Pub Date : 2016-06-20DOI: 10.1109/AMC.2016.7496409
D. V. Bui, Y. Fujimoto
This paper presents a method, Algorithmic Differentiation, that can compute a three dimensional (3D) nonlinear model and design the nonlinear controller, simultaneously. It has not been feasible using the conventional methods because of the complexity of the system. Moreover, the interesting work of the proposed method is noted that the head angle of the mono-wheel robot can be controlled although it lacks a yaw axis actuator. The simulation results of the stability of the system are shown.
{"title":"3D modeling and nonlinear control using algorithmic differentiation for mono-wheel robot","authors":"D. V. Bui, Y. Fujimoto","doi":"10.1109/AMC.2016.7496409","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496409","url":null,"abstract":"This paper presents a method, Algorithmic Differentiation, that can compute a three dimensional (3D) nonlinear model and design the nonlinear controller, simultaneously. It has not been feasible using the conventional methods because of the complexity of the system. Moreover, the interesting work of the proposed method is noted that the head angle of the mono-wheel robot can be controlled although it lacks a yaw axis actuator. The simulation results of the stability of the system are shown.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"96 44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129327638","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496396
Ian Emerson, J. Potgieter, Weiliang Xu
Stroke affects approximately 2% of the population, and with advances in modern technology, more patients are surviving the event and requiring rehabilitation, placing further demand on already stretched medical systems. Because of this, an emergent area of research has arisen, investigating the use of robotics as a means to aid in the rehabilitation of patients affected by stroke. Projects such as the MIT Manus have provided evidence of the efficacy of robotic rehabilitation for stroke patients, but further research is required to provide ongoing improvements to this approach. Further to this, mirror therapy, a treatment initially found to be useful in the treatment of phantom pain syndrome in amputees, has also shown promise in the rehabilitation of stroke, though further research into the mechanisms behind mirror therapy need further investigation. A novel prototype robotic rehabilitation system was developed to investigate the integration of these two emergent approaches to stroke rehabilitation as a more comprehensive approach to stroke rehabilitation. This system was developed around a small industrial robot, utilising motion capture and force feedback for control of the robot with a virtual mirror therapy system to provide visual stimulation for the patient. The operation of the prototype was verified, however further development is required to produce a system suitable for patient trials.
{"title":"Control implementation for an integrated robotic and virtual mirror therapy system for stroke rehabilitation","authors":"Ian Emerson, J. Potgieter, Weiliang Xu","doi":"10.1109/AMC.2016.7496396","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496396","url":null,"abstract":"Stroke affects approximately 2% of the population, and with advances in modern technology, more patients are surviving the event and requiring rehabilitation, placing further demand on already stretched medical systems. Because of this, an emergent area of research has arisen, investigating the use of robotics as a means to aid in the rehabilitation of patients affected by stroke. Projects such as the MIT Manus have provided evidence of the efficacy of robotic rehabilitation for stroke patients, but further research is required to provide ongoing improvements to this approach. Further to this, mirror therapy, a treatment initially found to be useful in the treatment of phantom pain syndrome in amputees, has also shown promise in the rehabilitation of stroke, though further research into the mechanisms behind mirror therapy need further investigation. A novel prototype robotic rehabilitation system was developed to investigate the integration of these two emergent approaches to stroke rehabilitation as a more comprehensive approach to stroke rehabilitation. This system was developed around a small industrial robot, utilising motion capture and force feedback for control of the robot with a virtual mirror therapy system to provide visual stimulation for the patient. The operation of the prototype was verified, however further development is required to produce a system suitable for patient trials.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125025451","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496380
Masashi Sekiya, Shota Itoh, Kunihiro Ogata, T. Tsuji
This paper proposes a new method of muscle force estimation based on the relationship between the muscle space and the task space using a general lower extremity model in the sagittal plane. In addition, we report a verification experiment using several active motion patterns with a training robot for the lower extremities. The results show that the muscle forces estimated by the proposed method exhibit good correlation with surface electromyograms. Moreover, it is confirmed that the proposed method can capture some muscle activities undetectable by conventional methods.
