Pub Date : 2004-12-01DOI: 10.1109/RAMECH.2004.1438049
Chengyi Guo, Q. Song, W. Cai
In this paper, we propose a novel neural network assisted proportional-plus-integral (PI) control strategy to improve the supply air pressure control performance of variable air volume (VAV) system. The neural network is trained on-line with a normalized training algorithm, which eliminates the requirement of a bounded regression signal to the system. To ensure the convergence of the training algorithm, an adaptive dead-zone scheme is employed. Stability of the proposed control scheme is guaranteed based on the conic sector theory. To demonstrate the applicability of the proposed method, real-time tests were carried out on a pilot VAV air-conditioning system and good experimental results were obtained.
{"title":"Real-time control of AHU based on a neural network assisted cascade control system","authors":"Chengyi Guo, Q. Song, W. Cai","doi":"10.1109/RAMECH.2004.1438049","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438049","url":null,"abstract":"In this paper, we propose a novel neural network assisted proportional-plus-integral (PI) control strategy to improve the supply air pressure control performance of variable air volume (VAV) system. The neural network is trained on-line with a normalized training algorithm, which eliminates the requirement of a bounded regression signal to the system. To ensure the convergence of the training algorithm, an adaptive dead-zone scheme is employed. Stability of the proposed control scheme is guaranteed based on the conic sector theory. To demonstrate the applicability of the proposed method, real-time tests were carried out on a pilot VAV air-conditioning system and good experimental results were obtained.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127087630","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438087
Chengwan An, Xiaoming Xiong, Yuequan Yang, M. Tan
For conventional clustering segmentation of a color image, it is necessary to predetermine cluster number and centers of the color image. If they are not appropriately predetermined, results of segmentation may become considerably worse. To fulfill unsupervised clustering segmentation of visual color images for a mobile robot, this paper proposes a multiprototypes-take-one-cluster (MPTOC) strategy and splitting-merging competitive learning (SMCL). Based on MPTOC, SMCL can adaptively detect the appropriate cluster number of color images. An experiment on the mobile robot CASIA-1 validates MPTOC and SMCL.
{"title":"Color image clustering segmentation based on SMCL for mobile robot","authors":"Chengwan An, Xiaoming Xiong, Yuequan Yang, M. Tan","doi":"10.1109/RAMECH.2004.1438087","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438087","url":null,"abstract":"For conventional clustering segmentation of a color image, it is necessary to predetermine cluster number and centers of the color image. If they are not appropriately predetermined, results of segmentation may become considerably worse. To fulfill unsupervised clustering segmentation of visual color images for a mobile robot, this paper proposes a multiprototypes-take-one-cluster (MPTOC) strategy and splitting-merging competitive learning (SMCL). Based on MPTOC, SMCL can adaptively detect the appropriate cluster number of color images. An experiment on the mobile robot CASIA-1 validates MPTOC and SMCL.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128072793","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438948
A. Babazadeh, N. Parspour, A. Hanifi
This paper presents a new analytical model for high-torque and low-speed transverse flux machines with flux collecting permanent magnet type. The model is developed based on approximating the permeance in the air gap between rotor and stator using quasi-flux tubes with boundaries determined by straight lines and semicircular segments. Three kinds of produced torques are achieved analytically and the results are compared to the three dimensional finite element simulation results.
{"title":"Transverse flux machine for direct drive robots: modelling and analysis","authors":"A. Babazadeh, N. Parspour, A. Hanifi","doi":"10.1109/RAMECH.2004.1438948","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438948","url":null,"abstract":"This paper presents a new analytical model for high-torque and low-speed transverse flux machines with flux collecting permanent magnet type. The model is developed based on approximating the permeance in the air gap between rotor and stator using quasi-flux tubes with boundaries determined by straight lines and semicircular segments. Three kinds of produced torques are achieved analytically and the results are compared to the three dimensional finite element simulation results.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130027656","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438931
G. O. Costa, Brunno Tortelli, E. Santos, M. A. B. D. Paula
This paper presents the design, generation and implementation of low cost control system for a manufacturing cell. The modeling and control of manufacturing systems using supervisory control theory (SCT) is discussed. Using the technique of SCT, controllers can be built according to operational specifications. A structure control implemented in low-cost physical platforms is presented. According to the level of control, micro-controllers or small-size PLC are used. A communication interface is proposed to establish rules of sending and receiving of events among different hardware. In order to demonstrate the usefulness of this approach, an educational testbed is used to simulate an automated manufacturing system.
