Pub Date : 2004-12-01DOI: 10.1109/RAMECH.2004.1438090
Sooyong Lee
Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two position estimation methods are developed in this paper, one using a single optical flow sensor and a second using two optical sensors. The first method can accurately estimate position under ideal conditions and when wheel slip perpendicular to the axis of the wheel occurs. A second method can accurately estimate position even when wheel slip parallel to the axis of the wheel occurs. Location of the sensors is investigated in order to minimize errors caused by inaccurate sensor readings. Finally, the method is implemented and tested using a mobile robot with sensors. Estimates of position were found to be as accurate as dead-reckoning in ideal conditions and much more accurate in cases where wheel slip occurs.
{"title":"Mobile robot localization using optical mice","authors":"Sooyong Lee","doi":"10.1109/RAMECH.2004.1438090","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438090","url":null,"abstract":"Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two position estimation methods are developed in this paper, one using a single optical flow sensor and a second using two optical sensors. The first method can accurately estimate position under ideal conditions and when wheel slip perpendicular to the axis of the wheel occurs. A second method can accurately estimate position even when wheel slip parallel to the axis of the wheel occurs. Location of the sensors is investigated in order to minimize errors caused by inaccurate sensor readings. Finally, the method is implemented and tested using a mobile robot with sensors. Estimates of position were found to be as accurate as dead-reckoning in ideal conditions and much more accurate in cases where wheel slip occurs.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"14 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":"125666590","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.2004.1438007
M. Ong, Szer-Ming Lee
Remote maintenance offers several advantages to manufacturing. However, it is also important to understand the challenges and changes that such an implementation will bring to the enterprises and the stakeholders, from the business and human perspectives. This paper looks into a method for evaluating the effectiveness of remote maintenance based on the implementation of a component based control system in the automotive sector. The paper first provides a general view of the automotive industry and the current remote maintenance procedure. It then highlights the component-based approach which is the underlying architecture for the remote maintenance services reported in this paper. A method for evaluating remote maintenance is explained and an example of the test is described. The paper concludes with the identification of the issues associated with remote maintenance.
{"title":"Evaluating the use of multimedia tool in remote maintenance of production machinery in the automotive sector","authors":"M. Ong, Szer-Ming Lee","doi":"10.1109/RAMECH.2004.1438007","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438007","url":null,"abstract":"Remote maintenance offers several advantages to manufacturing. However, it is also important to understand the challenges and changes that such an implementation will bring to the enterprises and the stakeholders, from the business and human perspectives. This paper looks into a method for evaluating the effectiveness of remote maintenance based on the implementation of a component based control system in the automotive sector. The paper first provides a general view of the automotive industry and the current remote maintenance procedure. It then highlights the component-based approach which is the underlying architecture for the remote maintenance services reported in this paper. A method for evaluating remote maintenance is explained and an example of the test is described. The paper concludes with the identification of the issues associated with remote maintenance.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"645 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":"131919886","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.2004.1438982
Zhuping Wang, S. Ge, Tong-heng Lee
In this paper, adaptive neural network (NN) control strategy is presented to solve the control problem of nonholonomic systems in a chained form with unknown virtual control coefficients and strong drift nonlinearities. The adaptive NN control laws are developed using state scaling and backstepping. The proposed control is free of control singularity problem. Adaptive control based switching strategy is adopted to overcome the uncontrollability problem associated with x/sub 0/(t/sub 0/) = 0. Uniform ultimate boundedness of all the signals in the closed-loop are guaranteed, and the system states are proven to converge to a small neighborhood of zero. The control performance of the closed-loop system is guaranteed by appropriately choosing the design parameters.
{"title":"Adaptive NN control of uncertain nonholonomic systems in chained form","authors":"Zhuping Wang, S. Ge, Tong-heng Lee","doi":"10.1109/RAMECH.2004.1438982","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438982","url":null,"abstract":"In this paper, adaptive neural network (NN) control strategy is presented to solve the control problem of nonholonomic systems in a chained form with unknown virtual control coefficients and strong drift nonlinearities. The adaptive NN control laws are developed using state scaling and backstepping. The proposed control is free of control singularity problem. Adaptive control based switching strategy is adopted to overcome the uncontrollability problem associated with x/sub 0/(t/sub 0/) = 0. Uniform ultimate boundedness of all the signals in the closed-loop are guaranteed, and the system states are proven to converge to a small neighborhood of zero. The control performance of the closed-loop system is guaranteed by appropriately choosing the design parameters.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"41 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":"132029965","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.2004.1438937
A. Babazadeh, N. Sadati
Optimal control frameworks are very important in optimization of multiple-arm robotic systems, although complexity, non-linearity and having large scales usually cause some computational problems in the capacity and time needed. In this paper, coordination of multiple-arm robotic systems in order to carry a rigid object is considered and the state space equations for the overall system are developed. Coordination of the robot arms is done through minimizing a related cost function based on the gradient method. This method is simple and easy to be used.