{"title":"Estimation of lower-extremity muscle forces by using task-space information","authors":"Masashi Sekiya, Shota Itoh, Kunihiro Ogata, T. Tsuji","doi":"10.1109/AMC.2016.7496380","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496380","url":null,"abstract":"This paper proposes a new method of muscle force estimation based on the relationship between the muscle space and the task space using a general lower extremity model in the sagittal plane. In addition, we report a verification experiment using several active motion patterns with a training robot for the lower extremities. The results show that the muscle forces estimated by the proposed method exhibit good correlation with surface electromyograms. Moreover, it is confirmed that the proposed method can capture some muscle activities undetectable by conventional methods.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126644268","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496392
A. Shimada, N. A. Dung
This paper introduces the equilibrium state control considering hold cones for humanoid climbing robot. Recently, free-climbing has become popular and many climbing gyms have been opened. On the other hand, robots are expected as useful machines to assist human lives. To develop climbing robot is to expand the ability of humanoid robots and they can be used at not only horizontal spaces but also vertical space in mountain areas or disaster areas. Particularly, this paper makes clear the constraints needed on climbing robots and presents a balance control condition to perform wall climbing.
{"title":"Equilibrium state control for climbing robot","authors":"A. Shimada, N. A. Dung","doi":"10.1109/AMC.2016.7496392","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496392","url":null,"abstract":"This paper introduces the equilibrium state control considering hold cones for humanoid climbing robot. Recently, free-climbing has become popular and many climbing gyms have been opened. On the other hand, robots are expected as useful machines to assist human lives. To develop climbing robot is to expand the ability of humanoid robots and they can be used at not only horizontal spaces but also vertical space in mountain areas or disaster areas. Particularly, this paper makes clear the constraints needed on climbing robots and presents a balance control condition to perform wall climbing.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129690056","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496356
Koji Watanabe, Kazuaki Ito, M. Iwasaki, R. Antonello, R. Oboe
This paper presents a load position estimation methodology of a linear motor driven table system using a MEMS accelerometer. The system is composed of a table and a load connected via an elastic beam attached on the table. In order to improve the performance of the load positioning, the load position measurement would be important. However it might be difficult to place position sensors on the load from the viewpoint of cost saving and available space. In this research, the load acceleration measured by a low cost and small size MEMS accelerometer and the motor angle acquired by a linear encoder are utilized to the Kalman filter for estimating the position information at the load side as well as the sensor bias of the accelerometer. In the Kalman filter design, the discrete time plant system is needed, where the discretization method should be selected appropriately to improve estimation performance especially for two mass resonant systems. The effectiveness of the proposed estimation methodology has been verified by experiments using a linear motor driven table system.
{"title":"Estimation of load-side position of two mass resonant systems using MEMS accelerometers","authors":"Koji Watanabe, Kazuaki Ito, M. Iwasaki, R. Antonello, R. Oboe","doi":"10.1109/AMC.2016.7496356","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496356","url":null,"abstract":"This paper presents a load position estimation methodology of a linear motor driven table system using a MEMS accelerometer. The system is composed of a table and a load connected via an elastic beam attached on the table. In order to improve the performance of the load positioning, the load position measurement would be important. However it might be difficult to place position sensors on the load from the viewpoint of cost saving and available space. In this research, the load acceleration measured by a low cost and small size MEMS accelerometer and the motor angle acquired by a linear encoder are utilized to the Kalman filter for estimating the position information at the load side as well as the sensor bias of the accelerometer. In the Kalman filter design, the discrete time plant system is needed, where the discretization method should be selected appropriately to improve estimation performance especially for two mass resonant systems. The effectiveness of the proposed estimation methodology has been verified by experiments using a linear motor driven table system.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128239514","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496321
Alista Fow, M. Duke
An investigation is conducted into the performance of passive, semi-active and active electromagnetic dampers. Theoretical models are constructed of the dampers and these are included in two degree of freedom models of the suspension. The passive and semi-active electromagnetic dampers are significantly heavier than commercial hydraulic dampers. In the case of active electromagnetic damper, the reduction in passenger acceleration is 88 percent when compared to passive damper and 61 percent when compared to a semi-active damper. The power consumption is similar to a magnetorheological semi-active damper.
