Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250132
Johannes Lechner, W. Günthner, Stefan Nosovic, Alois Ascher
Systems and applications within the industry 4.0 have a high demand for accurate and up-to-date information or context about their environment. A fundamental type of information is the identity of objects. In future systems, there is also an increased need for context on the location and the status of identified objects. RFID can already address the demand for location information by signal processing. In this paper, we describe a smart RFID reader that is furthermore able to collect and process context on logistic objects by including logistic data sources. The enhanced usage of context allows for an adaptable system that is able to analyze its measurements to recognize and report logistic process events. In order to obtain this functionality we extract the spatial structure of operation environments from 2D-CAD layouts of the warehouse. For the detection of process events, we developed a method to validate the measurements by reasoning. To obtain basic rules for the reasoning, we describe an ontology on basic interactions between logistic objects. The basic rules are then synchronized with the data form a warehouse management system by processing a form of decision trees.
{"title":"Context-based monitoring of logistic process events using passive UHF RFID technology","authors":"Johannes Lechner, W. Günthner, Stefan Nosovic, Alois Ascher","doi":"10.1109/IRIS.2017.8250132","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250132","url":null,"abstract":"Systems and applications within the industry 4.0 have a high demand for accurate and up-to-date information or context about their environment. A fundamental type of information is the identity of objects. In future systems, there is also an increased need for context on the location and the status of identified objects. RFID can already address the demand for location information by signal processing. In this paper, we describe a smart RFID reader that is furthermore able to collect and process context on logistic objects by including logistic data sources. The enhanced usage of context allows for an adaptable system that is able to analyze its measurements to recognize and report logistic process events. In order to obtain this functionality we extract the spatial structure of operation environments from 2D-CAD layouts of the warehouse. For the detection of process events, we developed a method to validate the measurements by reasoning. To obtain basic rules for the reasoning, we describe an ontology on basic interactions between logistic objects. The basic rules are then synchronized with the data form a warehouse management system by processing a form of decision trees.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129291466","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250135
Jinesh G. Patel, Yahu A. Choudhary, G. Bone
The goal of programming by demonstration (PBD) (also known as “learning by demonstration” and “imitation learning”) is for the robot to learn its program from a human demonstrator or teacher, saving time and money compared with traditional robot programming. This paper focuses on programming robots using human pointing gestures to automatically sort objects into bins. The proposed PBD system's software design, algorithms and experimental implementation are presented. Gesturing, speech and graphics facilitate the human-robot interaction. The main novelty of the system is its ability to tolerate human and robot faults. The tolerated human faults include: vague pointing gesture, timeout during pointing, pointing to previously matched class, pointing to previously matched bin, unclassified object found, matching bin not found, and human inside work zone during sorting task. Dropping an object during pick-and-place is the tolerated robot fault. The hardware includes a single color plus depth camera, and a six- axis robotic arm with an electromagnetic gripper. The software runs on a standard PC. The system's ability to deal with human and robot faults was verified using teaching and sorting experiments performed with a set of industrial parts.
