Pub Date : 1999-07-12DOI: 10.1109/ISIE.1999.796869
J.L. Sivan-C, M.P. Angeles-Meza, B. Escalante-Ramfrez
In this paper it is shown how local differential structures in images can be described and coded efficiently by means of the analysis of local projections. Such analysis involves a 1-D Hermite transform of all local Radon projections, where localization is achieved by applying a Gaussian window to the image. Since the Gaussian window is isotropic, the 1-D analysis can be based on the 2-D cartesian Hermite transform. For the case of oriented patterns such as edges and lines, the image is suitably described with a unique projection giving the maximum directional energy. We show that the inverse Radon transform is not required in the synthesis process, since only the information along one direction is preserved. A more specific representation is introduced in an edge model whose parameters are determined in terms of the Hermitian coefficients up to second order. Experimental results are also included.
{"title":"Radon-Hermite analysis applied to image coding","authors":"J.L. Sivan-C, M.P. Angeles-Meza, B. Escalante-Ramfrez","doi":"10.1109/ISIE.1999.796869","DOIUrl":"https://doi.org/10.1109/ISIE.1999.796869","url":null,"abstract":"In this paper it is shown how local differential structures in images can be described and coded efficiently by means of the analysis of local projections. Such analysis involves a 1-D Hermite transform of all local Radon projections, where localization is achieved by applying a Gaussian window to the image. Since the Gaussian window is isotropic, the 1-D analysis can be based on the 2-D cartesian Hermite transform. For the case of oriented patterns such as edges and lines, the image is suitably described with a unique projection giving the maximum directional energy. We show that the inverse Radon transform is not required in the synthesis process, since only the information along one direction is preserved. A more specific representation is introduced in an edge model whose parameters are determined in terms of the Hermitian coefficients up to second order. Experimental results are also included.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133362578","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.1999.797018
K. Schroeder, C. Haas, M. Krüger, Helmut Ermert, T. Rastello, Didier Vray, Gérard Gimenez
Intravascular ultrasound images are limited by a poor lateral resolution and elevated grating lobes. In this paper, two reconstruction algorithms are presented which succeed in improving the lateral resolution and reducing the grating lobes by means of the synthetic aperture focusing technique (SAFT). For the time domain reconstruction, appropriately time-delayed and weighted signals are summed up. The frequency domain reconstruction is based on the similarity of the recorded signals with chirp signals. The reconstruction results experimentally confirm that the frequency domain reconstruction creates a better lateral resolution and requires less computation time. However, the time domain reconstruction produces lower grating lobes and hence results in a better overall image quality.
{"title":"Synthetic aperture-based reconstruction of intravascular ultrasound images in the time domain and frequency domain","authors":"K. Schroeder, C. Haas, M. Krüger, Helmut Ermert, T. Rastello, Didier Vray, Gérard Gimenez","doi":"10.1109/ISIE.1999.797018","DOIUrl":"https://doi.org/10.1109/ISIE.1999.797018","url":null,"abstract":"Intravascular ultrasound images are limited by a poor lateral resolution and elevated grating lobes. In this paper, two reconstruction algorithms are presented which succeed in improving the lateral resolution and reducing the grating lobes by means of the synthetic aperture focusing technique (SAFT). For the time domain reconstruction, appropriately time-delayed and weighted signals are summed up. The frequency domain reconstruction is based on the similarity of the recorded signals with chirp signals. The reconstruction results experimentally confirm that the frequency domain reconstruction creates a better lateral resolution and requires less computation time. However, the time domain reconstruction produces lower grating lobes and hence results in a better overall image quality.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":"285 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133824745","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.1999.798682
Gabriel Garcerh, Pablo Carbonell, Antonio Abell
Robust parametric control theory is a powerful tool for the research of the robustness of linear control systems against simultaneous changes in the parameters that define the plant and controller transfer functions. The purpose of this paper is to show how those techniques can be applied to the sensibility study of voltage mode and current node controlled DC-DC converters with respect to simultaneous variations (or tolerances) of all the parameters of the power stage: line voltage, load and passive elements of the power stage (I, C, R/sub c/...). After obtaining the small-signal linear model of the voltage or current mode controlled power stage, it is possible to represent the power stage transfer function as a linear interval plant, and to predict, once a regulator has been designed, the worst case bandwidth and stability margins of the converter control loop with all values of the power stage components varying simultaneously inside known and closed intervals, i.e., with any combination of those values. In fact, envelopes of the open and closed loop dynamic performance of the system can be obtained, in form of Bode and Nyquist plots envelopes. In this work, the robust parametric study of a buck converter under voltage and current mode (current injected control or CIC) control is shown, with the theoretical Bode and Nyquist envelopes obtained with MATLAB/sup TM/ software.