{"title":"Electromagnetic damper control strategies for light weight electric vehicles","authors":"Alista Fow, M. Duke","doi":"10.1109/AMC.2016.7496321","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496321","url":null,"abstract":"An investigation is conducted into the performance of passive, semi-active and active electromagnetic dampers. Theoretical models are constructed of the dampers and these are included in two degree of freedom models of the suspension. The passive and semi-active electromagnetic dampers are significantly heavier than commercial hydraulic dampers. In the case of active electromagnetic damper, the reduction in passenger acceleration is 88 percent when compared to passive damper and 61 percent when compared to a semi-active damper. The power consumption is similar to a magnetorheological semi-active damper.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123515951","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}
Aiming at the trajectory tracking control of AGV in aeronautical manufacturing and automated warehouse, a novel trajectory tracking control method was proposed. Firstly, the kinematic model and trajectory tracking control model of AGV were established. After analysing the reversing problem of AGV in practical situation and the limitations of classic trajectory tracking control method, and based on the similarity between the forward mode and reversing mode of AGV, a novel trajectory tracking control rule was designed and its stability was proved. The trajectory tracking control rule had simpler, less amount of calculation and improved the flexibility and handling efficiency of AGV. Finally, the trajectory tracking control experiments of sinusoid and path consisting of segments and arcs were done on experimental platform. The experiment results verified that the trajectory tracking control method were effective and feasible. The method could meet the requirements of autonomous handing for AGV in aeronautical manufacturing and automated warehouse.
{"title":"Trajectory tracking control method and experiment of AGV","authors":"Dongdong Chen, Zhenyun Shi, Peijiang Yuan, Tianmiao Wang, Yuanwei Liu, Minqing Lin, Zhijun Li","doi":"10.1109/AMC.2016.7496323","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496323","url":null,"abstract":"Aiming at the trajectory tracking control of AGV in aeronautical manufacturing and automated warehouse, a novel trajectory tracking control method was proposed. Firstly, the kinematic model and trajectory tracking control model of AGV were established. After analysing the reversing problem of AGV in practical situation and the limitations of classic trajectory tracking control method, and based on the similarity between the forward mode and reversing mode of AGV, a novel trajectory tracking control rule was designed and its stability was proved. The trajectory tracking control rule had simpler, less amount of calculation and improved the flexibility and handling efficiency of AGV. Finally, the trajectory tracking control experiments of sinusoid and path consisting of segments and arcs were done on experimental platform. The experiment results verified that the trajectory tracking control method were effective and feasible. The method could meet the requirements of autonomous handing for AGV in aeronautical manufacturing and automated warehouse.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115839430","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496353
Hong Hu, Jing Zhao, Hongbo Li, Wei Li, Genshe Chen
This paper presents a high-frequency steady-state visual evoked potential-based model for a brain-controlled humanoid robot. An advantage of this model is to reduce subjects' fatigue by using visual stimuli with a frequency of 30Hz. This study optimizes the stimulus patterns to increase the brain signals and applies a fuzzy-based classification approach to identify human mental activities and convert them into control commands. Seven subjects successfully navigated a NAO humanoid robot to walk through a map with obstacle avoidance based on live video feedback. The on-line robot navigation experiment reached the average control success rate of 94.26% and an average collision of 1.8 times during a mission.