{"title":"Fault tolerant robot programming by demonstration of sorting tasks with industrial objects","authors":"Jinesh G. Patel, Yahu A. Choudhary, G. Bone","doi":"10.1109/IRIS.2017.8250135","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250135","url":null,"abstract":"The goal of programming by demonstration (PBD) (also known as “learning by demonstration” and “imitation learning”) is for the robot to learn its program from a human demonstrator or teacher, saving time and money compared with traditional robot programming. This paper focuses on programming robots using human pointing gestures to automatically sort objects into bins. The proposed PBD system's software design, algorithms and experimental implementation are presented. Gesturing, speech and graphics facilitate the human-robot interaction. The main novelty of the system is its ability to tolerate human and robot faults. The tolerated human faults include: vague pointing gesture, timeout during pointing, pointing to previously matched class, pointing to previously matched bin, unclassified object found, matching bin not found, and human inside work zone during sorting task. Dropping an object during pick-and-place is the tolerated robot fault. The hardware includes a single color plus depth camera, and a six- axis robotic arm with an electromagnetic gripper. The software runs on a standard PC. The system's ability to deal with human and robot faults was verified using teaching and sorting experiments performed with a set of industrial parts.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129816931","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250104
Mohammadhossein Hajiyan, M. Biglarbegian, S. Mahmud, H. Abdullah
Over the past two decades, there has been a growing need to develop rehabilitation robots able to perform passive repetitive movements for patients with traumatic injuries. In this paper, a new exoskeleton-based design is proposed that imitates natural hand movements for rehabilitation purposes. For controlling the motion of the proposed design, we subsequently designed five different controllers, computed torque control (CTC), PD, PID, and two sliding mode controllers (SMC). It was shown that the second sliding mode controller resulted in improved trajectories that were chosen based on the natural hand movements. The proposed design along with the sliding mode controller has the potential to be used as a continues passive machine (CPM) resulting in improved recovery of injured hand for patients after stroke or post surgical training.
{"title":"Design and control of an exoskeleton based device for hand rehabilitation","authors":"Mohammadhossein Hajiyan, M. Biglarbegian, S. Mahmud, H. Abdullah","doi":"10.1109/IRIS.2017.8250104","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250104","url":null,"abstract":"Over the past two decades, there has been a growing need to develop rehabilitation robots able to perform passive repetitive movements for patients with traumatic injuries. In this paper, a new exoskeleton-based design is proposed that imitates natural hand movements for rehabilitation purposes. For controlling the motion of the proposed design, we subsequently designed five different controllers, computed torque control (CTC), PD, PID, and two sliding mode controllers (SMC). It was shown that the second sliding mode controller resulted in improved trajectories that were chosen based on the natural hand movements. The proposed design along with the sliding mode controller has the potential to be used as a continues passive machine (CPM) resulting in improved recovery of injured hand for patients after stroke or post surgical training.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122485115","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250116
Florian Müller, Felix Weiske, J. Jäkel, Ulrike Thomas, J. Suchy
This paper introduces an improvement of the assisting force field (AFF) concept for hand-guiding of robotic arms. The AFF guides the user to several reference paths previously learned from experienced users. The AFF concept is extended to anthropomorphic redundant robots, which are used to obtain more flexibility. The redundancy of the robot is used for collision avoidance with the robot's elbow. The motion for collision avoidance should have a low influence on position and orientation of the end effector. A corresponding algorithm is proposed. Using AFF, a force-field-dependent variable impedance controller (FF-VIC) is developed for reducing the settling time and improving the user comfort. For investigating these proposed developments a simulation study was performed in which user comfort and control performance were evaluated. Analyzing the simulation results, a suitable parametrization for the FF-VIC can be found which improves user comfort and settling time. Finally, the results were experimentally validated and the functionality of the collision avoidance is shown.
{"title":"Human-robot interaction with redundant robots using force-field-dependent variable impedance control","authors":"Florian Müller, Felix Weiske, J. Jäkel, Ulrike Thomas, J. Suchy","doi":"10.1109/IRIS.2017.8250116","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250116","url":null,"abstract":"This paper introduces an improvement of the assisting force field (AFF) concept for hand-guiding of robotic arms. The AFF guides the user to several reference paths previously learned from experienced users. The AFF concept is extended to anthropomorphic redundant robots, which are used to obtain more flexibility. The redundancy of the robot is used for collision avoidance with the robot's elbow. The motion for collision avoidance should have a low influence on position and orientation of the end effector. A corresponding algorithm is proposed. Using AFF, a force-field-dependent variable impedance controller (FF-VIC) is developed for reducing the settling time and improving the user comfort. For investigating these proposed developments a simulation study was performed in which user comfort and control performance were evaluated. Analyzing the simulation results, a suitable parametrization for the FF-VIC can be found which improves user comfort and settling time. Finally, the results were experimentally validated and the functionality of the collision avoidance is shown.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132545061","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250126
F. Niroui, B. Sprenger, G. Nejat
The use of autonomous robots in urban search and rescue (USAR) missions has many potential benefits in terms of assisting rescue workers and increasing efficiency in these time- critical environments. However, the cluttered and unknown nature of these environments introduces uncertainty in both the sensing and actuation capabilities of a rescue robot. Such uncertainty has not been directly incorporated into the modeling of the USAR problem for existing robots. In this paper, we present the novel use of a partially observable Markov Decision Process (POMDP) method which directly incorporates uncertainty within the decision-making layer of the controller for a rescue robot. A hierarchical task structure is used to decompose the overall exploration and victim identification task of a robot into smaller subtasks. These subtasks are modeled as POMDPs taking into account sensory and actuation uncertainty. Our proposed approach was tested in numerous experiments in unknown and cluttered USAR-like environments. The results should that the approach was able to successfully explore the environments and find victims, while dealing with sensor and actuator uncertainty.
