Pub Date : 2006-07-09DOI: 10.1109/ISIE.2006.296046
A. Ferreira, F.L. Pereira, T. Bastos-Filho, M. Sarcinelli-Filho, R. Carelli
This paper discusses the implementation of a new strategy to avoid obstacles when a mobile robot is navigating in a semi-structured environment. Such a strategy, the tangential escape, is conceived to allow the robot to navigate from a starting point to a destination point without colliding to any obstacle in its path. The deviation from any obstacle is performed according to an escape angle that makes the new robot orientation tangent to the border of the obstacle. First of all, the stability of such a control system is addressed, and the conclusion is that the robot always gets any reachable final destination. In the sequel, two implementations of such a strategy are discussed and compared. In the first one the sensorial apparatus onboard the mobile platform is a ring of ultrasonic sensors, whereas in the second one it is a laser sensor that delivers 180 range measurements covering a semi-circle in front of the robot. Results of the experimentation of both implementations are presented and discussed
{"title":"Avoiding Obstacles in Mobile Robot Navigation: Implementing the Tangential Escape Approach","authors":"A. Ferreira, F.L. Pereira, T. Bastos-Filho, M. Sarcinelli-Filho, R. Carelli","doi":"10.1109/ISIE.2006.296046","DOIUrl":"https://doi.org/10.1109/ISIE.2006.296046","url":null,"abstract":"This paper discusses the implementation of a new strategy to avoid obstacles when a mobile robot is navigating in a semi-structured environment. Such a strategy, the tangential escape, is conceived to allow the robot to navigate from a starting point to a destination point without colliding to any obstacle in its path. The deviation from any obstacle is performed according to an escape angle that makes the new robot orientation tangent to the border of the obstacle. First of all, the stability of such a control system is addressed, and the conclusion is that the robot always gets any reachable final destination. In the sequel, two implementations of such a strategy are discussed and compared. In the first one the sensorial apparatus onboard the mobile platform is a ring of ultrasonic sensors, whereas in the second one it is a laser sensor that delivers 180 range measurements covering a semi-circle in front of the robot. Results of the experimentation of both implementations are presented and discussed","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114318699","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 : 2006-07-09DOI: 10.1109/ISIE.2006.295614
K. Branco, M. J. Santana, R. Santana, S. Bruschi
This article presents two new performance indices (PIV - performance index vector and WPIV - weighted performance index vector), to evaluate heterogeneous computing systems, based on a Euclidian metric. Aiming to maximize the use of the machines, the proposed indices are a combination of several usual indices and the results of their evaluation through a simulator show an appropriate behavior for different kinds of applications
{"title":"PIV and WPIV: Performance Index For Heterogeneous Systems Evaluation","authors":"K. Branco, M. J. Santana, R. Santana, S. Bruschi","doi":"10.1109/ISIE.2006.295614","DOIUrl":"https://doi.org/10.1109/ISIE.2006.295614","url":null,"abstract":"This article presents two new performance indices (PIV - performance index vector and WPIV - weighted performance index vector), to evaluate heterogeneous computing systems, based on a Euclidian metric. Aiming to maximize the use of the machines, the proposed indices are a combination of several usual indices and the results of their evaluation through a simulator show an appropriate behavior for different kinds of applications","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114568610","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 : 2006-07-09DOI: 10.1109/ISIE.2006.296006
P. Larizza, G. Murciano, L. Pappagallo, G. Triggiani
A new generation of modular robots was studied based on a concept of mechatronic modules clustering. A generalization of mechatronic module consists of an electromechanical part driven by an electronic part implementing a control and communication unit and, a motor drive. The main property of the control is the scalability. The modules are connected by a very high efficiency real time communication network. The clustering permits to connect several modules in order to achieve a more complex robot architecture, starting from serial kinematic chains up to parallel kinematic machines configurations
{"title":"A new generation of modular robots","authors":"P. Larizza, G. Murciano, L. Pappagallo, G. Triggiani","doi":"10.1109/ISIE.2006.296006","DOIUrl":"https://doi.org/10.1109/ISIE.2006.296006","url":null,"abstract":"A new generation of modular robots was studied based on a concept of mechatronic modules clustering. A generalization of mechatronic module consists of an electromechanical part driven by an electronic part implementing a control and communication unit and, a motor drive. The main property of the control is the scalability. The modules are connected by a very high efficiency real time communication network. The clustering permits to connect several modules in order to achieve a more complex robot architecture, starting from serial kinematic chains up to parallel kinematic machines configurations","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115013414","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 : 2006-07-09DOI: 10.1109/ISIE.2006.295724
