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IEEE International Conference on Mechatronics, 2005. ICM '05.最新文献

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The development of the heterogeneous object CAD systems for rapid prototyping 面向快速成型的异构对象CAD系统的开发
Pub Date : 2005-07-10 DOI: 10.1109/ICMECH.2005.1529339
R. Lin, B. X. Hsu, Yonghui Yang
Rapid prototype (RP) manufacturing has been widely used in industry, including prototype fabrication, product assembly test, mechanism interference test, and rapid tooling. Some researchers have been focusing on the RP applications for functional part fabrication in recent years. One of the most challenge research topics in RP is the heterogeneous object fabrication, particularly in the graded material objects. The graded material means the material composition is changed according to the area of the object. The graded material object model includes the typical part geometric information and the heterogeneous material information that forms a more complicated object model. This research developed a heterogeneous object model and implemented on a software program. The result shows that the heterogeneous model contains material grading information as well as geometry information. Two demonstrated examples are illustrated for the material composition distribution in the end of this paper.
快速原型制造技术在工业中得到了广泛的应用,包括原型制造、产品装配试验、机构干涉试验和快速模具制造。近年来,RP技术在功能零件制造中的应用受到了一些研究者的关注。异质物体的制造是RP中最具挑战性的研究课题之一,特别是梯度材料物体的制造。渐变材料是指根据物体的面积改变材料的组成。梯度材料对象模型包括典型零件的几何信息和异质材料信息,这些信息构成了更为复杂的对象模型。本研究开发了一个异构对象模型,并在一个软件程序上实现。结果表明,该异构模型不仅包含几何信息,而且还包含材料级配信息。本文最后给出了两个典型的材料成分分布实例。
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引用次数: 0
Formalization of a novel sugeno type adaptive fuzzy sliding mode controller for a class of nonlinear systems 一类非线性系统的自适应模糊滑模控制器的形式化
Pub Date : 2005-07-10 DOI: 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
针对一类非线性系统,考虑了一种新的基于Sugeno的鲁棒自适应模糊滑模控制器的形式化,该控制器配备了监督控制器,通过减小模糊规则库的大小来显著减少计算量。此外,所提出的控制方法可以将控制信号和状态信号等系统参数限制在预定义的有界区域内。该方法不需要被控植物的任何信息和专业知识
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引用次数: 4
Development of micro rescue robot-human detection 微型救援机器人-人探测技术的发展
Pub Date : 2005-07-10 DOI: 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.
在本报告中,我们开发了一种具有简单运动机构和红外传感器模块的小型跳跃机器人,用于探测倒塌建筑物下的人类。这个小型机器人包括产生升力和推力的微型偏心马达,以及检测人体热信号的红外传感器。因此,微型机器人可以在没有轮子和腿的情况下,借助偏心机械振动在小而粗糙的地形上爬行。这个小机器人也有自我扶正的能力,即使它在任何位置跌倒和落地,也能保持向目标移动。重量平衡和共振参数对实现良好的迁移率非常重要。自动导航到目标是实现简单的开关电机。简单的设计布局不仅使机器人重量轻,而且成本低,可以在危险的碎石场中大量使用机器人。最初,设计和组装了一个小型机器人,利用现成的组件(即微电机、纽扣电池、传感器和电子设备)来验证救援行动的可行性。在最初的实验中,许多带有光学和红外传感器的小型机器人已经被开发出来,并且在零光条件下成功地向人体移动。
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引用次数: 6
A novel vision system for CRT panel auto-inspection 一种新型CRT面板自动检测视觉系统
Pub Date : 2005-07-10 DOI: 10.1080/10170660709509049
D. Perng, Cheng-Chuan Chou, Wei-Yu Chen
The defects of a 3-D translucent hull CRT panel may include scratches, blemishes, cracks, bubbles, or collapsed portions. Defects may occur on the inside surface, outside surface, or interior of the glass. We designed and developed three sets of vision systems which can automatically inspect defects in CRT panels. The first system inspects the front-surface and two turn-segments, the second system inspects the other two turn-segments, while the third system inspects the side-wall defects. Two different kinds of lighting environments were developed to highlight the CRT panels and to simplify the image-capturing process. Meanwhile, a set of image processing methods were devised which can reliably detect the defects within the expected processing time. Experimental results demonstrate that the developed vision systems can be used to inspect CRT panels in the production line.