鲁棒参数控制理论是研究线性控制系统对定义对象和控制器传递函数的参数同时变化的鲁棒性的有力工具。本文的目的是展示如何将这些技术应用于电压模式和电流节点控制的DC-DC转换器对功率级所有参数的同时变化(或公差)的敏感性研究:线路电压，负载和功率级的无源元件(I, C, R/sub C /…)。在获得电压或电流模式控制的功率级的小信号线性模型后，可以将功率级传递函数表示为线性区间植物，并且一旦设计了调节器，就可以预测变换器控制回路的最坏情况带宽和稳定裕度，功率级组件的所有值在已知和封闭区间内同时变化，即这些值的任何组合。实际上，系统开闭环动态性能的包络可以用Bode和Nyquist图包络的形式求得。本文利用MATLAB/sup TM/软件得到的理论波德包络和奈奎斯特包络，对电压和电流模式(电流注入控制或CIC)下的降压变换器进行了鲁棒参数化研究。
{"title":"Sensibility study of the control loops of voltage and current mode controlled DC-DC converters by means of robust parametric control theory","authors":"Gabriel Garcerh, Pablo Carbonell, Antonio Abell","doi":"10.1109/ISIE.1999.798682","DOIUrl":"https://doi.org/10.1109/ISIE.1999.798682","url":null,"abstract":"Robust parametric control theory is a powerful tool for the research of the robustness of linear control systems against simultaneous changes in the parameters that define the plant and controller transfer functions. The purpose of this paper is to show how those techniques can be applied to the sensibility study of voltage mode and current node controlled DC-DC converters with respect to simultaneous variations (or tolerances) of all the parameters of the power stage: line voltage, load and passive elements of the power stage (I, C, R/sub c/...). After obtaining the small-signal linear model of the voltage or current mode controlled power stage, it is possible to represent the power stage transfer function as a linear interval plant, and to predict, once a regulator has been designed, the worst case bandwidth and stability margins of the converter control loop with all values of the power stage components varying simultaneously inside known and closed intervals, i.e., with any combination of those values. In fact, envelopes of the open and closed loop dynamic performance of the system can be obtained, in form of Bode and Nyquist plots envelopes. In this work, the robust parametric study of a buck converter under voltage and current mode (current injected control or CIC) control is shown, with the theoretical Bode and Nyquist envelopes obtained with MATLAB/sup TM/ software.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133727954","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.1999.801809
Jung-Hoon Lee, M. Youn
In this paper, a new prescribed variable structure regulation controller is designed for highly nonlinear robot manipulators using an integral sliding surface and disturbance observer. With the sliding mode control algorithm, it is possible to guarantee the predetermined output within the prescribed accuracy based on the integral sliding surface especially for removing the reaching phase and the disturbance observer for efficient compensation. In regulation, the desired transient and steady state output is prescribed by means of the sliding dynamics, and the real output with the prescribed accuracy is controlled by the continuous input based on the sliding mode control with the disturbance observer, which are investigated through the two theorems together with the closed loop stability of the algorithm. The usefulness of the algorithm has been demonstrated by simulations about regulation controls of a two-link robot under parameter and payload uncertainties.
{"title":"A new integral variable structure regulation controller for robot manipulators with accurately predetermined output","authors":"Jung-Hoon Lee, M. Youn","doi":"10.1109/ISIE.1999.801809","DOIUrl":"https://doi.org/10.1109/ISIE.1999.801809","url":null,"abstract":"In this paper, a new prescribed variable structure regulation controller is designed for highly nonlinear robot manipulators using an integral sliding surface and disturbance observer. With the sliding mode control algorithm, it is possible to guarantee the predetermined output within the prescribed accuracy based on the integral sliding surface especially for removing the reaching phase and the disturbance observer for efficient compensation. In regulation, the desired transient and steady state output is prescribed by means of the sliding dynamics, and the real output with the prescribed accuracy is controlled by the continuous input based on the sliding mode control with the disturbance observer, which are investigated through the two theorems together with the closed loop stability of the algorithm. The usefulness of the algorithm has been demonstrated by simulations about regulation controls of a two-link robot under parameter and payload uncertainties.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115401856","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.1999.798679
G. Garcerá, M. Pascual, E. Figueres
The purpose of this paper is to present a drastic improvement in the conventional ACC (average current mode control) of switching DC-DC power converters, consisting of the addition of an auxiliary controller in the control loop, besides the current and voltage regulators. The model-based auxiliary controller preserves the closed loop small-signal bandwidth (including loop gain crossover frequency and stability margins) of buck derived converters over a large range of variation of the power stage passive elements, the load and the line voltage. Moreover, this control scheme shows much better perturbation rejection properties (closed loop impedance and audiosusceptibility) than conventional ACC. From a control theory point of view, robust performance is achieved preserving stability. A 5 V-5 A, 50 kHz buck prototype operating from an input voltage ranging from 30 V to 15 V has been experimentally tested with different LC output filters, line and load conditions, including discontinuous conduction mode. Measurements of the small signal frequency response of the converter (loop gain, closed loop audiosusceptibility and output impedance) have been carried out, showing the improvement achieved by the proposed control scheme. The empirical large signal response of the converter, under load steps, is also shown in this paper in order to validate the concept.