M. De Martino, F. D. dos Reis, G. Dias
This paper introduces fundamental concepts of electric fence technology, presents a new design method for a livestock electric fence energizer circuit and impulse transformer as well a mathematic analyze of the circuit. A new expression for design single impulse transformers for this kind of application is presented who has different project criteria from conventional transformer applications. The energizer equipment is rounded about many concepts, safety standards and data performance that are discussed. An electric circuit prototype of electric fence energizer equipment for livestock use was implemented and the results are showed. This work is based on a study developed in a Master Thesis
{"title":"An Electric Fence Energizer Design Method","authors":"M. De Martino, F. D. dos Reis, G. Dias","doi":"10.1109/ISIE.2006.295724","DOIUrl":"https://doi.org/10.1109/ISIE.2006.295724","url":null,"abstract":"This paper introduces fundamental concepts of electric fence technology, presents a new design method for a livestock electric fence energizer circuit and impulse transformer as well a mathematic analyze of the circuit. A new expression for design single impulse transformers for this kind of application is presented who has different project criteria from conventional transformer applications. The energizer equipment is rounded about many concepts, safety standards and data performance that are discussed. An electric circuit prototype of electric fence energizer equipment for livestock use was implemented and the results are showed. This work is based on a study developed in a Master Thesis","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114896354","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 : 2006-07-09DOI: 10.1109/ISIE.2006.295722
F. D. dos Reis, J.C.M. Clima, Jr. Tonkoski, G. Maizonave, G. Ceccon, A. Bombardieri, R. Dos Reis
In the recent years many authors are working to obtain single stage HPF electronic ballast for fluorescent and HID lamps to achieve cost reduction and to comply with international standard requirements. Usually to obtain HPF in electronic ballast for high pressure sodium lamps a power factor corrector (PFC) is used between the mains and the electronic ballast. This paper reports the study and implementation of two single stage high power factor (HPF) electronic ballasts for high pressure sodium (HPS) lamps using a LCC filter, one using a half-bridge inverter and the second one using a full-bridge inverter. The main idea in this work is to present two simple electronic ballasts topologies with HPF for HPS lamps working with a 220 VRMS mains voltage. Design criteria, simulation and experimental results are also presented. These topologies present some drawbacks like moderate THD, lamp power limitation once the converter works as a buck inverter and it is not an ideal PFC. PF around .95 are easily obtained. This paper intends to warn other researchers about these structures limitation, but may be an interesting option for some applications
{"title":"A Single Stage Electronic Ballast Family for High Pressure Sodium Lamps","authors":"F. D. dos Reis, J.C.M. Clima, Jr. Tonkoski, G. Maizonave, G. Ceccon, A. Bombardieri, R. Dos Reis","doi":"10.1109/ISIE.2006.295722","DOIUrl":"https://doi.org/10.1109/ISIE.2006.295722","url":null,"abstract":"In the recent years many authors are working to obtain single stage HPF electronic ballast for fluorescent and HID lamps to achieve cost reduction and to comply with international standard requirements. Usually to obtain HPF in electronic ballast for high pressure sodium lamps a power factor corrector (PFC) is used between the mains and the electronic ballast. This paper reports the study and implementation of two single stage high power factor (HPF) electronic ballasts for high pressure sodium (HPS) lamps using a LCC filter, one using a half-bridge inverter and the second one using a full-bridge inverter. The main idea in this work is to present two simple electronic ballasts topologies with HPF for HPS lamps working with a 220 VRMS mains voltage. Design criteria, simulation and experimental results are also presented. These topologies present some drawbacks like moderate THD, lamp power limitation once the converter works as a buck inverter and it is not an ideal PFC. PF around .95 are easily obtained. This paper intends to warn other researchers about these structures limitation, but may be an interesting option for some applications","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116911865","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 : 2006-07-09DOI: 10.1109/ISIE.2006.296111
S. Lessard, I. Bonev, P. Bigras, L. Durand