三维半透明船体CRT面板的缺陷可能包括划痕、瑕疵、裂纹、气泡或塌陷部分。缺陷可能发生在玻璃的内表面、外表面或内部。设计开发了三套能自动检测CRT面板缺陷的视觉系统。第一个系统检查前表面和两个弯段,第二个系统检查其他两个弯段,第三个系统检查侧壁缺陷。开发了两种不同的照明环境,以突出CRT面板并简化图像捕获过程。同时,设计了一套能在预期处理时间内可靠检测出缺陷的图像处理方法。实验结果表明,所开发的视觉系统可用于生产线上CRT面板的检测。
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引用次数: 7
The elimination of the temperature effect on a piezoelectric transformer in a backlight inverter based on the phase-locked loop technique 基于锁相环技术消除背光逆变器中压电变压器的温度效应
Pub Date : 2005-07-10 DOI: 10.1109/ICMECH.2005.1529369
Chang-Hua Lin, Ying-Chi Chen, J. Chen, F. Wen
A new method is proposed in this paper to eliminate the temperature effect on a piezoelectric transformer (PT) residing inside a half-bridge backlight module which utilizes the phase-locked loop (PLL) technique. The PT is adopted to drive a cold cathode fluorescent lamp (CCFL) to eliminate the downside of a conventional transformer and to reduce the dimension, particularly the thickness, of the backlight module. Next, a PLL is embedded in the backlight system, as a feedback mechanism, to track the optimal operating frequency of the PT so that the PT's temperature effect is resolved and, hence, the overall power efficiency, along with the system stability, is improved. The feedback variable proposed in this paper is a phase angle rather than a lamp current amplitude which is conventionally used. A simplified model and its design procedure are also introduced. The complete analysis and design considerations are detailed. Finally, it is encouraging to observe that the experimental results match our analytical solutions rather well.
本文提出了一种利用锁相环技术消除半桥背光模块内压电变压器温度效应的新方法。采用PT驱动冷阴极荧光灯(CCFL),消除了传统变压器的缺点,减小了背光模块的尺寸,特别是厚度。接下来,在背光系统中嵌入一个锁相环,作为反馈机制,跟踪PT的最佳工作频率,从而解决PT的温度效应,从而提高整体功率效率和系统稳定性。本文提出的反馈变量是相位角,而不是通常使用的灯电流幅度。文中还介绍了一种简化模型及其设计过程。详细介绍了完整的分析和设计考虑。最后,令人鼓舞的是,实验结果与我们的解析解相当吻合。
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引用次数: 5
Development of rapid prototyping system for ceramic shell mold of precision casting 精密铸造陶瓷壳型快速成型系统的开发
Pub Date : 2005-07-10 DOI: 10.1109/ICMECH.2005.1529305
Tang Hwa-Hsing, Yen Hsiao-Chuan, T. Chen, H.Y. Chen, C.C. Chang, C.H. Liu
Layer manufacturing (LM) is one of the most important techniques of rapid prototyping. Comparing with the machining, the main shortcomings of LM are the surface roughness of the work piece and time consuming. Many rapid prototyping techniques have been developed for many years, such as stereolithography apparatus (SLA), selective laser sintering (SLS) and laminated object manufacturing (LOM). The surface roughness and dimensional accuracy of the work piece still cannot conform to the requirements of the clients. The main reason is the "step effect" generated with layer stacking. This study develops an experimental system to achieve the layer thickness less than 25 mum which is thinner than the existing apparatuses using processes mentioned above, and the surface finish less than 8 mum. Besides, current study also investigates the feasibility of making ceramic shell mold via a new process, named ceramic laser sintering (CLS). Under the new process, the step effect can be minimized; the drying time is shortened dramatically and the production is speedy.
分层制造(LM)是快速成型的重要技术之一。与机械加工相比,LM的主要缺点是工件表面粗糙度大,耗时长。许多快速成型技术已经发展了多年,如立体光刻设备(SLA)、选择性激光烧结(SLS)和层压对象制造(LOM)。工件的表面粗糙度和尺寸精度仍不能满足客户的要求。主要原因是层叠加产生的“台阶效应”。本研究开发了一个实验系统,以实现层厚小于25微米,比现有的设备使用上述工艺更薄,表面光洁度小于8微米。此外,本研究还探讨了采用陶瓷激光烧结(CLS)新工艺制作陶瓷外壳模具的可行性。在新工艺下,台阶效应可以最小化;干燥时间大大缩短,生产速度快。
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引用次数: 7
Complete coverage motion control of a cleaning robot using infrared sensors 采用红外传感器的清洁机器人全覆盖运动控制
Pub Date : 2005-07-10 DOI: 10.1109/ICMECH.2005.1529316
Chih-Hao Chen, K. Song
This paper presents a design and implementation of a motion control system for a cleaning robot based on infrared sensors. An infrared sensor system has been developed for complete coverage navigation of a floor-cleaning robot. As the robot adopts a complete coverage cleaning strategy and executes back-and-forth cleaning task, the infrared sensors can help robot align with walls and keep the robot stay in the planned path. Moreover, a landmark has been designed for navigation control using multi-directional infrared signals. Each of them has a unique digital code to facilitate the robot memorize a cleaned area. Thus the robot can complete the cleaning task efficiently in an environment with unexpected static obstacles.