{"title":"Robust average current mode control of DC-DC PWM converters based on a three controller scheme","authors":"G. Garcerá, M. Pascual, E. Figueres","doi":"10.1109/ISIE.1999.798679","DOIUrl":"https://doi.org/10.1109/ISIE.1999.798679","url":null,"abstract":"The purpose of this paper is to present a drastic improvement in the conventional ACC (average current mode control) of switching DC-DC power converters, consisting of the addition of an auxiliary controller in the control loop, besides the current and voltage regulators. The model-based auxiliary controller preserves the closed loop small-signal bandwidth (including loop gain crossover frequency and stability margins) of buck derived converters over a large range of variation of the power stage passive elements, the load and the line voltage. Moreover, this control scheme shows much better perturbation rejection properties (closed loop impedance and audiosusceptibility) than conventional ACC. From a control theory point of view, robust performance is achieved preserving stability. A 5 V-5 A, 50 kHz buck prototype operating from an input voltage ranging from 30 V to 15 V has been experimentally tested with different LC output filters, line and load conditions, including discontinuous conduction mode. Measurements of the small signal frequency response of the converter (loop gain, closed loop audiosusceptibility and output impedance) have been carried out, showing the improvement achieved by the proposed control scheme. The empirical large signal response of the converter, under load steps, is also shown in this paper in order to validate the concept.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":"707 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115125996","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.1999.801777
T. Matsumoto, T. Murakami
In a cooperative task using plural manipulators, an important issue to consider is the vibration of the grasped object. In particular, it is required to suppress the vibration which deteriorates the stable grasping motion. From this point of view, this paper describes a vibration suppression method of the grasped object by a multiple cooperative manipulator. To address the above issue, it is necessary to consider both the grasping force and vibration suppression control at the same time. In the general cooperative motion system, however, it is difficult to realize both control simultaneously and optimally. To improve the above problem, this paper proposes a construction method of hybrid controller and its application to the task planning of the grasped motion without the vibration. The numerical and experimental results also show the effectiveness of the proposed approach.
{"title":"Vibration control of the grasped object with cooperative multiple manipulator","authors":"T. Matsumoto, T. Murakami","doi":"10.1109/ISIE.1999.801777","DOIUrl":"https://doi.org/10.1109/ISIE.1999.801777","url":null,"abstract":"In a cooperative task using plural manipulators, an important issue to consider is the vibration of the grasped object. In particular, it is required to suppress the vibration which deteriorates the stable grasping motion. From this point of view, this paper describes a vibration suppression method of the grasped object by a multiple cooperative manipulator. To address the above issue, it is necessary to consider both the grasping force and vibration suppression control at the same time. In the general cooperative motion system, however, it is difficult to realize both control simultaneously and optimally. To improve the above problem, this paper proposes a construction method of hybrid controller and its application to the task planning of the grasped motion without the vibration. The numerical and experimental results also show the effectiveness of the proposed approach.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":"572 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117059973","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.1999.798684
J. Deur, N. Peric
The behavior of the speed control system for electrical drives with elastic transmission is analyzed. Several speed controller types and optimization methods are discussed. The control system is analyzed in regard to stability, well-damped behavior with respect to the speed reference and the load torque, and robustness to inner current loop modeling errors and sampling time choice. An algebraic analysis method based on the optimum damping characteristic ratios is applied. The analysis is provided for a wide range of characteristic process parameter ratios. The results of the analysis are experimentally verified on a laboratory model of the electrical drive.
{"title":"Analysis of speed control system for electrical drives with elastic transmission","authors":"J. Deur, N. Peric","doi":"10.1109/ISIE.1999.798684","DOIUrl":"https://doi.org/10.1109/ISIE.1999.798684","url":null,"abstract":"The behavior of the speed control system for electrical drives with elastic transmission is analyzed. Several speed controller types and optimization methods are discussed. The control system is analyzed in regard to stability, well-damped behavior with respect to the speed reference and the load torque, and robustness to inner current loop modeling errors and sampling time choice. An algebraic analysis method based on the optimum damping characteristic ratios is applied. The analysis is provided for a wide range of characteristic process parameter ratios. The results of the analysis are experimentally verified on a laboratory model of the electrical drive.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123429244","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.1999.798708
J. Borka, M. Horváth
Inert gas welding technology with wolfram electrodes requires DC current for welding steel and AC current for welding aluminium. A wide choice of DC welding equipment is available on the market at fairly reasonable prices. Regarding AC welding equipment, the situation is not so simple. They are much more complicated equipment at relatively high prices. For aluminium welding, in the case of an AC welding equipment, welding current has to change with a frequency of 30-200 Hz periodically and rectangularly that the electron flow of changing direction should break the oxide layer on the aluminium surface. However, this technology requires a fairly smooth, but modulated current amplitude at both polarities. Besides, the polarity change of welding current of high rate of rise is a fundamental requirement to avoid arc extinction. If it is not met, the arc should be ignited at every polarity change by a high voltage igniter that has numerous drawbacks. The paper shows simple, low-cost, modular welding equipment for both DC and AC welding. The solution developed by the authors contains one or more DC welding equipment, depending on the current requirements, and an output AC inverter of full bridge connection of a suitable rated current. The results of the development are justified by laboratory tests.