{"title":"Design and implementation of a low cost control system for a manufacturing cell","authors":"G. O. Costa, Brunno Tortelli, E. Santos, M. A. B. D. Paula","doi":"10.1109/RAMECH.2004.1438931","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438931","url":null,"abstract":"This paper presents the design, generation and implementation of low cost control system for a manufacturing cell. The modeling and control of manufacturing systems using supervisory control theory (SCT) is discussed. Using the technique of SCT, controllers can be built according to operational specifications. A structure control implemented in low-cost physical platforms is presented. According to the level of control, micro-controllers or small-size PLC are used. A communication interface is proposed to establish rules of sending and receiving of events among different hardware. In order to demonstrate the usefulness of this approach, an educational testbed is used to simulate an automated manufacturing system.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126293567","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438969
P. Jiang, Huadong Chen
To design a stable iterative learning control, it often requires some prior knowledge about the unknown systems. In some applications, such as uncalibrated visual servoing, the knowledge is too hard to be gained. This paper proposed an iterative learning control for a class of MIMO systems. The controller consists of a Nussbaum-type gain selector for roughly probing proper control gain matrix and a refined compensator learned through repetitive tracking. It is able to guarantee convergence of the learning control even without any knowledge about the system. Stability of the proposed controller is proved and simulations are carried out to verify the proposed method.
{"title":"Iterative learning control of MIMO systems with less model knowledge","authors":"P. Jiang, Huadong Chen","doi":"10.1109/RAMECH.2004.1438969","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438969","url":null,"abstract":"To design a stable iterative learning control, it often requires some prior knowledge about the unknown systems. In some applications, such as uncalibrated visual servoing, the knowledge is too hard to be gained. This paper proposed an iterative learning control for a class of MIMO systems. The controller consists of a Nussbaum-type gain selector for roughly probing proper control gain matrix and a refined compensator learned through repetitive tracking. It is able to guarantee convergence of the learning control even without any knowledge about the system. Stability of the proposed controller is proved and simulations are carried out to verify the proposed method.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126453839","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438965
Zhenyu Yang
The design of active noise control (ANC) using feedback control techniques for a one-dimensional acoustic duct system is explored. The complex-value-based mathematical model of the total system is developed and verified. The sensitive parameter-acoustic terminal impedance is estimated using the system identification method. The ANC design is formalized into a set of standard control design problems with respect to specific requirements. Some simple PID controllers are developed for the considered ANC system. The simulation and test results show a bright potential to use feedback control techniques for a simple but efficient ANC design.
{"title":"Design of active noise control using feedback control techniques for an acoustic duct system","authors":"Zhenyu Yang","doi":"10.1109/RAMECH.2004.1438965","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438965","url":null,"abstract":"The design of active noise control (ANC) using feedback control techniques for a one-dimensional acoustic duct system is explored. The complex-value-based mathematical model of the total system is developed and verified. The sensitive parameter-acoustic terminal impedance is estimated using the system identification method. The ANC design is formalized into a set of standard control design problems with respect to specific requirements. Some simple PID controllers are developed for the considered ANC system. The simulation and test results show a bright potential to use feedback control techniques for a simple but efficient ANC design.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"954 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122635354","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438001
Yanjie Li, D. Tan, Zhenwei Wu
In this paper we first present the mechanism system configuration, basic control structure of a humanoid robot constructed by our laboratory The human-sized robot has an all-orientation wheel mobile vehicle with 3-DOF, two 7-DOF arms, one 2-DOF neck and one 2-DOF waist (totally 21 DOF). As follow, we build the humanoid's dynamic model based on the Newton-Euler method. Using the model, we simulate and analyse the dynamic characters of the humanoid. The simulation results are presented and the results will be the significant basic for the stability analysis and control of the humanoid in the future works. The humanoid is expected to be a common tested in experimental and discussion for various aspects of intelligent humanoid robotics.
{"title":"Design and inverse dynamic analysis of a humanoid robot","authors":"Yanjie Li, D. Tan, Zhenwei Wu","doi":"10.1109/RAMECH.2004.1438001","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438001","url":null,"abstract":"In this paper we first present the mechanism system configuration, basic control structure of a humanoid robot constructed by our laboratory The human-sized robot has an all-orientation wheel mobile vehicle with 3-DOF, two 7-DOF arms, one 2-DOF neck and one 2-DOF waist (totally 21 DOF). As follow, we build the humanoid's dynamic model based on the Newton-Euler method. Using the model, we simulate and analyse the dynamic characters of the humanoid. The simulation results are presented and the results will be the significant basic for the stability analysis and control of the humanoid in the future works. The humanoid is expected to be a common tested in experimental and discussion for various aspects of intelligent humanoid robotics.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123060399","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438916
Xiao Qi Chen, Danwei W. Wang, Songlin Bai, Wen-Jong Lin
Non-contact optical measurement systems such as laser scanner have been widely used to measure 3D profiles. In the case of measuring a polished turbine airfoil, however, specular reflection on the surface causes "non-measurable" gaps in each optical scan. Conventional techniques like linear interpolation and spline interpolation become ineffective in reconstructing the surface from such "corrupted" measurement data sets. This work develops a hybrid technique that combines piecewise cubic Hermite interpolation with linear compensation. The technique preserves the shape well, and generates smooth curvature in the specular reflection gap. In comparison with spline interpolation, it achieves better and more accurate profile fitting.
