Pub Date : 2005-07-10DOI: 10.1109/ICMECH.2005.1529245
B. Shen, G. L. Hsu, M. Tsai, M. Hsieh, M. Wu, C. Chiang
This study proposes a novel parallel dual inverted pendulum system (PDIPS), which consists of a pair of parallel linear servomotors with each carrying an inverted pendulum (IP). The potential applications of the PDIPS include transportation, power-aided tools and rehabilitation. For the two inverted pendulums to move in synchronization, the control problem combines the classical IP control issue and the synchronous tracking control of the two linear motors. Hence, this study aims to develop a control scheme to achieve the balancing of both individual IPs and their synchronization for the PDIPS. Simulation and experimental results show the feasibility of the proposed control scheme for the PDIPS.
{"title":"Synchronous control of the parallel dual inverted pendulum system driven by linear servomotors","authors":"B. Shen, G. L. Hsu, M. Tsai, M. Hsieh, M. Wu, C. Chiang","doi":"10.1109/ICMECH.2005.1529245","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529245","url":null,"abstract":"This study proposes a novel parallel dual inverted pendulum system (PDIPS), which consists of a pair of parallel linear servomotors with each carrying an inverted pendulum (IP). The potential applications of the PDIPS include transportation, power-aided tools and rehabilitation. For the two inverted pendulums to move in synchronization, the control problem combines the classical IP control issue and the synchronous tracking control of the two linear motors. Hence, this study aims to develop a control scheme to achieve the balancing of both individual IPs and their synchronization for the PDIPS. Simulation and experimental results show the feasibility of the proposed control scheme for the PDIPS.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"49 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":"114682502","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.2005.1529310
Y. Kuo, Yu Tie, Taho Yang
This paper presented a simulation-based genetic algorithms (GAs) approach in solving a multi-attribute combinatorial dispatching (MACD) decision problem in a flow shop with multiple processors (FSMP) environment. The simulation is capable of modeling non-linear and stochastic problem. GA is a proven tool in solving a complex optimization problem. The proposed GAs simulation approach addressed a complex MACD problem by solving a case study from multi-player ceramic capacitor (MLCC) manufacturing. Empirical results illustrated both the effectiveness and efficiency of the proposed methodology in solving the MACD problem. Managerial insights are drawn form the case study results and future research direction is discussed.
{"title":"A simulation-based genetic algorithms approach in solving a multi-attribute combinatorial dispatching decision problem","authors":"Y. Kuo, Yu Tie, Taho Yang","doi":"10.1109/ICMECH.2005.1529310","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529310","url":null,"abstract":"This paper presented a simulation-based genetic algorithms (GAs) approach in solving a multi-attribute combinatorial dispatching (MACD) decision problem in a flow shop with multiple processors (FSMP) environment. The simulation is capable of modeling non-linear and stochastic problem. GA is a proven tool in solving a complex optimization problem. The proposed GAs simulation approach addressed a complex MACD problem by solving a case study from multi-player ceramic capacitor (MLCC) manufacturing. Empirical results illustrated both the effectiveness and efficiency of the proposed methodology in solving the MACD problem. Managerial insights are drawn form the case study results and future research direction is discussed.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"40 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":"127785467","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.2005.1529237
Chih-Yung Cheng, Yao-Jiunn Chen, Shing-Yi Lin
By combining technologies of computer vision [(L.G. Shapiro et al., 2001),(R. Jain et al., 1995),(S. Umbaugh, 1998),(D.A. Forsyth et al., 2003)] and control systems, we designed a vision-based basketball shooting robot. It is a wheeled mobile robot equipped with a Web camera and a shooting arm. Using its vision, mobility and special mechanism to adjust shooting angles, the robot can aim for the target and shoot the ball into the basket autonomously. In addition, we proposed a visual feedback method [(W.K. Pratt, 2001),(R.C. Gonzales et al., 2002)] which uses laser pointers to spot and then modify the shooting angles to improve shooting precision. Besides, the shooting robot is trained with artificial neural networks [S. Haykin 1999] in order to build the learning capability for both memorizing the training data and generalization.