本文介绍了一种基于红外传感器的清洁机器人运动控制系统的设计与实现。研制了一种用于扫地机器人全覆盖导航的红外传感器系统。由于机器人采用全覆盖清洁策略,并执行来回清洁任务,红外传感器可以帮助机器人与墙壁对齐,使机器人保持在规划的路径上。此外,利用多方向红外信号设计了导航控制地标。每一个都有一个独特的数字代码,以方便机器人记住清洁区域。因此,机器人可以在具有意外静态障碍物的环境中高效地完成清洁任务。
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引用次数: 32
Design and control for an intensity controllable uni-polar magnetic field supplying unit for magnetic refrigeration 磁制冷用强度可控单极磁场供电装置的设计与控制
Pub Date : 2005-07-10 DOI: 10.1109/ICMECH.2005.1529352
C. Fang, Tsun-Yao Fan, Shir-Kuan Lin, Wen-Nan Huang, Chih-Hsin Chen
Magnetic refrigeration (MR) is making use of magnetocaloric (MCE) effect to refrigerate with the advantages of high efficiency, low energy consumption, and being environmentally benign. In this paper, the design of a uni-polar controllable intensity of magnetic field supply unit is described and implemented to improve the adjusting capability of magnetic field, H, for generating the related effect of magnetic field that is applied and the removal in MR to cool down systems. The proposed magnetic field supply unit, taking the coils as loading, is composed of a full-bridge PWM control inverter circuit, a coupling transformer, and a rectifier; thereby the controllable DC current can be outputted to regulate the total magnetic field by the produced H based on the magnetic core with wound coils. Simulation results demonstrate the feasibility of the presented structure, and the experimental results show the effectiveness of the controllable H ranges from 0.667 Tesla to 1.07 Tesla as well.
磁制冷是利用磁热效应进行制冷,具有效率高、能耗低、环保等优点。本文描述并实现了一种单极可控强度磁场供电单元的设计,以提高磁场H的调节能力,从而产生磁流变冷却系统中施加的磁场与去除的相关效应。本文提出的磁场供电单元以线圈为负载,由全桥PWM控制逆变电路、耦合变压器和整流器组成;从而可以输出可控的直流电流,通过产生的基于绕线线圈的磁芯的H来调节总磁场。仿真结果证明了该结构的可行性,实验结果也证明了在0.667 ~ 1.07 Tesla范围内控制H的有效性。
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引用次数: 0
Development of a high-precision surface metrology system and its uncertainty analysis 高精度表面测量系统的研制及其不确定度分析
Pub Date : 2005-07-10 DOI: 10.1109/ICMECH.2005.1529389
S. Kuo, Wen-Ho Yang, Chang-Ching Lin, K. Yeh, M. Tsai, Chuan-Cheng Hung
In this paper, we present a high-precision surface metrology system based on structured light projection. Gray code patterns are projected onto the object surface by a DMD projection device and a CCD camera captures the distorted pattern images. For the purpose of precision measurement, a 3D mathematical model is proposed for the system and a calibration process is developed to obtain system parameters. The surface profile can be computed based on the calibrated model. In order to acquire higher measurement resolution, we propose a correspondence matching method which combines Gray codes encoding and sub-pixel edge detection. With a line-shifting procedure, the measurement resolution is elevated four times higher. Furthermore, an uncertainty analysis is performed to evaluate the performance of the developed system. Experiment results demonstrate the system has measurement area of 12 times 9 mm2 with lateral resolution about 10mum and vertical resolution about 3mum.
本文提出了一种基于结构光投影的高精度曲面测量系统。通过DMD投影装置将灰度编码图案投影到物体表面,CCD摄像机捕获畸变的图案图像。为了精确测量,提出了系统的三维数学模型,并开发了系统参数的校准过程。根据标定后的模型,可以计算出表面轮廓。为了获得更高的测量分辨率,提出了一种结合灰度码编码和亚像素边缘检测的对应匹配方法。通过行移程序,测量分辨率提高了四倍。此外,还进行了不确定性分析,以评估所开发系统的性能。实验结果表明,该系统测量面积为12 × 9 mm2,横向分辨率约为10mum,纵向分辨率约为3mum。
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引用次数: 1
The fluid property dependency on ink jetting characteristics 流体性质取决于油墨喷射特性
Pub Date : 2005-07-10 DOI: 10.1109/ICMECH.2005.1529264
Myong-Ki Kim, Heuiseok Kang, K. Kang, Young Jun Cho, Mun Soo Park, Young Jin Kim
The piezo ink jet technology has been developed from the traditional desktop printer to the non-traditional industrial application like the color filter patterning process in the TFT-LCD manufacturing industry. The ink jetting technology mechanism is to eject several pico-liter ink droplets through the micron nozzle hole. The industrial ink jet application requires non-traditional ink showing various viscosity and surface tension which are critical to ink jetting. In this study, we investigated the dependency of these fluid properties on ink jetting characteristics using piezo type ink jet printer.
压电喷墨技术已经从传统的桌面打印机发展到非传统的工业应用,如TFT-LCD制造业的彩色滤光片图纹工艺。喷墨技术机理是通过微米级喷嘴孔喷射出几个皮升的墨滴。工业喷墨应用要求非传统油墨具有不同的粘度和表面张力,这对喷墨至关重要。在本研究中,我们使用压电式喷墨打印机研究了这些流体特性与喷墨特性的关系。
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引用次数: 3
期刊
IEEE International Conference on Mechatronics, 2005. ICM '05.
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