{"title":"Robot exploration in unknown cluttered environments when dealing with uncertainty","authors":"F. Niroui, B. Sprenger, G. Nejat","doi":"10.1109/IRIS.2017.8250126","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250126","url":null,"abstract":"The use of autonomous robots in urban search and rescue (USAR) missions has many potential benefits in terms of assisting rescue workers and increasing efficiency in these time- critical environments. However, the cluttered and unknown nature of these environments introduces uncertainty in both the sensing and actuation capabilities of a rescue robot. Such uncertainty has not been directly incorporated into the modeling of the USAR problem for existing robots. In this paper, we present the novel use of a partially observable Markov Decision Process (POMDP) method which directly incorporates uncertainty within the decision-making layer of the controller for a rescue robot. A hierarchical task structure is used to decompose the overall exploration and victim identification task of a robot into smaller subtasks. These subtasks are modeled as POMDPs taking into account sensory and actuation uncertainty. Our proposed approach was tested in numerous experiments in unknown and cluttered USAR-like environments. The results should that the approach was able to successfully explore the environments and find victims, while dealing with sensor and actuator uncertainty.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128621572","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250143
M. R. Kafi, H. Chaoui, S. Miah
This manuscript presents the application of interval type-2 fuzzy logic sets for the control of a twin-rotor multiinput multi-output (MIMO) system (TRMS). As such, accurate tracking with robustness to structured/unstructured uncertainties is achieved. Unlike other control methodologies, no prior knowledge of the system dynamics and/or parameters is needed. Simulation results of different TRMS configurations illustrate the performance of the control scheme in transient and steady- state conditions. Furthermore, the proposed interval type-2 fuzzy control strategy is compared against its type-1 counterpart.
{"title":"Twin-rotor MIMO system and its control using interval type-2 fuzzy logic","authors":"M. R. Kafi, H. Chaoui, S. Miah","doi":"10.1109/IRIS.2017.8250143","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250143","url":null,"abstract":"This manuscript presents the application of interval type-2 fuzzy logic sets for the control of a twin-rotor multiinput multi-output (MIMO) system (TRMS). As such, accurate tracking with robustness to structured/unstructured uncertainties is achieved. Unlike other control methodologies, no prior knowledge of the system dynamics and/or parameters is needed. Simulation results of different TRMS configurations illustrate the performance of the control scheme in transient and steady- state conditions. Furthermore, the proposed interval type-2 fuzzy control strategy is compared against its type-1 counterpart.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":" 34","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113947636","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250110
J. Peres, P. Rosa, R. Choren
Swarm robotics is an emerging approach to coordinate a large number of robots. These robots, which are usually simple and low-cost, may perform a wide variety of missions, serving either civilian or military applications. Since autonomy, modularity, collaboration and interactivity are characteristics of swarm robotics systems, the multi-agent paradigm became a natural choice to address their issues. Because of its inherent complexity and reuse possibilities, there are many advantages in using system-of-systems architectures for designing swarm robotics systems. This paper targets two main contributions: to improve the understanding of the fundamental requirements of swarm robotics systems and to propose a multi-agent architecture to assist the development of systems that perform both command and control and simulation of heterogeneous robots that interacts with each other and with humans in order to accomplish several types of missions.