通过结合计算机视觉技术[L.G.夏皮罗等人，2001);Jain et al.， 1995);Umbaugh, 1998), (D.A.Forsyth et al.， 2003)]和控制系统，我们设计了一个基于视觉的篮球投篮机器人。它是一个轮式移动机器人，配有网络摄像头和拍摄臂。机器人利用自身的视觉、机动性和调节投篮角度的特殊机构，能够自动瞄准目标，将球射进篮筐。此外，我们还提出了一种视觉反馈方法[W.K.普拉特,2001),(司令部Gonzales et al.， 2002)]使用激光笔进行定位，然后修改射击角度以提高射击精度。此外，采用人工神经网络对射击机器人进行训练[S]。Haykin 1999]以建立记忆训练数据和泛化的学习能力。
{"title":"Design and implementation of a vision-based basketball shooting robot","authors":"Chih-Yung Cheng, Yao-Jiunn Chen, Shing-Yi Lin","doi":"10.1109/ICMECH.2005.1529237","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529237","url":null,"abstract":"By combining technologies of computer vision [(L.G. Shapiro et al., 2001),(R. Jain et al., 1995),(S. Umbaugh, 1998),(D.A. Forsyth et al., 2003)] and control systems, we designed a vision-based basketball shooting robot. It is a wheeled mobile robot equipped with a Web camera and a shooting arm. Using its vision, mobility and special mechanism to adjust shooting angles, the robot can aim for the target and shoot the ball into the basket autonomously. In addition, we proposed a visual feedback method [(W.K. Pratt, 2001),(R.C. Gonzales et al., 2002)] which uses laser pointers to spot and then modify the shooting angles to improve shooting precision. Besides, the shooting robot is trained with artificial neural networks [S. Haykin 1999] in order to build the learning capability for both memorizing the training data and generalization.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"14 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":"127109034","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.2005.1529228
F. Arif, M. Akbar
Air borne sensed data is gained by satellite/aerial images and other remote sensing or scanning platforms. Each grid-cell, or pixel, has a certain value depending on how the image was captured and what it represents. Reprojection and resampling of raster image data should be handled with caution. Issues of geometric distortions and errors due to resampling need to be considered carefully. Interpretation of such data requires correction of distortions and resampling of recorded data. There are different methods for this purpose but they have their inbuilt problems as well. This paper presents a bilinear interpolation method for resampling of air borne sensed data. The method is developed in Matlab and results are obtained using different interpolation rates. A review of the used method is also given at the end.
{"title":"Resampling air borne sensed data using bilinear interpolation algorithm","authors":"F. Arif, M. Akbar","doi":"10.1109/ICMECH.2005.1529228","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529228","url":null,"abstract":"Air borne sensed data is gained by satellite/aerial images and other remote sensing or scanning platforms. Each grid-cell, or pixel, has a certain value depending on how the image was captured and what it represents. Reprojection and resampling of raster image data should be handled with caution. Issues of geometric distortions and errors due to resampling need to be considered carefully. Interpretation of such data requires correction of distortions and resampling of recorded data. There are different methods for this purpose but they have their inbuilt problems as well. This paper presents a bilinear interpolation method for resampling of air borne sensed data. The method is developed in Matlab and results are obtained using different interpolation rates. A review of the used method is also given at the end.","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":"126425851","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.2005.1529315
Meng-Bi Cheng, Ching-Chih Tsai
This paper develops a methodology for trajectory tracking control of a nonholonomic wheeled mobile manipulator with uncertainties and external load changes. The proposed control law consists of two levels: kinematics and dynamic levels. First, the auxiliary kinematic velocity control laws for the mobile platform and the onboard manipulator are separately proposed via backstepping. Then, a hybrid robust tracking control system is presented to ensure the velocity tracking ability in spite of the uncertainties. To achieve the goal, a neural network controller is developed to mimic an equivalent control law in the sliding-mode control, a robust controller is designed to incorporate the system dynamics into the sliding surface for guaranteeing the asymptotical stability, and the proportional controller is designed to improve the transient performance for randomly initializing neural network. All the adaptive learning algorithms for sliding-mode neural networks (SMNN) are derived from the Lyapunov stability theory so that the system tracking ability can be guaranteed in the close-loop system no matter the uncertainties occur or not. Simulation results illustrate the feasibility as well as efficacy of the proposed control strategy in comparison with the backstepping method.
