Pub Date : 2013-12-20DOI: 10.1109/IECON.2013.6699804
J. Morales, Jorge L. Martínez, A. Mandow, A. Reina, J. Serón, A. García-Cerezo
Exploiting the huge amount of real time range data provided by new multi-beam three-dimensional (3D) laser scanners is challenging for vehicle and mobile robot applications. The Coarse Binary Cube (CBC) method was proposed to achieve fast and accurate scene registration by maximizing the number of coincident cubes between a pair of scans. The aim of this paper is speeding up CBC with a fast spatial subsampling strategy for raw point clouds that employs the same type of efficient data structures as CBC. Experimental results have been obtained with the Velodyne HDL-32E sensor mounted on the Quadriga mobile robot on irregular terrain. The influence of the subsampling rate has been analyzed. Preliminary results show a relevant gain in computation time without losing matching accuracy.
{"title":"Improving 3D scan matching time of the coarse binary cubes method with fast spatial subsampling","authors":"J. Morales, Jorge L. Martínez, A. Mandow, A. Reina, J. Serón, A. García-Cerezo","doi":"10.1109/IECON.2013.6699804","DOIUrl":"https://doi.org/10.1109/IECON.2013.6699804","url":null,"abstract":"Exploiting the huge amount of real time range data provided by new multi-beam three-dimensional (3D) laser scanners is challenging for vehicle and mobile robot applications. The Coarse Binary Cube (CBC) method was proposed to achieve fast and accurate scene registration by maximizing the number of coincident cubes between a pair of scans. The aim of this paper is speeding up CBC with a fast spatial subsampling strategy for raw point clouds that employs the same type of efficient data structures as CBC. Experimental results have been obtained with the Velodyne HDL-32E sensor mounted on the Quadriga mobile robot on irregular terrain. The influence of the subsampling rate has been analyzed. Preliminary results show a relevant gain in computation time without losing matching accuracy.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127355918","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 : 2013-12-10DOI: 10.1109/IECON.2013.6699978
F. Meinguet, N. Nguyen, P. Sandulescu, Xavier Kestelyn, É. Semail
Multi-phase machines are known for their fault-tolerant capability. However, star-connected machines have no fault tolerance to inverter switch short-circuit fault. This paper investigates the fault-tolerant operation of an open-end five-phase drive, i.e. a multi-phase machine fed with a dual-inverter supply. Inverter switch short-circuit faults are considered and handled with various degrees of reconfiguration. Theoretical developments and experimental results validate the proposed strategies.
{"title":"Fault-tolerant operation of an open-end winding five-phase PMSM drive with inverter faults","authors":"F. Meinguet, N. Nguyen, P. Sandulescu, Xavier Kestelyn, É. Semail","doi":"10.1109/IECON.2013.6699978","DOIUrl":"https://doi.org/10.1109/IECON.2013.6699978","url":null,"abstract":"Multi-phase machines are known for their fault-tolerant capability. However, star-connected machines have no fault tolerance to inverter switch short-circuit fault. This paper investigates the fault-tolerant operation of an open-end five-phase drive, i.e. a multi-phase machine fed with a dual-inverter supply. Inverter switch short-circuit faults are considered and handled with various degrees of reconfiguration. Theoretical developments and experimental results validate the proposed strategies.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128122523","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 : 2013-12-01DOI: 10.1109/IECON.2013.6700220
R. Matsuzaki, Y. Fujimoto
Due to birthrate decline and population aging, researches on walking assist for aged people have been conducted. However, in most of the researches, it is difficult for people with physical disabilities to wear such existing walking assist devices. Therefore, we are developing a device using Control Moment Gyroscope (CMG) to assist their walking. In this paper, we expound postural control of people using CMGs with three control methods and compare results of simulation using these methods.