{"title":"A multi-agent architecture for swarm robotics systems","authors":"J. Peres, P. Rosa, R. Choren","doi":"10.1109/IRIS.2017.8250110","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250110","url":null,"abstract":"Swarm robotics is an emerging approach to coordinate a large number of robots. These robots, which are usually simple and low-cost, may perform a wide variety of missions, serving either civilian or military applications. Since autonomy, modularity, collaboration and interactivity are characteristics of swarm robotics systems, the multi-agent paradigm became a natural choice to address their issues. Because of its inherent complexity and reuse possibilities, there are many advantages in using system-of-systems architectures for designing swarm robotics systems. This paper targets two main contributions: to improve the understanding of the fundamental requirements of swarm robotics systems and to propose a multi-agent architecture to assist the development of systems that perform both command and control and simulation of heterogeneous robots that interacts with each other and with humans in order to accomplish several types of missions.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122869847","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250090
A. Safaei, Y. Koo, M. Mahyuddin
In this paper, a model-free control policy for tracking problem in robotic manipulators with any numbers of degree-of-freedom (DOF) is proposed. Here, it is assumed that the dynamics of manipulators contains bounded unknown nonlinearities and external disturbances. The algorithm includes two separate robust adaptive laws for estimating the unknown nonlinear terms and unknown system matrix. The adaptive law for estimation of the nonlinear terms is a model-free estimation algorithm, since it does not require any regressor parameters. The proposed algorithm is analysed using Lyapunov stability theorem. Moreover, it is shown that the controller incorporates an optimal policy considering a specific cost function. The performance of the proposed algorithm is studied on simulation of a two-arm robotic manipulator with tracking objective.
{"title":"Adaptive model-free control for robotic manipulators","authors":"A. Safaei, Y. Koo, M. Mahyuddin","doi":"10.1109/IRIS.2017.8250090","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250090","url":null,"abstract":"In this paper, a model-free control policy for tracking problem in robotic manipulators with any numbers of degree-of-freedom (DOF) is proposed. Here, it is assumed that the dynamics of manipulators contains bounded unknown nonlinearities and external disturbances. The algorithm includes two separate robust adaptive laws for estimating the unknown nonlinear terms and unknown system matrix. The adaptive law for estimation of the nonlinear terms is a model-free estimation algorithm, since it does not require any regressor parameters. The proposed algorithm is analysed using Lyapunov stability theorem. Moreover, it is shown that the controller incorporates an optimal policy considering a specific cost function. The performance of the proposed algorithm is studied on simulation of a two-arm robotic manipulator with tracking objective.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"2018 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123363726","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250124
Juhee Park, Jeehyun Lee
We propose a cost effective depth estimation method using stereo camera and convolutional neural networks for SLAM algorithm. Convolutional neural networks outperform the traditional computer vision approaches in estimating depth of stereo image pairs. However, the performance gain of neural networks approach causes substantial increase in computation cost, which consequently decreases the operation time of mobile robots like domestic robots. To alleviate the high computation problem, this paper proposes quantized shallow Siamese convolutional neural networks which compute the similarity between patches of rectified stereo image pairs to estimate depth. Quantization of weights and reduction of layers in the neural networks can degrade the performance. To mitigate the performance degradation, this paper initially maximizes networks performance with three different methods of batch-normalization, optimal negative matching similarity training, and retraining with a global loss function. Then, the final retrained network is nonuniformly quantized. This non-uniform quantization provides efficient computation with the minimum performance loss. The final quantized shallow Siamese networks achieve 3.29% error rate for KITTI 2012.
