Pub Date : 2005-07-10DOI: 10.1109/ICMECH.2005.1529307
Chung-Shing Wang, Teng-Rucy Chang, Y. Hu, C. Hsiao, C. Teng
STL (stereo lithography) format is the de facto file for rapid prototyping manufacturing. However, it suffers from its drawback in a high degree of redundant vertices. Furthermore, errors in the tessellation process cause inconsistency and incompleteness in the STL file. The purpose of this paper is to present how to simplify STL triangular mesh and get its optimized shape for rapid prototyping manufacturing. The processes for the STL mesh re-triangulation can be set to mesh deletion and mesh reconstruction. In the mesh deletion process, two kinds of weighted value algorithms are used for determining the suitable value of STL meshes deleted. In the process of STL mesh reconstruction, genetic algorithm with its fitness functions is implemented for the optimization of the STL meshes. Two cases of the STL meshes re-triangulation are shown to prove the processes presented in this paper are in good results.
{"title":"STL mesh re-triangulation in rapid prototyping manufacturing","authors":"Chung-Shing Wang, Teng-Rucy Chang, Y. Hu, C. Hsiao, C. Teng","doi":"10.1109/ICMECH.2005.1529307","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529307","url":null,"abstract":"STL (stereo lithography) format is the de facto file for rapid prototyping manufacturing. However, it suffers from its drawback in a high degree of redundant vertices. Furthermore, errors in the tessellation process cause inconsistency and incompleteness in the STL file. The purpose of this paper is to present how to simplify STL triangular mesh and get its optimized shape for rapid prototyping manufacturing. The processes for the STL mesh re-triangulation can be set to mesh deletion and mesh reconstruction. In the mesh deletion process, two kinds of weighted value algorithms are used for determining the suitable value of STL meshes deleted. In the process of STL mesh reconstruction, genetic algorithm with its fitness functions is implemented for the optimization of the STL meshes. Two cases of the STL meshes re-triangulation are shown to prove the processes presented in this paper are in good results.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"40 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114102658","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}
In this paper, a designed and implemented method of a robot soccer game platform is proposed. This platform includes three main parts: (a) four joysticks and each with an USB connector, (b) a transmission electric board with four USB connection ports, and (c) four omni-directional mobile robots with three-wheel mechanism. Players can control the omni-directional robot to play a soccer game by using USB joysticks through the wireless communication.
{"title":"Remote controlled game platform by USB joysticks","authors":"Ching-Chang Wong, Wei-Wen Wang, Ya-Ling Lee, Cheng-Hui Wu","doi":"10.1109/ICMECH.2005.1529241","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529241","url":null,"abstract":"In this paper, a designed and implemented method of a robot soccer game platform is proposed. This platform includes three main parts: (a) four joysticks and each with an USB connector, (b) a transmission electric board with four USB connection ports, and (c) four omni-directional mobile robots with three-wheel mechanism. Players can control the omni-directional robot to play a soccer game by using USB joysticks through the wireless communication.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"48 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":"120950888","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.2005.1529387
Yin-Ho Hao, A. Trappey, C. Ku, Gilbert Y. P. Lin, Pei-Shun Ho, B. Hung
This research focuses on the development of a rule-based intelligent equipment maintenance platform using JAVA expert system shell (JESS) technology for equipment breakdown diagnoses. A prototype system is designed and developed combining rule-based knowledge system and inference engine to support real-time collaborative equipment maintenance across geographical boundary. The main modules and functions of the system include diagnosis knowledge management, project (case) management and system administration. The knowledge management module includes key functions such as knowledge type definition, knowledge component definition, document definition, mathematical model definition, rule and rule-set management. The project (case) management module includes key functions such as project definition, project's role management, project's function management and project's rule-set execution. Further, the example of a TFT-LCD production equipment breakdown diagnoses is illustrated to demonstrate the development of the intelligent system for achieving agile collaborative manufacturing processes with real-time equipment diagnosis and maintenance.
