Pub Date : 1999-12-01DOI: 10.1109/ISIE.1999.801773
Y. Umeda, D. Nakamura, Toshiyuki Murakami, Kouhei Ohnishi
This paper proposes a hybrid position/force control of a mobile manipulator to cooperate with its subsystems that consist of a wheeled mobile robot and a manipulator arm. These subsystems have different dynamic characteristics. Moreover, a wheeled mobile robot is subject to nonholonomic constraints. In general, these issues are taken into consideration in developing a planning and control algorithm. This paper describes a unified approach to control a mobile manipulator which can be regarded as a redundant manipulator. In the proposed approach, realizing an optimal configuration control according to the motion of the end-effector, the redundancy of the proposed system is utilized under consideration of the dynamical behavior of the mobile manipulator. Several experimental results show the effectiveness of the proposed method.
{"title":"Hybrid position/force control of a mobile manipulator based on cooperative task sharing","authors":"Y. Umeda, D. Nakamura, Toshiyuki Murakami, Kouhei Ohnishi","doi":"10.1109/ISIE.1999.801773","DOIUrl":"https://doi.org/10.1109/ISIE.1999.801773","url":null,"abstract":"This paper proposes a hybrid position/force control of a mobile manipulator to cooperate with its subsystems that consist of a wheeled mobile robot and a manipulator arm. These subsystems have different dynamic characteristics. Moreover, a wheeled mobile robot is subject to nonholonomic constraints. In general, these issues are taken into consideration in developing a planning and control algorithm. This paper describes a unified approach to control a mobile manipulator which can be regarded as a redundant manipulator. In the proposed approach, realizing an optimal configuration control according to the motion of the end-effector, the redundancy of the proposed system is utilized under consideration of the dynamical behavior of the mobile manipulator. Several experimental results show the effectiveness of the proposed method.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128150956","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 : 1999-12-01DOI: 10.1109/ISIE.1999.796861
A. F. Alves, P. D. da Costa, J.R.P. Fraga, F.A.C. Pires
Traditional mathematical tools, like Fourier analysis, have proven to be efficient when analyzing steady-state distortions; however, the growing utilization of electronically controlled loads and the generation of a new dynamic in industrial environments signals have suggested the need of a powerful tool to perform the analysis of nonstationary distortions, overcoming limitations of frequency techniques. Wavelet theory provides a new approach to harmonic analysis, focusing the decomposition of a signal into nonsinusoidal components, which are translated and scaled in time, generating a time-frequency basis. The correct choice of the waveshape to be used in decomposition is very important and discussed in this work, a brief theoretical introduction on wavelet transform is presented and some cases (practical and simulated) are discussed. Distortions commonly found in industrial environments, such as the current waveform of a switched-mode power supply and the input phase voltage waveform of motor fed by an inverter are analyzed using wavelet theory. Applications such as extracting the fundamental frequency of a nonsinusoidal current signal, or using the ability of compact representation to detect nonrepetitive disturbances are presented.
{"title":"Harmonics filtering and detection of disturbances using wavelets","authors":"A. F. Alves, P. D. da Costa, J.R.P. Fraga, F.A.C. Pires","doi":"10.1109/ISIE.1999.796861","DOIUrl":"https://doi.org/10.1109/ISIE.1999.796861","url":null,"abstract":"Traditional mathematical tools, like Fourier analysis, have proven to be efficient when analyzing steady-state distortions; however, the growing utilization of electronically controlled loads and the generation of a new dynamic in industrial environments signals have suggested the need of a powerful tool to perform the analysis of nonstationary distortions, overcoming limitations of frequency techniques. Wavelet theory provides a new approach to harmonic analysis, focusing the decomposition of a signal into nonsinusoidal components, which are translated and scaled in time, generating a time-frequency basis. The correct choice of the waveshape to be used in decomposition is very important and discussed in this work, a brief theoretical introduction on wavelet transform is presented and some cases (practical and simulated) are discussed. Distortions commonly found in industrial environments, such as the current waveform of a switched-mode power supply and the input phase voltage waveform of motor fed by an inverter are analyzed using wavelet theory. Applications such as extracting the fundamental frequency of a nonsinusoidal current signal, or using the ability of compact representation to detect nonrepetitive disturbances are presented.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125149501","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 : 1999-07-12DOI: 10.1109/ISIE.1999.798721
A. Abellán, G. Garcerá, M. Benavent
Shunt active power filters are used to eliminate the current harmonics and to improve the power factor in systems with nonlinear loads. At the present time, different methods exist to control active power filters. Some of them are based on instantaneous reactive power theory and others are based on the synchronous reference frame using Park's transformation. The purpose of this paper is to present a new control method of shunt active power filters in unbalanced systems, both in load currents and in AC supply voltage, with a high contents of harmonics. The method is based on the time-domain analysis carried out by P. Filipski (1980). With this control method, one can make that the set formed by the nonlinear load and the shunt power filter behaves every time like a resistance, UPF (with unity power factor), or that the current absorbed by the set is perfectly sinusoidal, by simply acting on a switch. The system has been simulated for different load and line conditions. Waveforms of the line currents are shown, with their harmonic distortion contents.