{"title":"Hybrid linear compensation and improved Hermite interpolation for optical measurement of 3D airfoil surface","authors":"Xiao Qi Chen, Danwei W. Wang, Songlin Bai, Wen-Jong Lin","doi":"10.1109/RAMECH.2004.1438916","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438916","url":null,"abstract":"Non-contact optical measurement systems such as laser scanner have been widely used to measure 3D profiles. In the case of measuring a polished turbine airfoil, however, specular reflection on the surface causes \"non-measurable\" gaps in each optical scan. Conventional techniques like linear interpolation and spline interpolation become ineffective in reconstructing the surface from such \"corrupted\" measurement data sets. This work develops a hybrid technique that combines piecewise cubic Hermite interpolation with linear compensation. The technique preserves the shape well, and generates smooth curvature in the specular reflection gap. In comparison with spline interpolation, it achieves better and more accurate profile fitting.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117090219","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438891
Md. Irwan Md. Kassim, R. Wu, Fan Shao, W. Ng, Wee Siew Bock
In this paper, we present a tracked and semimotorized arm manipulator system aiming to provide accurate positioning information for breast biopsy tool to be used as a treatment device. The system is integrated with augmented reality (AR) and visual reality (VR) visualization. Two tracking systems were used on the arm, camera tracking and encoder tracking to simultaneously track the ultrasound probe and surgical tool. Stereo-camera is used to track an optical marker, which is temporary mounted. The marker is removed once the initial location of the arms is computed and encoder-based tracking takes over. On each passive joint of the arm system, a rotary encoder is installed which tells the angle of each joint. Therefore the positions of both ultrasound probe and surgical tool are known. The surgical tool is fitted onto a motorized 2 degree of freedom (DOF) with motorized cutting sequence, which enables cutting planning, probe positioning and controlled tissue cutting procedure. The prototype of the system proved the concept and future work is expected to improve the accuracy.
{"title":"Tracked arm manipulator for lumpectomy","authors":"Md. Irwan Md. Kassim, R. Wu, Fan Shao, W. Ng, Wee Siew Bock","doi":"10.1109/RAMECH.2004.1438891","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438891","url":null,"abstract":"In this paper, we present a tracked and semimotorized arm manipulator system aiming to provide accurate positioning information for breast biopsy tool to be used as a treatment device. The system is integrated with augmented reality (AR) and visual reality (VR) visualization. Two tracking systems were used on the arm, camera tracking and encoder tracking to simultaneously track the ultrasound probe and surgical tool. Stereo-camera is used to track an optical marker, which is temporary mounted. The marker is removed once the initial location of the arms is computed and encoder-based tracking takes over. On each passive joint of the arm system, a rotary encoder is installed which tells the angle of each joint. Therefore the positions of both ultrasound probe and surgical tool are known. The surgical tool is fitted onto a motorized 2 degree of freedom (DOF) with motorized cutting sequence, which enables cutting planning, probe positioning and controlled tissue cutting procedure. The prototype of the system proved the concept and future work is expected to improve the accuracy.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115945483","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438979
Kok-Meng Lee, Zhiyong Wei, J. Joni
The variable-reluctance spherical motor (VRSM), which offers some attractive features by combining pitch, roll, and yaw motions in a single joint, is essentially a brushless, direct-drive actuator. Unlike a multi-axes actuating mechanism where the number of electrical inputs typically equal to its number of controllable degrees of freedom, the VRSM offers a large number of distributed electrical inputs as compared to the number of controllable DOF. Since larger number of small coils is used, it not only effectively increases the surface area for heat dissipation, but also allows a small amount of current to flow through each of the coils. This distributed actuation offers an effective means to overcome heat dissipation problems commonly associated with direct-drive actuators for high torque applications. To exploit the advantages offered by this unique feature that provides a greater flexibility in design and control, a good understanding of the key parameters that could significantly influence the motor performance is essential. For this reason, we present in this paper some results of a detailed parametric study on the effects of pole geometry on the thermal and torque performance of a three degrees-of-freedom (DOF) VRSM.
{"title":"Parametric study on pole geometry and thermal effects of a VRSM","authors":"Kok-Meng Lee, Zhiyong Wei, J. Joni","doi":"10.1109/RAMECH.2004.1438979","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438979","url":null,"abstract":"The variable-reluctance spherical motor (VRSM), which offers some attractive features by combining pitch, roll, and yaw motions in a single joint, is essentially a brushless, direct-drive actuator. Unlike a multi-axes actuating mechanism where the number of electrical inputs typically equal to its number of controllable degrees of freedom, the VRSM offers a large number of distributed electrical inputs as compared to the number of controllable DOF. Since larger number of small coils is used, it not only effectively increases the surface area for heat dissipation, but also allows a small amount of current to flow through each of the coils. This distributed actuation offers an effective means to overcome heat dissipation problems commonly associated with direct-drive actuators for high torque applications. To exploit the advantages offered by this unique feature that provides a greater flexibility in design and control, a good understanding of the key parameters that could significantly influence the motor performance is essential. For this reason, we present in this paper some results of a detailed parametric study on the effects of pole geometry on the thermal and torque performance of a three degrees-of-freedom (DOF) VRSM.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"47 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132640355","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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