method to detect the defects of color filter. The proposed algorithm can apply to not only the detection of color filter but also the detection of web materials.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"42 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":"115278528","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.2005.1529291
D. Hu, B. Chang
A multivariable multi-objective approach has been presented for the design of servo controller for a dual-stage actuator system. The designed control algorithm instructs the two actuators to cooperate towards a faster track seeking and better disturbance rejection than any actuator acting alone. Cooperation is explicitly formulated as control objectives and the optimal control algorithm is designed using the H2 control theory and regulator theory. Each actuator's involvement in the cooperation can be further adjusted by changing the design weighting coefficients, while the design procedure guarantees the stability of the control system.
{"title":"Multivariable controller design for hard drive dual-stage actuator servo systems","authors":"D. Hu, B. Chang","doi":"10.1109/ICMECH.2005.1529291","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529291","url":null,"abstract":"A multivariable multi-objective approach has been presented for the design of servo controller for a dual-stage actuator system. The designed control algorithm instructs the two actuators to cooperate towards a faster track seeking and better disturbance rejection than any actuator acting alone. Cooperation is explicitly formulated as control objectives and the optimal control algorithm is designed using the H2 control theory and regulator theory. Each actuator's involvement in the cooperation can be further adjusted by changing the design weighting coefficients, while the design procedure guarantees the stability of the control system.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"271 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":"115664945","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.2005.1529252
S. Kucuck, Z. Bingul
In this work, the inverse kinematics of sixteen fundamental 6-DOF robot manipulators with offset wrist were solved analytically and numerically. Analytical and numerical techniques are the most common approaches for solving inverse kinematics problems. They are generally desired to be solved analytically in order to have complete solution and fast computation. This approach is also called as closed form solution and in the absence of it, numerical techniques are used for solving the inverse kinematics problem. As examples, the inverse kinematics solutions of RS (Scara robot), CS (cylindrical robot), and NN (spherical robot) robot manipulators with offset wrist were presented in this paper. Also, the inverse kinematics solution techniques for sixteen fundamental robot manipulators equipped with offset wrist were summarized in a table.
{"title":"The inverse kinematics solutions of fundamental robot manipulators with offset wrist","authors":"S. Kucuck, Z. Bingul","doi":"10.1109/ICMECH.2005.1529252","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529252","url":null,"abstract":"In this work, the inverse kinematics of sixteen fundamental 6-DOF robot manipulators with offset wrist were solved analytically and numerically. Analytical and numerical techniques are the most common approaches for solving inverse kinematics problems. They are generally desired to be solved analytically in order to have complete solution and fast computation. This approach is also called as closed form solution and in the absence of it, numerical techniques are used for solving the inverse kinematics problem. As examples, the inverse kinematics solutions of RS (Scara robot), CS (cylindrical robot), and NN (spherical robot) robot manipulators with offset wrist were presented in this paper. Also, the inverse kinematics solution techniques for sixteen fundamental robot manipulators equipped with offset wrist were summarized in a table.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"27 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":"116066207","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.2005.1529342
C. Paiz, B. Kettelhoit, A. Klassen, Mario Porrmann
Reconfigurable hardware, and particularly field programmable gates arrays (FPGAs) allow the acceleration of digital control algorithm for mechatronic systems by exploiting their intrinsic parallelism. FPGAs also allow an efficient use of resources and flexible designs by using partial and dynamic reconfiguration. However, fully utilization of those benefits is often prevented by the necessary expertise to use such technology. In this paper a design flow for digital control algorithms using FPGAs is presented, which allows engineers without specialized knowledge on reconfigurable hardware design to use FPGAs as an implementation platform. We introduce a system architecture that enables the use of partially dynamic reconfiguration of FPGAs as part of our design flow and show an implementation example using an inverted pendulum system.
{"title":"Dynamically reconfigurable hardware for digital controllers in mechatronic systems","authors":"C. Paiz, B. Kettelhoit, A. Klassen, Mario Porrmann","doi":"10.1109/ICMECH.2005.1529342","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529342","url":null,"abstract":"Reconfigurable hardware, and particularly field programmable gates arrays (FPGAs) allow the acceleration of digital control algorithm for mechatronic systems by exploiting their intrinsic parallelism. FPGAs also allow an efficient use of resources and flexible designs by using partial and dynamic reconfiguration. However, fully utilization of those benefits is often prevented by the necessary expertise to use such technology. In this paper a design flow for digital control algorithms using FPGAs is presented, which allows engineers without specialized knowledge on reconfigurable hardware design to use FPGAs as an implementation platform. We introduce a system architecture that enables the use of partially dynamic reconfiguration of FPGAs as part of our design flow and show an implementation example using an inverted pendulum system.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"98 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":"117295257","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.2005.1529326
H. Lu, Jianguo Zhu, Youguang Guo
Linear micro motors play a key role in micro robotic systems. They can greatly simplify the drive mechanisms, which is crucial for micro systems. By using permanent magnets, much higher force-to-volume ratios can be acquired than using electromagnets and better drive performance can be obtained. This paper describes the development of a tubular permanent magnet linear motor for the actuation of micro robots. Important design criteria are established by both analytical and numerical methods. The performances of the micro motor as well as the entire actuation system are analyzed and predicted by the finite element analysis and kinetic modeling. The results show that the proposed linear motor has the quite satisfactory force capability and kinetic performance.
{"title":"A tubular linear motor for micro robotic applications","authors":"H. Lu, Jianguo Zhu, Youguang Guo","doi":"10.1109/ICMECH.2005.1529326","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529326","url":null,"abstract":"Linear micro motors play a key role in micro robotic systems. They can greatly simplify the drive mechanisms, which is crucial for micro systems. By using permanent magnets, much higher force-to-volume ratios can be acquired than using electromagnets and better drive performance can be obtained. This paper describes the development of a tubular permanent magnet linear motor for the actuation of micro robots. Important design criteria are established by both analytical and numerical methods. The performances of the micro motor as well as the entire actuation system are analyzed and predicted by the finite element analysis and kinetic modeling. The results show that the proposed linear motor has the quite satisfactory force capability and kinetic performance.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"73 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":"116754450","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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