{"title":"Hybrid robust tracking control for a mobile manipulator via sliding-mode neural network","authors":"Meng-Bi Cheng, Ching-Chih Tsai","doi":"10.1109/ICMECH.2005.1529315","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529315","url":null,"abstract":"This paper develops a methodology for trajectory tracking control of a nonholonomic wheeled mobile manipulator with uncertainties and external load changes. The proposed control law consists of two levels: kinematics and dynamic levels. First, the auxiliary kinematic velocity control laws for the mobile platform and the onboard manipulator are separately proposed via backstepping. Then, a hybrid robust tracking control system is presented to ensure the velocity tracking ability in spite of the uncertainties. To achieve the goal, a neural network controller is developed to mimic an equivalent control law in the sliding-mode control, a robust controller is designed to incorporate the system dynamics into the sliding surface for guaranteeing the asymptotical stability, and the proportional controller is designed to improve the transient performance for randomly initializing neural network. All the adaptive learning algorithms for sliding-mode neural networks (SMNN) are derived from the Lyapunov stability theory so that the system tracking ability can be guaranteed in the close-loop system no matter the uncertainties occur or not. Simulation results illustrate the feasibility as well as efficacy of the proposed control strategy in comparison with the backstepping method.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"156 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":"122554285","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.2005.1529308
C. Tseng, Ting-Wei Shih, Jun-Tsun Lin
This paper is to develop a dynamic balancing system for automobile starting motor armatures. In this study, a genuine idea that calculates the parameters in the influence coefficient matrix based on the adaptive parameter estimate technique was proposed. With this idea, the influence coefficient matrix can be tuned on-line to be adaptive to worn conditions of the milling machine. A series of experiments have been carried out on various field armatures of automobile starting motor to show the feasibility and performance of the proposed scheme.
{"title":"A novel dynamic balancing scheme for automobile starting motor armatures","authors":"C. Tseng, Ting-Wei Shih, Jun-Tsun Lin","doi":"10.1109/ICMECH.2005.1529308","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529308","url":null,"abstract":"This paper is to develop a dynamic balancing system for automobile starting motor armatures. In this study, a genuine idea that calculates the parameters in the influence coefficient matrix based on the adaptive parameter estimate technique was proposed. With this idea, the influence coefficient matrix can be tuned on-line to be adaptive to worn conditions of the milling machine. A series of experiments have been carried out on various field armatures of automobile starting motor to show the feasibility and performance of the proposed scheme.","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":"121770617","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.2005.1529365
Lung-Jieh Yang, Hsin-Hsiung Wang, W. Liao, Han-Wei Huang, Chih-Cheng Chang
The primary purpose of this research is to design and build up a test machine which provides a testing environment for semiconductor micro sensors made by micro-electro-mechanical systems (MEMS) technique. It combines computer auxiliary software SPARTAN into the global data-gathering system in addition to the main frame of the pressurized chamber. Different states of temperature and pressure subject to the testing of commercial pressure sensors was not only successfully achieved but the real-time sampling of the MEMS sensor output also worked well.
{"title":"The testing machine for micro-sensors subjected to different states of pressure and temperature","authors":"Lung-Jieh Yang, Hsin-Hsiung Wang, W. Liao, Han-Wei Huang, Chih-Cheng Chang","doi":"10.1109/ICMECH.2005.1529365","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529365","url":null,"abstract":"The primary purpose of this research is to design and build up a test machine which provides a testing environment for semiconductor micro sensors made by micro-electro-mechanical systems (MEMS) technique. It combines computer auxiliary software SPARTAN into the global data-gathering system in addition to the main frame of the pressurized chamber. Different states of temperature and pressure subject to the testing of commercial pressure sensors was not only successfully achieved but the real-time sampling of the MEMS sensor output also worked well.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"239 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":"122110212","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}
Masks have played an important role in the lithography process, but it takes time and money to make a quartz mask. In rapid prototyping (RP) technologies, curing of photopolymers is mainly achieved by laser scanning with limited fabrication speed. In this project, the dynamic mask technology is implemented to develop a dynamic mask photolithography system which requires no expensive quartz mask and is expected to fabricate parts faster than laser scanning. Digital micro-mirror device (DMD) from digital light processing (DLP) technology by Texas Instruments is used as a dynamic mask generator. Instead of using visible light in DLP, UV light source is utilized, hence, more photopolymers can be used in this system.