{"title":"Walking assist device using Control Moment Gyroscopes","authors":"R. Matsuzaki, Y. Fujimoto","doi":"10.1109/IECON.2013.6700220","DOIUrl":"https://doi.org/10.1109/IECON.2013.6700220","url":null,"abstract":"Due to birthrate decline and population aging, researches on walking assist for aged people have been conducted. However, in most of the researches, it is difficult for people with physical disabilities to wear such existing walking assist devices. Therefore, we are developing a device using Control Moment Gyroscope (CMG) to assist their walking. In this paper, we expound postural control of people using CMGs with three control methods and compare results of simulation using these methods.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122807506","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 : 2013-12-01DOI: 10.1109/IECON.2013.6699866
K. Tsukahara, K. Kondo
Since Fuel Cells (FCs) are very expensive, their output power should be minimized when FCs are applied to hybrid powered railway vehicles. Therefore, it is necessary to reveal the effect of hybridization with energy storage devices to reduce the FCs output power. In this paper, methods to design the capacity of energy storage devices which are assumed to be Lithium-ion batteries (LIBs) and Electric Double Layer Capacitors (EDLCs) are studied for FCs hybrid powered railway vehicles. The proposed methods are verified by numerical simulations, assuming a train operation in a typical rural line. Finally, procedures to select the suitable energy storage devices and to design their capacity for FCs hybrid powered railway vehicles are provided. The results of this study contribute to the development of environment-friendly transportation system.
{"title":"A study on methods to design and select energy storage devices for Fuel Cell hybrid powered railway vehicles","authors":"K. Tsukahara, K. Kondo","doi":"10.1109/IECON.2013.6699866","DOIUrl":"https://doi.org/10.1109/IECON.2013.6699866","url":null,"abstract":"Since Fuel Cells (FCs) are very expensive, their output power should be minimized when FCs are applied to hybrid powered railway vehicles. Therefore, it is necessary to reveal the effect of hybridization with energy storage devices to reduce the FCs output power. In this paper, methods to design the capacity of energy storage devices which are assumed to be Lithium-ion batteries (LIBs) and Electric Double Layer Capacitors (EDLCs) are studied for FCs hybrid powered railway vehicles. The proposed methods are verified by numerical simulations, assuming a train operation in a typical rural line. Finally, procedures to select the suitable energy storage devices and to design their capacity for FCs hybrid powered railway vehicles are provided. The results of this study contribute to the development of environment-friendly transportation system.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"280 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114161956","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 : 2013-12-01DOI: 10.1109/IECON.2013.6699519
Hirokatsu Kataoka, K. Tamura, Y. Aoki, Y. Matsui, K. Iwata, Y. Satoh
The percentage of pedestrian deaths in traffic accidents is on the rise in Japan. In recent years, there have been calls for measures to be introduced to protect vulnerable road users such as pedestrians and cyclists. In this study, a method to detect and track pedestrians using an in-vehicle camera is presented to perform braking controls, warn the driver, and develop improved safety systems for pedestrians. We improved the technology of detecting pedestrians using highly accurate images obtained with a monocular camera. We were able to predict pedestrian activity by monitoring the images, and developed an algorithm with which to recognize pedestrians and their movements more accurately. The effectiveness of the algorithm was tested using images taken on real roads. For the feature descriptor, we used an extended co-occurrence histogram of oriented gradients (ECoHOG) that accumulated the integration of gradient intensities. In the tracking step, we applied an effective motion model using optical flow and the proposed feature descriptor ECoHOG in a tracking-by-detection framework. These techniques were verified using images captured on the real road.
{"title":"Robust feature descriptor and vehicle motion model with tracking-by-detection for active safety","authors":"Hirokatsu Kataoka, K. Tamura, Y. Aoki, Y. Matsui, K. Iwata, Y. Satoh","doi":"10.1109/IECON.2013.6699519","DOIUrl":"https://doi.org/10.1109/IECON.2013.6699519","url":null,"abstract":"The percentage of pedestrian deaths in traffic accidents is on the rise in Japan. In recent years, there have been calls for measures to be introduced to protect vulnerable road users such as pedestrians and cyclists. In this study, a method to detect and track pedestrians using an in-vehicle camera is presented to perform braking controls, warn the driver, and develop improved safety systems for pedestrians. We improved the technology of detecting pedestrians using highly accurate images obtained with a monocular camera. We were able to predict pedestrian activity by monitoring the images, and developed an algorithm with which to recognize pedestrians and their movements more accurately. The effectiveness of the algorithm was tested using images taken on real roads. For the feature descriptor, we used an extended co-occurrence histogram of oriented gradients (ECoHOG) that accumulated the integration of gradient intensities. In the tracking step, we applied an effective motion model using optical flow and the proposed feature descriptor ECoHOG in a tracking-by-detection framework. These techniques were verified using images captured on the real road.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128213662","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 : 2013-12-01DOI: 10.1109/IECON.2013.6699798
Takami Miyagi, S. Katsura
This paper proposes the new frequency model of haptic information focused on the vibration component in friction force. Recently, haptic information is attracting attention from many areas as the tertiary media following the audio and visual information. However, due to the characters of the bidirectionality and self-reference, treatment is difficult as compared to the other sensory information. Unified representation method still not been established. Therefore, this paper focuses on the vibration components of friction force in rubbing motion against environmental surface in particular. The friction force in rubbing motion is measured for broadband by using the 2-DOF system constructed by two linear motors. For the quantitative evaluation of the frequency domain, cepstral analysis which is the method for voice-print analysis is applied. The effectiveness of the proposed model is shown by performing experiments and analysis with three different environmental surfaces. Moreover, this paper presents the identification for each parameters of the model from the acquired data, and construct a accurate model of the friction force for each environment.