{"title":"Develop an intelligent equipment maintenance system using cyber-enabled JESS technology","authors":"Yin-Ho Hao, A. Trappey, C. Ku, Gilbert Y. P. Lin, Pei-Shun Ho, B. Hung","doi":"10.1109/ICMECH.2005.1529387","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529387","url":null,"abstract":"This research focuses on the development of a rule-based intelligent equipment maintenance platform using JAVA expert system shell (JESS) technology for equipment breakdown diagnoses. A prototype system is designed and developed combining rule-based knowledge system and inference engine to support real-time collaborative equipment maintenance across geographical boundary. The main modules and functions of the system include diagnosis knowledge management, project (case) management and system administration. The knowledge management module includes key functions such as knowledge type definition, knowledge component definition, document definition, mathematical model definition, rule and rule-set management. The project (case) management module includes key functions such as project definition, project's role management, project's function management and project's rule-set execution. Further, the example of a TFT-LCD production equipment breakdown diagnoses is illustrated to demonstrate the development of the intelligent system for achieving agile collaborative manufacturing processes with real-time equipment diagnosis and maintenance.","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":"123801460","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.2005.1529282
Yangmin Li, Xin Chen
The issue of multi-robot formation is address in this paper. Usually robots can only handle local information described by an adjacency graph. We define structure error of formation based on the graph theory and propose a local control strategy for individual robot based on NN control with robust term which can ensure robots converge to a unique formation. Furthermore we discuss the performance on two aspects: the first one is dynamic characteristics during formation process; the second one is obstacle avoidance during formation.
{"title":"Dynamic control of multi-robot formation","authors":"Yangmin Li, Xin Chen","doi":"10.1109/ICMECH.2005.1529282","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529282","url":null,"abstract":"The issue of multi-robot formation is address in this paper. Usually robots can only handle local information described by an adjacency graph. We define structure error of formation based on the graph theory and propose a local control strategy for individual robot based on NN control with robust term which can ensure robots converge to a unique formation. Furthermore we discuss the performance on two aspects: the first one is dynamic characteristics during formation process; the second one is obstacle avoidance during formation.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"28 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":"130130126","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.2005.1529376
D. Carp-Ciocardia, S. Staicu
Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurrent prismatic actuators are established in this paper. This parallel mechanism consists of several kinematical closed chains. The three active elements of the sliding manipulator, acted by some horizontal concurrent forces, which are generated by some hydraulic or pneumatic systems, have three independent translations. Knowing the translation motion of the platform, one initially develops the inverse kinematical problem and determines the positions, velocities and accelerations of the manipulator. Further, the virtual power principle is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the actuating forces and powers of the three actuators.
{"title":"Dynamics of delta parallel robot with prismatic actuators","authors":"D. Carp-Ciocardia, S. Staicu","doi":"10.1109/ICMECH.2005.1529376","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529376","url":null,"abstract":"Recursive matrix relations for kinematics and dynamics of a new delta parallel robot with concurrent prismatic actuators are established in this paper. This parallel mechanism consists of several kinematical closed chains. The three active elements of the sliding manipulator, acted by some horizontal concurrent forces, which are generated by some hydraulic or pneumatic systems, have three independent translations. Knowing the translation motion of the platform, one initially develops the inverse kinematical problem and determines the positions, velocities and accelerations of the manipulator. Further, the virtual power principle is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the actuating forces and powers of the three actuators.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"32 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":"131363570","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.2005.1529265
H. Ko, Yong-Jae Kim
Behaviors of micro bubbles and droplets have been analyzed by tomography methods such as an algebraic reconstruction technique (ART) and a multiplicative algebraic reconstruction technique (MART). In this study, the size, location and shape of bubbles and droplets have been calculated. This technique can be used for ejection of micro droplets or analysis of bubble behaviors in a micro channel. Two tomography methods have been compared to obtain more accurate results of the two-phase flows. Initially, a bubbly flow and an annular flow have been investigated by cross-sectional views using computer-synthesized phantoms. Then, the reconstruction of three-dimensional density distributions of phantoms with two and three micro bubbles have been accomplished by the MART method which provided the better results for the two-dimensional reconstructions accurately to analyze the bubble behaviors in the micro flow.