{"title":"A new control method for obtaining reference currents of shunt active power filters in unbalanced and non-sinusoidal conditions","authors":"A. Abellán, G. Garcerá, M. Benavent","doi":"10.1109/ISIE.1999.798721","DOIUrl":"https://doi.org/10.1109/ISIE.1999.798721","url":null,"abstract":"Shunt active power filters are used to eliminate the current harmonics and to improve the power factor in systems with nonlinear loads. At the present time, different methods exist to control active power filters. Some of them are based on instantaneous reactive power theory and others are based on the synchronous reference frame using Park's transformation. The purpose of this paper is to present a new control method of shunt active power filters in unbalanced systems, both in load currents and in AC supply voltage, with a high contents of harmonics. The method is based on the time-domain analysis carried out by P. Filipski (1980). With this control method, one can make that the set formed by the nonlinear load and the shunt power filter behaves every time like a resistance, UPF (with unity power factor), or that the current absorbed by the set is perfectly sinusoidal, by simply acting on a switch. The system has been simulated for different load and line conditions. Waveforms of the line currents are shown, with their harmonic distortion contents.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115367124","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 : 1999-07-12DOI: 10.1109/ISIE.1999.796865
J.L. Martin, J. Ezquerra, P. Ibanez
In this paper, the authors present a video processing circuit for a 3D machine vision system designed with an FPGA that processes images in real time and provides them through the EPP (enhanced parallel port) to a computer. The system is useful in 3D vision applications so different as robot guidance in MIG and laser soldering or control of treated woods. The connection of the processing system to a PC through the EPP achieves an easy installation for industrial applications. The implementation of processing in programmable device (SRAM-cells based on an FPGA), allow easy modification of the design in order to adapt it rapidly to new applications or to make different versions of the same system.
{"title":"Image processing system for PC through the enhanced parallel port","authors":"J.L. Martin, J. Ezquerra, P. Ibanez","doi":"10.1109/ISIE.1999.796865","DOIUrl":"https://doi.org/10.1109/ISIE.1999.796865","url":null,"abstract":"In this paper, the authors present a video processing circuit for a 3D machine vision system designed with an FPGA that processes images in real time and provides them through the EPP (enhanced parallel port) to a computer. The system is useful in 3D vision applications so different as robot guidance in MIG and laser soldering or control of treated woods. The connection of the processing system to a PC through the EPP achieves an easy installation for industrial applications. The implementation of processing in programmable device (SRAM-cells based on an FPGA), allow easy modification of the design in order to adapt it rapidly to new applications or to make different versions of the same system.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123128712","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 : 1999-07-12DOI: 10.1109/ISIE.1999.798731
I. Godler, T. Ninomiya, M. Horiuchi, M. Hashimoto
Built-in torque sensing in Harmonic Drives enables torque sensing without assembling additional torque sensors into mechanisms where Harmonic Drives are already present. The sensing principle has been known for about ten years, but it is not widely utilized yet, mainly because of a relatively high ripple signal in the sensing output, generated by the gear operation. Ripple is difficult to be compensated due to inaccuracies of the strain gages positioning and in geometrical properties of the gear and its assembly. Increased number of applied strain gages reduces the ripple, but does not eliminate it. In this paper, the authors present a new method to effectively compensate the ripple, it is based on a periodic characteristic of the ripple signal itself and proposes use of separate amplifiers for each of the signals from the strain gages. Gains of the amplifiers are tuned so that the ripple signal is compensated. A mathematical model of the ripple signal, and a method to calculate the tuned gains is studied. Minimum number of strain gages needed to compensate the ripple signal is derived. The method is successfully confirmed by experiments.