{"title":"Telepresence control of humanoid robot via high-frequency phase-tagged SSVEP stimuli","authors":"Hong Hu, Jing Zhao, Hongbo Li, Wei Li, Genshe Chen","doi":"10.1109/AMC.2016.7496353","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496353","url":null,"abstract":"This paper presents a high-frequency steady-state visual evoked potential-based model for a brain-controlled humanoid robot. An advantage of this model is to reduce subjects' fatigue by using visual stimuli with a frequency of 30Hz. This study optimizes the stimulus patterns to increase the brain signals and applies a fuzzy-based classification approach to identify human mental activities and convert them into control commands. Seven subjects successfully navigated a NAO humanoid robot to walk through a map with obstacle avoidance based on live video feedback. The on-line robot navigation experiment reached the average control success rate of 94.26% and an average collision of 1.8 times during a mission.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115863439","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496366
Masaki Goto, T. Mizuno, I. Takami, Gan Chen
This paper proposes design of a robust H∞ controller for Active Magnetic Bearing (AMB) system. In this paper, the rotor of AMB has both static and dynamic imbalance. AMB system is affected by gyroscopic effect and imbalance of the rotor. Gyroscopic effect depends on angular velocity of the rotor. The H∞ controller is designed to suppress the vibration caused by imbalance and gyroscopic effect. The purpose of this study is to control attitude of the rotor. In order to control the attitude of the rotor, the perturbation of the rotor from equilibrium point is decreased by the state-feedback control. Mathematical model of AMB has first and second order terms of the angular velocity. In attempt to guarantee the robust stability for a prescribed range of angular velocity with lower conservativeness, the second order terms of angular velocity are changed into first order terms by using linear fractional transformation (LFT) and descriptor representation. Polytopic representation is applied to the system matrices which has only the first order terms of the varying parameter. H∞ controller is obtained by solving a finite set of linear matrix inequality (LMI) conditions at the vertex matrices of the polytope. Furthermore the effectiveness of the proposed controller is illustrated by simulations comparing with robust linear quadratic controller (RLQ).
{"title":"Robust H∞ control for Active Magnetic Bearing system with imbalance of the rotor","authors":"Masaki Goto, T. Mizuno, I. Takami, Gan Chen","doi":"10.1109/AMC.2016.7496366","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496366","url":null,"abstract":"This paper proposes design of a robust H∞ controller for Active Magnetic Bearing (AMB) system. In this paper, the rotor of AMB has both static and dynamic imbalance. AMB system is affected by gyroscopic effect and imbalance of the rotor. Gyroscopic effect depends on angular velocity of the rotor. The H∞ controller is designed to suppress the vibration caused by imbalance and gyroscopic effect. The purpose of this study is to control attitude of the rotor. In order to control the attitude of the rotor, the perturbation of the rotor from equilibrium point is decreased by the state-feedback control. Mathematical model of AMB has first and second order terms of the angular velocity. In attempt to guarantee the robust stability for a prescribed range of angular velocity with lower conservativeness, the second order terms of angular velocity are changed into first order terms by using linear fractional transformation (LFT) and descriptor representation. Polytopic representation is applied to the system matrices which has only the first order terms of the varying parameter. H∞ controller is obtained by solving a finite set of linear matrix inequality (LMI) conditions at the vertex matrices of the polytope. Furthermore the effectiveness of the proposed controller is illustrated by simulations comparing with robust linear quadratic controller (RLQ).","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113933011","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}
In order to increase drilling efficiency, it is necessary for robotic drilling system to take advantage of offline programming method to drill a large number of holes automatically. Vision measurement is needed to correct work piece position because of inconformity between actual object and mathematical models. This paper introduces a visual positioning and measurement system for robotic drilling. A calibration board is designed to obtain hand-eye relationship and four laser range sensors are used to measure surface normal. This paper also summarizes workflow of offline programming and correction methods for different parts. Experiments give the result of hand-eye relationship and prove the position accuracy of vision measurement.
{"title":"A visual positioning and measurement system for robotic drilling","authors":"Yuanwei Liu, Zhenyun Shi, Peijiang Yuan, Dongdong Chen, Minqing Lin, Zhijun Li","doi":"10.1109/AMC.2016.7496393","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496393","url":null,"abstract":"In order to increase drilling efficiency, it is necessary for robotic drilling system to take advantage of offline programming method to drill a large number of holes automatically. Vision measurement is needed to correct work piece position because of inconformity between actual object and mathematical models. This paper introduces a visual positioning and measurement system for robotic drilling. A calibration board is designed to obtain hand-eye relationship and four laser range sensors are used to measure surface normal. This paper also summarizes workflow of offline programming and correction methods for different parts. Experiments give the result of hand-eye relationship and prove the position accuracy of vision measurement.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134254717","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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