{"title":"Frequency model of haptic information in rubbing motion","authors":"Takami Miyagi, S. Katsura","doi":"10.1109/IECON.2013.6699798","DOIUrl":"https://doi.org/10.1109/IECON.2013.6699798","url":null,"abstract":"This paper proposes the new frequency model of haptic information focused on the vibration component in friction force. Recently, haptic information is attracting attention from many areas as the tertiary media following the audio and visual information. However, due to the characters of the bidirectionality and self-reference, treatment is difficult as compared to the other sensory information. Unified representation method still not been established. Therefore, this paper focuses on the vibration components of friction force in rubbing motion against environmental surface in particular. The friction force in rubbing motion is measured for broadband by using the 2-DOF system constructed by two linear motors. For the quantitative evaluation of the frequency domain, cepstral analysis which is the method for voice-print analysis is applied. The effectiveness of the proposed model is shown by performing experiments and analysis with three different environmental surfaces. Moreover, this paper presents the identification for each parameters of the model from the acquired data, and construct a accurate model of the friction force for each environment.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129219588","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 : 2013-12-01DOI: 10.1109/IECON.2013.6700102
K. Miura, S. Katsura
Safety operatons are one of most important issues in human society, when robots are introduced there. Recently, human-assist systems acting directly on humans have been developed and opportunities for humans to touch robots are increasing. However, active actuators are often used to generate force in order to perform any tasks and they constitute a possible danger to humans when they are loss of control. Then, stable passive systems would be substituted for active ones. Passive systems will not generate force by themselves. Only when external force acts on them, they generate reaction force. Considering these properties, passive systems are stable and appropriate for the human society because they would be little risks for humans when they are loss of control. In this paper, the passive actuator and the active actuator are combined together in order to generate the torque. The passive system is used like a clutch. By control of the current of passive system, the output torque from MR-fluid actuator is also controlled. The maximum output of MR-fluid actuator is limited by shear stress of MR fluids. By these properties, MR-fluid actuator has high safety for humans. In this paper, the velocity control of MR-fluid actuator is proposed.
{"title":"Velocity control of MR-fluid clutch actuator based on disturbance observer","authors":"K. Miura, S. Katsura","doi":"10.1109/IECON.2013.6700102","DOIUrl":"https://doi.org/10.1109/IECON.2013.6700102","url":null,"abstract":"Safety operatons are one of most important issues in human society, when robots are introduced there. Recently, human-assist systems acting directly on humans have been developed and opportunities for humans to touch robots are increasing. However, active actuators are often used to generate force in order to perform any tasks and they constitute a possible danger to humans when they are loss of control. Then, stable passive systems would be substituted for active ones. Passive systems will not generate force by themselves. Only when external force acts on them, they generate reaction force. Considering these properties, passive systems are stable and appropriate for the human society because they would be little risks for humans when they are loss of control. In this paper, the passive actuator and the active actuator are combined together in order to generate the torque. The passive system is used like a clutch. By control of the current of passive system, the output torque from MR-fluid actuator is also controlled. The maximum output of MR-fluid actuator is limited by shear stress of MR fluids. By these properties, MR-fluid actuator has high safety for humans. In this paper, the velocity control of MR-fluid actuator is proposed.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128782094","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 : 2013-12-01DOI: 10.1109/IECON.2013.6700141
Yoshitaka Abe, S. Katsura
Bilateral control enables human to transmit body sensation to remote area. Bilateral control gives a sense of existing without movement of body, and realizes pseudo-teleportation to everywhere. Bilateral control technology produces a sense of expansion of a body, so this technology is needed to apply to multi-DOF or non-mechanical systems. To expand the range of application, the scheme of bilateral control needs to be more general. The basic law of energy bilateral control is energy conservation law, which is the first principle for all physical systems. This paper proposes energy bilateral control as a generalized bilateral control. Energy bilateral control is an explicit energy control, which enables different structural systems to be implented bilateral control. Energy bilateral control also show a new interpretation about bilateral control: hybrid of internal energy and power flow control. The effectiveness of the proposed methods is verified by experimental results.