Ultrasound 3D systems are being developed to potentially replace traditional 2D equipments in the diagnosis of vascular disease. Ultrasound is non-invasive, low-cost, and nonionizing. To allow the 3D reconstruction of ultrasound images, the probe position must be known at all time. Freehand tracking devices were first considered but they lacked constant precision. Robots are now being developed to perform the ultrasound scan, allowing a constant precision, a simple manipulation, and standardization. Researchers are currently experimenting semiautomated robot scans, for facilitating further the examination. Different applications call for different robot architectures. Peripheral arterial disease has not yet been considered for automation probably because lower limb vessel examination requires long acquisitions. This paper presents a new robot for an ultrasound robot design that addresses this problem. This parallel robot is able to perform multiple ultrasound 3D examinations on a human patient
{"title":"Parallel Robot for Medical 3D-Ultrasound Imaging","authors":"S. Lessard, I. Bonev, P. Bigras, L. Durand","doi":"10.1109/ISIE.2006.296111","DOIUrl":"https://doi.org/10.1109/ISIE.2006.296111","url":null,"abstract":"Ultrasound 3D systems are being developed to potentially replace traditional 2D equipments in the diagnosis of vascular disease. Ultrasound is non-invasive, low-cost, and nonionizing. To allow the 3D reconstruction of ultrasound images, the probe position must be known at all time. Freehand tracking devices were first considered but they lacked constant precision. Robots are now being developed to perform the ultrasound scan, allowing a constant precision, a simple manipulation, and standardization. Researchers are currently experimenting semiautomated robot scans, for facilitating further the examination. Different applications call for different robot architectures. Peripheral arterial disease has not yet been considered for automation probably because lower limb vessel examination requires long acquisitions. This paper presents a new robot for an ultrasound robot design that addresses this problem. This parallel robot is able to perform multiple ultrasound 3D examinations on a human patient","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116989976","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 : 2006-07-09DOI: 10.1109/ISIE.2006.295994
M. LeMay, W. Suryn, S. Brown
Quality of service (QoS) is difficult to achieve in modern voice over IP (VoIP) systems because software and hardware have a symbiotic relationship. The purpose of this paper is to present an analysis of softswitch quality that identifies where higher quality requirements should be enforced when designing or evaluating VoIP solutions. The work is based on the international standard ISO/IEC 9126 and the International Packet Communications Consortium (IPCC) reference architecture. Therefore, it applies to most vendors and architectures regardless the underlying technology. Since the softswitch is fairly complex and involves many software and hardware modules, quality attributes have been analyzed through their functional behavior. This paper provides softswitch vendors and buyers with results that help them make better resource allocation decisions and therefore reduce both their capital and operational expenses
{"title":"Softswitch Multicriteria Analysis for Software Quality based on IPCC Reference Architecture","authors":"M. LeMay, W. Suryn, S. Brown","doi":"10.1109/ISIE.2006.295994","DOIUrl":"https://doi.org/10.1109/ISIE.2006.295994","url":null,"abstract":"Quality of service (QoS) is difficult to achieve in modern voice over IP (VoIP) systems because software and hardware have a symbiotic relationship. The purpose of this paper is to present an analysis of softswitch quality that identifies where higher quality requirements should be enforced when designing or evaluating VoIP solutions. The work is based on the international standard ISO/IEC 9126 and the International Packet Communications Consortium (IPCC) reference architecture. Therefore, it applies to most vendors and architectures regardless the underlying technology. Since the softswitch is fairly complex and involves many software and hardware modules, quality attributes have been analyzed through their functional behavior. This paper provides softswitch vendors and buyers with results that help them make better resource allocation decisions and therefore reduce both their capital and operational expenses","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116991530","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 : 2006-07-09DOI: 10.1109/ISIE.2006.296074
S. Cavalieri
IEEE 802.11b standard, also known as Wi-Fi, is one of the most used wireless communication system. Location of a mobile device using IEEE 802.11b communication infrastructure has a lot of advantages, first of all the use of the same hardware/software needed by the mobile device to communicate. Literature presents many approaches for localisation based on Wi-Fi; one of the most known features the use of the pattern-matching algorithm. Localisation based on pattern-matching algorithm is mainly realised in indoor environment; outdoor localisations based on Wi-Fi and pattern matching algorithm is currently missing in literature. For this reason, one of the aims of the paper is to present and evaluate outdoor use of this algorithm based on IEEE 802.11b communication system. Further, the paper present a novel approach for localisation, aimed to reduce the complexity of the pattern-matching algorithm. Performance evaluations were presented in the paper in order to clearly assess the outdoor localisation errors achievable when using the proposed approach