{"title":"Ripple compensation of harmonic drive built-in torque sensing","authors":"I. Godler, T. Ninomiya, M. Horiuchi, M. Hashimoto","doi":"10.1109/ISIE.1999.798731","DOIUrl":"https://doi.org/10.1109/ISIE.1999.798731","url":null,"abstract":"Built-in torque sensing in Harmonic Drives enables torque sensing without assembling additional torque sensors into mechanisms where Harmonic Drives are already present. The sensing principle has been known for about ten years, but it is not widely utilized yet, mainly because of a relatively high ripple signal in the sensing output, generated by the gear operation. Ripple is difficult to be compensated due to inaccuracies of the strain gages positioning and in geometrical properties of the gear and its assembly. Increased number of applied strain gages reduces the ripple, but does not eliminate it. In this paper, the authors present a new method to effectively compensate the ripple, it is based on a periodic characteristic of the ripple signal itself and proposes use of separate amplifiers for each of the signals from the strain gages. Gains of the amplifiers are tuned so that the ripple signal is compensated. A mathematical model of the ripple signal, and a method to calculate the tuned gains is studied. Minimum number of strain gages needed to compensate the ripple signal is derived. The method is successfully confirmed by experiments.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116963826","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 : 1999-07-12DOI: 10.1109/ISIE.1999.801814
H. Sira-Ramírez
A DC-to-AC power conversion scheme is presented which uses a conventional DC-to-DC switched power converter of the "boost" type. The control scheme is constituted by a sliding mode controller which indirectly tracks a suitable inductor current reference trajectory resulting in a corresponding tight approximation to the desired AC capacitor voltage as the corresponding trajectory for the ideal sliding dynamics. The differential flatness property of the "boost" converter allows one to approximately express the (input) inductor current reference trajectory in terms of a static nonlinear differential function of the (output) desired capacitor voltage AC signal. The AC signal generation features of the approach are demonstrated on a biased sinusoidal signal but, in fact, any sufficiently biased differentiable voltage reference signal is achievable in principle. This approximate differential relation between the reference current and the desired voltage is obtained as the outcome of a rapidly convergent offline iterative procedure devised as part of a trajectory planning task (only one or two iterations are sufficient to obtain a remarkable precision). Simulation results are presented for the first few sliding surface candidates obtained from the proposed algorithm.
{"title":"On DC to AC power conversion: a differential flatness approach","authors":"H. Sira-Ramírez","doi":"10.1109/ISIE.1999.801814","DOIUrl":"https://doi.org/10.1109/ISIE.1999.801814","url":null,"abstract":"A DC-to-AC power conversion scheme is presented which uses a conventional DC-to-DC switched power converter of the \"boost\" type. The control scheme is constituted by a sliding mode controller which indirectly tracks a suitable inductor current reference trajectory resulting in a corresponding tight approximation to the desired AC capacitor voltage as the corresponding trajectory for the ideal sliding dynamics. The differential flatness property of the \"boost\" converter allows one to approximately express the (input) inductor current reference trajectory in terms of a static nonlinear differential function of the (output) desired capacitor voltage AC signal. The AC signal generation features of the approach are demonstrated on a biased sinusoidal signal but, in fact, any sufficiently biased differentiable voltage reference signal is achievable in principle. This approximate differential relation between the reference current and the desired voltage is obtained as the outcome of a rapidly convergent offline iterative procedure devised as part of a trajectory planning task (only one or two iterations are sufficient to obtain a remarkable precision). Simulation results are presented for the first few sliding surface candidates obtained from the proposed algorithm.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121278135","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 : 1999-07-12DOI: 10.1109/ISIE.1999.801743
J. Irwin
Affordable communication networks and emerging multimedia communication and multimedia processing technologies enable many industrial applications; however, it is challenging to design, manage, and upgrade networks as well as to utilize the multimedia technologies for distributed applications because of fast changes in this area. Enabling technologies and standards for the industrial environment are described in this plenary talk. Emerging video, audio and data communication, as well as multimedia processing technologies involving distributed processing in local area networks and the Internet, are discussed. Examples are provided for various industry applications that must operate with today's rapidly evolving network and multimedia technologies,.
{"title":"Emerging multimedia communication for industry applications","authors":"J. Irwin","doi":"10.1109/ISIE.1999.801743","DOIUrl":"https://doi.org/10.1109/ISIE.1999.801743","url":null,"abstract":"Affordable communication networks and emerging multimedia communication and multimedia processing technologies enable many industrial applications; however, it is challenging to design, manage, and upgrade networks as well as to utilize the multimedia technologies for distributed applications because of fast changes in this area. Enabling technologies and standards for the industrial environment are described in this plenary talk. Emerging video, audio and data communication, as well as multimedia processing technologies involving distributed processing in local area networks and the Internet, are discussed. Examples are provided for various industry applications that must operate with today's rapidly evolving network and multimedia technologies,.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123248433","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 : 1999-07-12DOI: 10.1109/ISIE.1999.797013
H.R. Azarinia
A method for fabricating optical directional couplers by combining thermal and field assisted ion exchange processes is presented. Modeling, design, fabrication, and test methods are discussed. This method estimates the need for high-resolution lithography that is needed in conventional methods of computer fabrication.