{"title":"Analysis of micro bubble behaviors using tomography","authors":"H. Ko, Yong-Jae Kim","doi":"10.1109/ICMECH.2005.1529265","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529265","url":null,"abstract":"Behaviors of micro bubbles and droplets have been analyzed by tomography methods such as an algebraic reconstruction technique (ART) and a multiplicative algebraic reconstruction technique (MART). In this study, the size, location and shape of bubbles and droplets have been calculated. This technique can be used for ejection of micro droplets or analysis of bubble behaviors in a micro channel. Two tomography methods have been compared to obtain more accurate results of the two-phase flows. Initially, a bubbly flow and an annular flow have been investigated by cross-sectional views using computer-synthesized phantoms. Then, the reconstruction of three-dimensional density distributions of phantoms with two and three micro bubbles have been accomplished by the MART method which provided the better results for the two-dimensional reconstructions accurately to analyze the bubble behaviors in the micro flow.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"9 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":"127816366","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.2005.1529246
Ching-Chih Tsai, Ssu-Min Hu, Changjun Chang
This paper presents techniques for system design and control of a vertical linear motion system driven by a tubular linear induction motor (TLIM). A new tubular linear induction motor is designed for propelling the elevator to move up and down. With the motor a control system for the motion system is presented. In order to overcome the parameter variations caused by the TLIM, a robust PID is used. Experimental results have shown that the proposed system together with the control is capable of giving desirable performance.
{"title":"Vertical linear motion system driven by a tubular linear induction motor","authors":"Ching-Chih Tsai, Ssu-Min Hu, Changjun Chang","doi":"10.1109/ICMECH.2005.1529246","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529246","url":null,"abstract":"This paper presents techniques for system design and control of a vertical linear motion system driven by a tubular linear induction motor (TLIM). A new tubular linear induction motor is designed for propelling the elevator to move up and down. With the motor a control system for the motion system is presented. In order to overcome the parameter variations caused by the TLIM, a robust PID is used. Experimental results have shown that the proposed system together with the control is capable of giving desirable performance.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"43 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":"134293561","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.2005.1529276
F. Shiou, W. Y. Cheng
This study presents the design and manufacture of a prototype of a multi-detector triangulation laser probe. The developed system was configured and assembled based on the Scheimpflug principle. The probe system mainly consists of a diode laser, six collimating lenses, six position sensitive detectors (PSD), a signal processing circuit, and an A/D interface card. Through the specific arrangement of the PSD, four different measurement modules for the developed system are possible, namely the standard triangulation probe module, double triangulation probe module, pentagon-shaped triangulation probe module, and an approximately circular triangulation probe module. Bused on the calculation and filtering of the pentagon-shaped PSD signals, the measurement accuracy was improved. The developed laser probe system was integrated with a coordinate measuring machine, to construct a non-contact measurement system. According to the experimental results, the measurement uncertainty of the developed laser probe system, with respect to different surface roughness and slope, was about 15 microns. Among the four different measurement modules checked, the pentagon-shaped triangulation probe module has the best result.