{"title":"Optimal control of multiple-arm robotic systems using gradient method","authors":"A. Babazadeh, N. Sadati","doi":"10.1109/RAMECH.2004.1438937","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438937","url":null,"abstract":"Optimal control frameworks are very important in optimization of multiple-arm robotic systems, although complexity, non-linearity and having large scales usually cause some computational problems in the capacity and time needed. In this paper, coordination of multiple-arm robotic systems in order to carry a rigid object is considered and the state space equations for the overall system are developed. Coordination of the robot arms is done through minimizing a related cost function based on the gradient method. This method is simple and easy to be used.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"187 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":"132325840","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.2004.1438977
K. Chee, Liang Yan, I. Chen, Guilin Yang, Wei Lin
The focus of this research is to design and develop a spherical actuator for robotics applications. Unlike prior works, this project proposes a new type of a DC spherical manipulator that operates from the forces generated between pairs of air core electromagnetic coils and permanent magnets. The novelty of the proposed design is demonstrated by utilizing air cores as stator poles. This eliminates the drawbacks of existing spherical electromagnetic device where the performance is significantly hindered due to inherent detent force, hysteresis and saturation issue that arises from the ferromagnetic component. The ability to be able to accurately model the electromechanical phenomenon and predict the output torque is essential for high precision motion control. Numerical analysis of the electromechanical forces is performed using FEM software. Design experience in spherical actuators, unlike that of single DOF electromagnetic motors, has been limited and intricate due to the three dimensional nature of the output motion. This paper aims to present the design methodology and electromechanical analysis in a concise and orderly manner that may serve as a starting point for design optimization and research.
{"title":"Mechanical design & numerical electromagnetic analysis of a DC spherical actuator","authors":"K. Chee, Liang Yan, I. Chen, Guilin Yang, Wei Lin","doi":"10.1109/RAMECH.2004.1438977","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438977","url":null,"abstract":"The focus of this research is to design and develop a spherical actuator for robotics applications. Unlike prior works, this project proposes a new type of a DC spherical manipulator that operates from the forces generated between pairs of air core electromagnetic coils and permanent magnets. The novelty of the proposed design is demonstrated by utilizing air cores as stator poles. This eliminates the drawbacks of existing spherical electromagnetic device where the performance is significantly hindered due to inherent detent force, hysteresis and saturation issue that arises from the ferromagnetic component. The ability to be able to accurately model the electromechanical phenomenon and predict the output torque is essential for high precision motion control. Numerical analysis of the electromechanical forces is performed using FEM software. Design experience in spherical actuators, unlike that of single DOF electromagnetic motors, has been limited and intricate due to the three dimensional nature of the output motion. This paper aims to present the design methodology and electromechanical analysis in a concise and orderly manner that may serve as a starting point for design optimization and research.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"1 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":"130815318","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.2004.1438947
Chee Pin Tan, M. Habib
This paper presents a flexible joint system with a sensor fault tolerant control scheme applied to it. Sensor faults affect the system's performance in the closed loop when the faulty sensor readings are used to generate the control input. In this paper, the measured outputs are separated into potentially faulty and non-faulty components, and the latter are injected into a linear observer to reconstruct the faults. The reconstruction is subtracted from the faulty sensors to form a compensated 'virtual sensor' and this signal is then used to generate the control input. A design method for the observer is also presented in which the reconstruction signal is made as insensitive as possible to any uncertainties or nonlinearities present in the system. Several fault conditions were tested; step, ramp and total failure of the sensor. Excellent results have been obtained; the system performance is almost identical to the fault-free scenario.
{"title":"A robust sensor fault tolerant control scheme implemented on a flexible joint","authors":"Chee Pin Tan, M. Habib","doi":"10.1109/RAMECH.2004.1438947","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438947","url":null,"abstract":"This paper presents a flexible joint system with a sensor fault tolerant control scheme applied to it. Sensor faults affect the system's performance in the closed loop when the faulty sensor readings are used to generate the control input. In this paper, the measured outputs are separated into potentially faulty and non-faulty components, and the latter are injected into a linear observer to reconstruct the faults. The reconstruction is subtracted from the faulty sensors to form a compensated 'virtual sensor' and this signal is then used to generate the control input. A design method for the observer is also presented in which the reconstruction signal is made as insensitive as possible to any uncertainties or nonlinearities present in the system. Several fault conditions were tested; step, ramp and total failure of the sensor. Excellent results have been obtained; the system performance is almost identical to the fault-free scenario.","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":"132817600","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.2004.1437993
Anies Hannawati Pumamadjaja, R. Russell, Ii Bee Pheromones
Currently, there is great interest in learning about the behaviour of social insects, because of the valuable inspiration that they can provide in the area of swarm robotics. This paper reports the current progress of an investigation into the possibility of using pheromones as a means of communication between members of a robot swarm. In this project, interaction between members of a robot swarm is modeled on one form of pheromone communication that is used by social bees. In social bees this necrophoric behaviour is used to recognize a bee corpse within the nest and to remove it. In the context of a robot swarm one of the proposed applications for this behaviour is to locate and rescue disabled robots that release a pheromone as a form of distress signal. This paper describes the swarm robots used in this project, the robot control algorithm and results of practical experiments.