{"title":"Optical coupler fabrication on based buried field-assisted ion-exchange method","authors":"H.R. Azarinia","doi":"10.1109/ISIE.1999.797013","DOIUrl":"https://doi.org/10.1109/ISIE.1999.797013","url":null,"abstract":"A method for fabricating optical directional couplers by combining thermal and field assisted ion exchange processes is presented. Modeling, design, fabrication, and test methods are discussed. This method estimates the need for high-resolution lithography that is needed in conventional methods of computer fabrication.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125329655","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 : 1999-07-12DOI: 10.1109/ISIE.1999.798695
Clement Eyguesier, K. Tseng, F. Yan, S. Cao
This paper presents a simple method to estimate in a continuous way the rotor position of the switched reluctance (SR) motor without position sensors. It combines the well-tried flux/current method with basic fuzzy logic systems and a prediction of the position by linear interpolation. The estimation algorithm has been implemented on software under Matlab for a dynamic simulation of the motor drive system. A model of an 8/6 four phases SR motor has been developed for this purpose. The algorithm shows good results under the whole range of motor speed, for different operating conditions (chopping/single pulse mode, start-up/transient operations) in terms of accuracy and robustness.
{"title":"A basic algorithm of sensorless rotor position detection using fuzzy logic for the switched reluctance motor drives","authors":"Clement Eyguesier, K. Tseng, F. Yan, S. Cao","doi":"10.1109/ISIE.1999.798695","DOIUrl":"https://doi.org/10.1109/ISIE.1999.798695","url":null,"abstract":"This paper presents a simple method to estimate in a continuous way the rotor position of the switched reluctance (SR) motor without position sensors. It combines the well-tried flux/current method with basic fuzzy logic systems and a prediction of the position by linear interpolation. The estimation algorithm has been implemented on software under Matlab for a dynamic simulation of the motor drive system. A model of an 8/6 four phases SR motor has been developed for this purpose. The algorithm shows good results under the whole range of motor speed, for different operating conditions (chopping/single pulse mode, start-up/transient operations) in terms of accuracy and robustness.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125541332","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 : 1999-07-12DOI: 10.1109/ISIE.1999.798733
M. Terbuc, A. Hace, K. Jezernik
This paper present an approach for building a multiprocessor robot controller. It is well known that new concepts of automatic control have to be tested not only with the use of simulation techniques, but also with experiments on real mechanisms. Transfer from simulations to experiments is enabled by the use of the open structure of a robot controller. For the user, it is also possible to include an algorithm in the existing structure, like the assembling of blocks in the simulation programs. Results can be followed by the real-time display of the desired system variables, which can also be saved for later processing. Since real-time operation is required, local decisions about the packet contents have to be made. Also communication connections-paths are destined in such a manner that the fastest possible transfer is enabled. Because of the complexity of the tasks, a multiprocessor control system with the optimal distribution of tasks is used. In recent years, the number of applications using a laser beam for cutting various materials, such as metals (in most cases iron), fabric and paper, is increasing. In the authors' Institute, a belt driven machine of this kind was built. PC and transputer based controller width open hardware and software architecture was implemented. A complete laser cutting system represents the successful industrial application of emerging technologies.
{"title":"Open structure multiprocessor robot controller","authors":"M. Terbuc, A. Hace, K. Jezernik","doi":"10.1109/ISIE.1999.798733","DOIUrl":"https://doi.org/10.1109/ISIE.1999.798733","url":null,"abstract":"This paper present an approach for building a multiprocessor robot controller. It is well known that new concepts of automatic control have to be tested not only with the use of simulation techniques, but also with experiments on real mechanisms. Transfer from simulations to experiments is enabled by the use of the open structure of a robot controller. For the user, it is also possible to include an algorithm in the existing structure, like the assembling of blocks in the simulation programs. Results can be followed by the real-time display of the desired system variables, which can also be saved for later processing. Since real-time operation is required, local decisions about the packet contents have to be made. Also communication connections-paths are destined in such a manner that the fastest possible transfer is enabled. Because of the complexity of the tasks, a multiprocessor control system with the optimal distribution of tasks is used. In recent years, the number of applications using a laser beam for cutting various materials, such as metals (in most cases iron), fabric and paper, is increasing. In the authors' Institute, a belt driven machine of this kind was built. PC and transputer based controller width open hardware and software architecture was implemented. A complete laser cutting system represents the successful industrial application of emerging technologies.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126947394","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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