{"title":"Development of dynamic mask photolithography system","authors":"Yih-Lin Cheng, Mengyao Li, Jiang-Hong Lin, J. Lai, Chang-Tai Ke, Yu-Chia Huang","doi":"10.1109/ICMECH.2005.1529302","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529302","url":null,"abstract":"Masks have played an important role in the lithography process, but it takes time and money to make a quartz mask. In rapid prototyping (RP) technologies, curing of photopolymers is mainly achieved by laser scanning with limited fabrication speed. In this project, the dynamic mask technology is implemented to develop a dynamic mask photolithography system which requires no expensive quartz mask and is expected to fabricate parts faster than laser scanning. Digital micro-mirror device (DMD) from digital light processing (DLP) technology by Texas Instruments is used as a dynamic mask generator. Instead of using visible light in DLP, UV light source is utilized, hence, more photopolymers can be used in this system.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"16 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":"122245852","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}
Issues regarding the application of two equivalent sufficient conditions for the existence of stabilizing switching laws between two unstable linear systems are studied. One of the conditions is effective for theoretical derivation, while the other is easily implementable. To further understand the geometrical insight of the conditions, an equivalent condition involving the information of eigenvalues and eigenvectors of system dynamics is presented for planar cases. With the help of the equivalent relation, a condition for the existence of controllers and stabilizing switching laws between two unstabilizable linear control systems is also presented. The controllers and stabilizing switching laws are explicitly constructed through the use of an existed algorithm.
{"title":"On existence and construction of stabilizing switching laws between two unstable linear systems","authors":"Yew-Wen Liang, Yuyan Tan, Sheng-Dong Xu, Jia-Liang Chang","doi":"10.1109/ICMECH.2005.1529289","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529289","url":null,"abstract":"Issues regarding the application of two equivalent sufficient conditions for the existence of stabilizing switching laws between two unstable linear systems are studied. One of the conditions is effective for theoretical derivation, while the other is easily implementable. To further understand the geometrical insight of the conditions, an equivalent condition involving the information of eigenvalues and eigenvectors of system dynamics is presented for planar cases. With the help of the equivalent relation, a condition for the existence of controllers and stabilizing switching laws between two unstabilizable linear control systems is also presented. The controllers and stabilizing switching laws are explicitly constructed through the use of an existed algorithm.","PeriodicalId":175701,"journal":{"name":"IEEE International Conference on Mechatronics, 2005. ICM '05.","volume":"58 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":"121112396","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.2005.1529269
Y. Yen, J.Y. Lee, M. Kuo, L. Huang
Single biomolecular detection and real-time motion tracking of an anti-IgG molecule in a microchannel was successfully demonstrated by using total internal reflection fluorescence (TIRF) microscopy. Fluorescence-labeled biomolecules were excited at the transparent near-wall region by the evanescent wave which occurred at the optically index-mismatch interface. The MEMS-based microchannels biochip was also well designed and fabricated to exploit to monitor the motion of a single biomolecule in the near-wall flow layer. The motion of a single anti-IgG molecule has been tracked and analyzed under the speed limit 6 mm/s of image capturing system. The 3D positions of a molecule were also plotted to illustrate the biomolecular trajectory.
{"title":"The application of an innovative MEMS protein chip in real-time total internal reflection fluorescence microscopy","authors":"Y. Yen, J.Y. Lee, M. Kuo, L. Huang","doi":"10.1109/ICMECH.2005.1529269","DOIUrl":"https://doi.org/10.1109/ICMECH.2005.1529269","url":null,"abstract":"Single biomolecular detection and real-time motion tracking of an anti-IgG molecule in a microchannel was successfully demonstrated by using total internal reflection fluorescence (TIRF) microscopy. Fluorescence-labeled biomolecules were excited at the transparent near-wall region by the evanescent wave which occurred at the optically index-mismatch interface. The MEMS-based microchannels biochip was also well designed and fabricated to exploit to monitor the motion of a single biomolecule in the near-wall flow layer. The motion of a single anti-IgG molecule has been tracked and analyzed under the speed limit 6 mm/s of image capturing system. The 3D positions of a molecule were also plotted to illustrate the biomolecular trajectory.","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":"129513495","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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