{"title":"Pheromone communication: implementation of necrophoric bee behaviour in a robot swarm","authors":"Anies Hannawati Pumamadjaja, R. Russell, Ii Bee Pheromones","doi":"10.1109/RAMECH.2004.1437993","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1437993","url":null,"abstract":"Currently, there is great interest in learning about the behaviour of social insects, because of the valuable inspiration that they can provide in the area of swarm robotics. This paper reports the current progress of an investigation into the possibility of using pheromones as a means of communication between members of a robot swarm. In this project, interaction between members of a robot swarm is modeled on one form of pheromone communication that is used by social bees. In social bees this necrophoric behaviour is used to recognize a bee corpse within the nest and to remove it. In the context of a robot swarm one of the proposed applications for this behaviour is to locate and rescue disabled robots that release a pheromone as a form of distress signal. This paper describes the swarm robots used in this project, the robot control algorithm and results of practical experiments.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"3 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":"133469566","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.2004.1438946
J. Quirion, E. Gunn, J. Gu
Firstly, dynamic programming is employed in the development of an optimal torque controller for sinusoidal permanent magnet synchronous motors (PMSM). In particular, a solution that can handle non-zero state tracking is of interest. Secondly, it is shown that the resulting optimal control solution converges to that of linear quadratic regulators (LQR). An LQR is then presented as an alternative control method for PMSM. A comparison of the performance of the LQR with that of traditional proportional and proportional-integral controllers is made using time and frequency domain techniques.
{"title":"Optimal control of permanent magnet motors using dynamic programming","authors":"J. Quirion, E. Gunn, J. Gu","doi":"10.1109/RAMECH.2004.1438946","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438946","url":null,"abstract":"Firstly, dynamic programming is employed in the development of an optimal torque controller for sinusoidal permanent magnet synchronous motors (PMSM). In particular, a solution that can handle non-zero state tracking is of interest. Secondly, it is shown that the resulting optimal control solution converges to that of linear quadratic regulators (LQR). An LQR is then presented as an alternative control method for PMSM. A comparison of the performance of the LQR with that of traditional proportional and proportional-integral controllers is made using time and frequency domain techniques.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"694 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":"132706707","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.2004.1438897
Weihai Chen, T. J. Teo, Wei Lin, Guilin Yang, E. Ho
This paper focuses on the development of an embedded integrated servo-controller (EISC) for servomotors. Consisting of mainly servo-controller and servo-amplifiers, this EISC is capable of controlling a wide range of servomotors to perform complicated tasks. Hence, integration of this EISC with a servomotor forms an intelligent modular actuator (IMA) that is widely used in modern manufacturing industries. The development of such an EISC involves two major tasks. First, designing the hardware of a compact-sized and cost effective. Second, developing the software functions to facilitate its functionalities and capabilities. The developed EISC hence forms an integrated-servo-control module, which determines the capability, functionality, flexibility and responsiveness of these IMAs.
{"title":"Development of embedded integrated servo-controllers","authors":"Weihai Chen, T. J. Teo, Wei Lin, Guilin Yang, E. Ho","doi":"10.1109/RAMECH.2004.1438897","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438897","url":null,"abstract":"This paper focuses on the development of an embedded integrated servo-controller (EISC) for servomotors. Consisting of mainly servo-controller and servo-amplifiers, this EISC is capable of controlling a wide range of servomotors to perform complicated tasks. Hence, integration of this EISC with a servomotor forms an intelligent modular actuator (IMA) that is widely used in modern manufacturing industries. The development of such an EISC involves two major tasks. First, designing the hardware of a compact-sized and cost effective. Second, developing the software functions to facilitate its functionalities and capabilities. The developed EISC hence forms an integrated-servo-control module, which determines the capability, functionality, flexibility and responsiveness of these IMAs.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"111 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":"133257326","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.2004.1438972
T. Hussain, Georg Frey
Advances in hardware and fieldbus communication have brought modern industrial automation systems at a place where the developers of that field found the modeling and development too complex to be solved with the existing tools. IEC 61499 evolved principally to provide a generic distributed modeling platform which can on one hand simplify the modeling of distributed systems and on the other hand diminish the differences between business system and industrial system software modeling. This paper shows how IEC 61499 can model a flexible and reconfigurable distributed application deployed on a network-enabled controller is also shown. A prospective generalization of the developed system is depicted consisting of network-enabled controllers on which implemented codes of the IEC 61499 model can be deployed.
{"title":"Developing IEC 61499 compliant distributed systems with network enabled controllers","authors":"T. Hussain, Georg Frey","doi":"10.1109/RAMECH.2004.1438972","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438972","url":null,"abstract":"Advances in hardware and fieldbus communication have brought modern industrial automation systems at a place where the developers of that field found the modeling and development too complex to be solved with the existing tools. IEC 61499 evolved principally to provide a generic distributed modeling platform which can on one hand simplify the modeling of distributed systems and on the other hand diminish the differences between business system and industrial system software modeling. This paper shows how IEC 61499 can model a flexible and reconfigurable distributed application deployed on a network-enabled controller is also shown. A prospective generalization of the developed system is depicted consisting of network-enabled controllers on which implemented codes of the IEC 61499 model can be deployed.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"50 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":"128889026","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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