{"title":"Energy bilateral control for a new control scheme","authors":"Yoshitaka Abe, S. Katsura","doi":"10.1109/IECON.2013.6700141","DOIUrl":"https://doi.org/10.1109/IECON.2013.6700141","url":null,"abstract":"Bilateral control enables human to transmit body sensation to remote area. Bilateral control gives a sense of existing without movement of body, and realizes pseudo-teleportation to everywhere. Bilateral control technology produces a sense of expansion of a body, so this technology is needed to apply to multi-DOF or non-mechanical systems. To expand the range of application, the scheme of bilateral control needs to be more general. The basic law of energy bilateral control is energy conservation law, which is the first principle for all physical systems. This paper proposes energy bilateral control as a generalized bilateral control. Energy bilateral control is an explicit energy control, which enables different structural systems to be implented bilateral control. Energy bilateral control also show a new interpretation about bilateral control: hybrid of internal energy and power flow control. The effectiveness of the proposed methods is verified by experimental results.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116259291","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 : 2013-12-01DOI: 10.1109/IECON.2013.6700098
M. Koyama, Y. Fujimoto
This paper investigates two zero power control methods for a spiral motor, which are current integral type and external force feedback type. A spiral motor is a linear motor having helical mover and stator that can realize a high thrust force density and high back-drivability. In latest researches, the magnetic levitation control, position control and force control were archived. Additionally, power-saving magnetic levitation is successful by a zero power control. However, a response time of the force control is delayed by the zero-power controller. This paper presents a comparison between zero power control methods through simulations and experiments. As a result, on the force control, external force feedback type zero power control is able to improve the transition time than the conventional method.
{"title":"Comparison between zero power control methods of spiral motor","authors":"M. Koyama, Y. Fujimoto","doi":"10.1109/IECON.2013.6700098","DOIUrl":"https://doi.org/10.1109/IECON.2013.6700098","url":null,"abstract":"This paper investigates two zero power control methods for a spiral motor, which are current integral type and external force feedback type. A spiral motor is a linear motor having helical mover and stator that can realize a high thrust force density and high back-drivability. In latest researches, the magnetic levitation control, position control and force control were archived. Additionally, power-saving magnetic levitation is successful by a zero power control. However, a response time of the force control is delayed by the zero-power controller. This paper presents a comparison between zero power control methods through simulations and experiments. As a result, on the force control, external force feedback type zero power control is able to improve the transition time than the conventional method.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"285 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122975361","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 : 2013-12-01DOI: 10.1109/IECON.2013.6699727
K. Yu, Sho Iwata, K. Ohnishi, H. Kawana, S. Usuda
An estimation of bone density is important for dental implant. CT value has been used in clinical and diagnostic as a quantitative evaluation method of bone density. In this paper, a method for estimating the CT value is proposed by modeling the relation between the cutting force and the CT value. The cutting force is calculated by the thrust force of the linear motor and the torque of the rotary motor. The estimated CT value can be obtained in real time by comparing between the force from reaction force observer and the formula of CT value with the pre-estimated parameters. The validity of the proposal was confirmed through experiments using wood mentioned in Misch's bone density classification. The experimental results indicated that the error of CT value estimation was ±91 HU and the estimation accuracy was 84 %.
{"title":"Real-time CT value estimation method for robotic drilling system based on thrust force and torque","authors":"K. Yu, Sho Iwata, K. Ohnishi, H. Kawana, S. Usuda","doi":"10.1109/IECON.2013.6699727","DOIUrl":"https://doi.org/10.1109/IECON.2013.6699727","url":null,"abstract":"An estimation of bone density is important for dental implant. CT value has been used in clinical and diagnostic as a quantitative evaluation method of bone density. In this paper, a method for estimating the CT value is proposed by modeling the relation between the cutting force and the CT value. The cutting force is calculated by the thrust force of the linear motor and the torque of the rotary motor. The estimated CT value can be obtained in real time by comparing between the force from reaction force observer and the formula of CT value with the pre-estimated parameters. The validity of the proposal was confirmed through experiments using wood mentioned in Misch's bone density classification. The experimental results indicated that the error of CT value estimation was ±91 HU and the estimation accuracy was 84 %.","PeriodicalId":237327,"journal":{"name":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122063924","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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