{"title":"A new, simple, low-cost, modular arrangement of high power factor for both DC and AC welding","authors":"J. Borka, M. Horváth","doi":"10.1109/ISIE.1999.798708","DOIUrl":"https://doi.org/10.1109/ISIE.1999.798708","url":null,"abstract":"Inert gas welding technology with wolfram electrodes requires DC current for welding steel and AC current for welding aluminium. A wide choice of DC welding equipment is available on the market at fairly reasonable prices. Regarding AC welding equipment, the situation is not so simple. They are much more complicated equipment at relatively high prices. For aluminium welding, in the case of an AC welding equipment, welding current has to change with a frequency of 30-200 Hz periodically and rectangularly that the electron flow of changing direction should break the oxide layer on the aluminium surface. However, this technology requires a fairly smooth, but modulated current amplitude at both polarities. Besides, the polarity change of welding current of high rate of rise is a fundamental requirement to avoid arc extinction. If it is not met, the arc should be ignited at every polarity change by a high voltage igniter that has numerous drawbacks. The paper shows simple, low-cost, modular welding equipment for both DC and AC welding. The solution developed by the authors contains one or more DC welding equipment, depending on the current requirements, and an output AC inverter of full bridge connection of a suitable rated current. The results of the development are justified by laboratory tests.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125977716","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.1999.801802
R. Šafarič, K. Jezernik, D. Calkin, R. Parkin
This paper describes design issues involved in providing remote users with Internet access to a laboratory robotic system and presents a real experiment which enables students to control a six degree teleoperated robotic manipulator. Simulation tools for the robotic hardware are developed using Java and VRML 97 to create a desktop virtual reality environment which improves the visualisation of the manipulator hardware and associated workspace. The V-Collide library of C++ collision detection functions has also been integrated within the simulator to provide realistic detection between the virtual robot and its associated workspace. Communication between the remote user and project server via the Internet, interface electronics and control software is also discussed.
{"title":"Telerobot control via Internet","authors":"R. Šafarič, K. Jezernik, D. Calkin, R. Parkin","doi":"10.1109/ISIE.1999.801802","DOIUrl":"https://doi.org/10.1109/ISIE.1999.801802","url":null,"abstract":"This paper describes design issues involved in providing remote users with Internet access to a laboratory robotic system and presents a real experiment which enables students to control a six degree teleoperated robotic manipulator. Simulation tools for the robotic hardware are developed using Java and VRML 97 to create a desktop virtual reality environment which improves the visualisation of the manipulator hardware and associated workspace. The V-Collide library of C++ collision detection functions has also been integrated within the simulator to provide realistic detection between the virtual robot and its associated workspace. Communication between the remote user and project server via the Internet, interface electronics and control software is also discussed.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126148603","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.1999.798746
C. Anthierens, A. Ciftci, M. Bétemps
The presentation of a micro robot for in-pipe inspection in 17 mm diameter pipes is detailed from the design to the implementation. A large part is dedicated to the modelling and estimation of each module. A completed modelling of a Hall effect sensor has been carried out in order to provide an accuracy of the displacement measurements better than 15 micrometers. Then the modelling and simulation of the whole robot have been compared to the implemented results. Finally, performances are discussed and perspectives are given to improve the locomotion task with the pneumatic actuator.
{"title":"Design of an electro pneumatic micro robot for in-pipe inspection","authors":"C. Anthierens, A. Ciftci, M. Bétemps","doi":"10.1109/ISIE.1999.798746","DOIUrl":"https://doi.org/10.1109/ISIE.1999.798746","url":null,"abstract":"The presentation of a micro robot for in-pipe inspection in 17 mm diameter pipes is detailed from the design to the implementation. A large part is dedicated to the modelling and estimation of each module. A completed modelling of a Hall effect sensor has been carried out in order to provide an accuracy of the displacement measurements better than 15 micrometers. Then the modelling and simulation of the whole robot have been compared to the implemented results. Finally, performances are discussed and perspectives are given to improve the locomotion task with the pneumatic actuator.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124858608","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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