{"title":"Using Pattern Matching Algorithm and Signal Propagation Model to Localise Mobile Devices in a WLAN","authors":"S. Cavalieri","doi":"10.1109/ISIE.2006.296074","DOIUrl":"https://doi.org/10.1109/ISIE.2006.296074","url":null,"abstract":"IEEE 802.11b standard, also known as Wi-Fi, is one of the most used wireless communication system. Location of a mobile device using IEEE 802.11b communication infrastructure has a lot of advantages, first of all the use of the same hardware/software needed by the mobile device to communicate. Literature presents many approaches for localisation based on Wi-Fi; one of the most known features the use of the pattern-matching algorithm. Localisation based on pattern-matching algorithm is mainly realised in indoor environment; outdoor localisations based on Wi-Fi and pattern matching algorithm is currently missing in literature. For this reason, one of the aims of the paper is to present and evaluate outdoor use of this algorithm based on IEEE 802.11b communication system. Further, the paper present a novel approach for localisation, aimed to reduce the complexity of the pattern-matching algorithm. Performance evaluations were presented in the paper in order to clearly assess the outdoor localisation errors achievable when using the proposed approach","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117034203","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 : 2006-07-09DOI: 10.1109/ISIE.2006.296130
Ahmad M. Ibrahim
Current social, economical, and political realities, both locally and globally, have been forcing certain trends and policies on engineering education. These trends have intrinsic contradictions upon which educators and policy makers need to reflect. However, it appears that little attention is paid to these contradictions and their consequences. The objective here is to draw the attention of concerned individuals to this situation. For that purpose, this paper critically discusses, through examples, some of the current engineering education trends and policies that gained notoriety, not only in Canada, but in other countries as well
{"title":"A Critical View of Current Trends in Engineering Education","authors":"Ahmad M. Ibrahim","doi":"10.1109/ISIE.2006.296130","DOIUrl":"https://doi.org/10.1109/ISIE.2006.296130","url":null,"abstract":"Current social, economical, and political realities, both locally and globally, have been forcing certain trends and policies on engineering education. These trends have intrinsic contradictions upon which educators and policy makers need to reflect. However, it appears that little attention is paid to these contradictions and their consequences. The objective here is to draw the attention of concerned individuals to this situation. For that purpose, this paper critically discusses, through examples, some of the current engineering education trends and policies that gained notoriety, not only in Canada, but in other countries as well","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117152418","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 : 2006-07-09DOI: 10.1109/ISIE.2006.295621
K. Melhem, M. Saad, S. Abou
This paper discusses a constructive stabilization approach for holonomic mechanical systems. Our approach uses the fact that the nonreduced order dynamics of the constrained system is composed of the original dynamics and the (nonlinear) term of constraint. We show that the stabilization problem of the constrained system given by its obtained nonlinear reduced order dynamics is equivalent to the stabilization problem of the original dynamics under some regularity assumptions. More importantly, using this stabilization technique, very simple stabilizing global output feedback tracking control laws for nonlinear constrained systems with linear original dynamics (e.g., Cartesian structure robots) can be designed. Further, we explain how this output stability result can be discussed for more general mechanical systems. Numerical simulations are provided to demonstrate the effectiveness of the proposed approach
{"title":"From Unconstrained Motion Control to Constrained Case for Holonomic Mechanical Systems","authors":"K. Melhem, M. Saad, S. Abou","doi":"10.1109/ISIE.2006.295621","DOIUrl":"https://doi.org/10.1109/ISIE.2006.295621","url":null,"abstract":"This paper discusses a constructive stabilization approach for holonomic mechanical systems. Our approach uses the fact that the nonreduced order dynamics of the constrained system is composed of the original dynamics and the (nonlinear) term of constraint. We show that the stabilization problem of the constrained system given by its obtained nonlinear reduced order dynamics is equivalent to the stabilization problem of the original dynamics under some regularity assumptions. More importantly, using this stabilization technique, very simple stabilizing global output feedback tracking control laws for nonlinear constrained systems with linear original dynamics (e.g., Cartesian structure robots) can be designed. Further, we explain how this output stability result can be discussed for more general mechanical systems. Numerical simulations are provided to demonstrate the effectiveness of the proposed approach","PeriodicalId":296467,"journal":{"name":"2006 IEEE International Symposium on Industrial Electronics","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116185419","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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