{"title":"Development of an innovative multi-detector triangulation laser probe","authors":"F. Shiou, W. Y. Cheng","doi":"10.1109/ICMECH.2005.1529276","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529276","url":null,"abstract":"This study presents the design and manufacture of a prototype of a multi-detector triangulation laser probe. The developed system was configured and assembled based on the Scheimpflug principle. The probe system mainly consists of a diode laser, six collimating lenses, six position sensitive detectors (PSD), a signal processing circuit, and an A/D interface card. Through the specific arrangement of the PSD, four different measurement modules for the developed system are possible, namely the standard triangulation probe module, double triangulation probe module, pentagon-shaped triangulation probe module, and an approximately circular triangulation probe module. Bused on the calculation and filtering of the pentagon-shaped PSD signals, the measurement accuracy was improved. The developed laser probe system was integrated with a coordinate measuring machine, to construct a non-contact measurement system. According to the experimental results, the measurement uncertainty of the developed laser probe system, with respect to different surface roughness and slope, was about 15 microns. Among the four different measurement modules checked, the pentagon-shaped triangulation probe module has the best result.","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":"133378718","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.2005.1529313
A. Himoto, H. Aoyama, O. Fuchiwaki, D. Misaki, T. Sumrall
In this report, small hopping robots which have a simple locomotion mechanism and IR sensor module have been developed to detect human under collapsed buildings. This small robot includes micro eccentric motors for generating lift and thrust forces, and IR sensors for detecting the thermal signal of human. Therefore, the micro robot can crawl without any wheels or legs even on small, rough terrain with the help of eccentric mechanical vibration. This tiny robot also has the ability of self-righting to allow it to keep moving to the target even if it falls and lands in any position. Weight balance as well as resonance parameters are very important to achieve good mobility. Automatic navigation to the target is achieved with simple on-off motor switching. The simple design layout results in not only lightweight robots but also low cost allowing employment of a large number of robots in the dangerous rubble field. Initially, a small robot utilizing off-the-shelf components (i.e. micro motors, button batteries, sensors and electronics) was designed and assembled to verify feasibility for rescue operations. In the initial experiments, many small robots with optical and IR sensors have been developed and movement toward a human body under zero light conditions has been successfully demonstrated.
{"title":"Development of micro rescue robot-human detection","authors":"A. Himoto, H. Aoyama, O. Fuchiwaki, D. Misaki, T. Sumrall","doi":"10.1109/ICMECH.2005.1529313","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529313","url":null,"abstract":"In this report, small hopping robots which have a simple locomotion mechanism and IR sensor module have been developed to detect human under collapsed buildings. This small robot includes micro eccentric motors for generating lift and thrust forces, and IR sensors for detecting the thermal signal of human. Therefore, the micro robot can crawl without any wheels or legs even on small, rough terrain with the help of eccentric mechanical vibration. This tiny robot also has the ability of self-righting to allow it to keep moving to the target even if it falls and lands in any position. Weight balance as well as resonance parameters are very important to achieve good mobility. Automatic navigation to the target is achieved with simple on-off motor switching. The simple design layout results in not only lightweight robots but also low cost allowing employment of a large number of robots in the dangerous rubble field. Initially, a small robot utilizing off-the-shelf components (i.e. micro motors, button batteries, sensors and electronics) was designed and assembled to verify feasibility for rescue operations. In the initial experiments, many small robots with optical and IR sensors have been developed and movement toward a human body under zero light conditions has been successfully demonstrated.","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":"115536143","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.2005.1529349
I. Kucukdemiral, G. Cansever
Formalization of a novel robust adaptive Sugeno based fuzzy sliding mode controller equipped with a supervisory controller is considered for the control of a class of nonlinear systems which significantly reduce computation via reducing the size of fuzzy rule base. Besides, all the system parameters such as control and state signals can be confined in a predefined bounded region by use of proposed control method. The proposed method does not need any information of the controlled plant and expertise
{"title":"Formalization of a novel sugeno type adaptive fuzzy sliding mode controller for a class of nonlinear systems","authors":"I. Kucukdemiral, G. Cansever","doi":"10.1109/ICMECH.2005.1529349","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529349","url":null,"abstract":"Formalization of a novel robust adaptive Sugeno based fuzzy sliding mode controller equipped with a supervisory controller is considered for the control of a class of nonlinear systems which significantly reduce computation via reducing the size of fuzzy rule base. Besides, all the system parameters such as control and state signals can be confined in a predefined bounded region by use of proposed control method. The proposed method does not need any information of the controlled plant and expertise","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":"114737525","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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