{"title":"A cost effective estimation of depth from stereo image pairs using shallow siamese convolutional networks","authors":"Juhee Park, Jeehyun Lee","doi":"10.1109/IRIS.2017.8250124","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250124","url":null,"abstract":"We propose a cost effective depth estimation method using stereo camera and convolutional neural networks for SLAM algorithm. Convolutional neural networks outperform the traditional computer vision approaches in estimating depth of stereo image pairs. However, the performance gain of neural networks approach causes substantial increase in computation cost, which consequently decreases the operation time of mobile robots like domestic robots. To alleviate the high computation problem, this paper proposes quantized shallow Siamese convolutional neural networks which compute the similarity between patches of rectified stereo image pairs to estimate depth. Quantization of weights and reduction of layers in the neural networks can degrade the performance. To mitigate the performance degradation, this paper initially maximizes networks performance with three different methods of batch-normalization, optimal negative matching similarity training, and retraining with a global loss function. Then, the final retrained network is nonuniformly quantized. This non-uniform quantization provides efficient computation with the minimum performance loss. The final quantized shallow Siamese networks achieve 3.29% error rate for KITTI 2012.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129557719","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250125
Muhammad Aliff Rosly, H. Yussof, M. F. Shaari, Z. Samad, D. Kamaruzaman, A. R. Omar
The increasing need for real preliminary information verification in small space for any underwater operations involving search and rescue, archaeological exploration and oceanographic studies had inspired the development of biomimetic underwater flapping thruster using Ionic Polymer Metal Composite (IPMC) smart actuator. However, one of the problems with this kind of thruster is the inconsistent and uncontrollable thrust generation due to no proposed control mechanism. Therefore, the main objective of this paper is to equip this biomimetic flapping thruster with speed control mechanism to ensure the motion of this thruster is following the pre-determined speed. The IPMC actuator was utilized as the thruster's caudal fin to move the thruster body at certain speed. Meanwhile, an Inertial Measurement Unit (IMU) device was used as the speed and orientation sensor for open loop and closed loop control experiments. Open loop results prove that the generated thruster instantaneous speed increases with the increases of amplitude of voltage to IPMC. Based on this information, a closed loop control system was developed, and its performance was verified. By controlling the voltage amplitude, the closed loop control system managed to control thruster's instantaneous speed around the 1.5 cm/s setpoint. In conclusion, the speed of IPMC based flapping thruster can be effectively controlled by using IMU device as a speed feedback. The knowledge is critical in providing other IPMC based biomimetic robot researcher a solution for controlling the thrust generation.
{"title":"Speed control mechanism for IPMC based biomimetic flapping thruster","authors":"Muhammad Aliff Rosly, H. Yussof, M. F. Shaari, Z. Samad, D. Kamaruzaman, A. R. Omar","doi":"10.1109/IRIS.2017.8250125","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250125","url":null,"abstract":"The increasing need for real preliminary information verification in small space for any underwater operations involving search and rescue, archaeological exploration and oceanographic studies had inspired the development of biomimetic underwater flapping thruster using Ionic Polymer Metal Composite (IPMC) smart actuator. However, one of the problems with this kind of thruster is the inconsistent and uncontrollable thrust generation due to no proposed control mechanism. Therefore, the main objective of this paper is to equip this biomimetic flapping thruster with speed control mechanism to ensure the motion of this thruster is following the pre-determined speed. The IPMC actuator was utilized as the thruster's caudal fin to move the thruster body at certain speed. Meanwhile, an Inertial Measurement Unit (IMU) device was used as the speed and orientation sensor for open loop and closed loop control experiments. Open loop results prove that the generated thruster instantaneous speed increases with the increases of amplitude of voltage to IPMC. Based on this information, a closed loop control system was developed, and its performance was verified. By controlling the voltage amplitude, the closed loop control system managed to control thruster's instantaneous speed around the 1.5 cm/s setpoint. In conclusion, the speed of IPMC based flapping thruster can be effectively controlled by using IMU device as a speed feedback. The knowledge is critical in providing other IPMC based biomimetic robot researcher a solution for controlling the thrust generation.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126628814","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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