Pub Date : 2019-10-01DOI: 10.1109/ICMECT.2019.8932143
Matteo Melchiorre, L. Scimmi, S. Pastorelli, S. Mauro
This paper presents a collision avoidance system based on vision sensors that is suitable for collaborative robotics scenarios. In fact, collaborative robotics foresees the possibility that humans and robots share the same workspace, so the safety of the human operators must be ensured. The collision avoidance algorithm here presented can modify the trajectory of the robot in order to avoid any collisions with a human operator. A fundamental element for the algorithm is the relative position between robot and human. In this work, the information of the position of a human operator is obtained by Microsoft Kinect sensor in the form of a point cloud. Two Microsoft Kinect are used and their point cloud data is merged to overcome the problems related to the possible occlusions of the sensors, obtaining a more reliable point cloud. Each Kinect works with a dedicated PC and the two PCs communicate via ethernet network in a master-slave mode. The layout of the acquiring system is described and the functions used for the communication between the PCs and the manipulation of the point clouds are presented. Results of simulation tests made to verify the performances of the system and collision avoidance based on point cloud compared with convex mesh are reported and discussed.
{"title":"Collison Avoidance using Point Cloud Data Fusion from Multiple Depth Sensors: A Practical Approach","authors":"Matteo Melchiorre, L. Scimmi, S. Pastorelli, S. Mauro","doi":"10.1109/ICMECT.2019.8932143","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932143","url":null,"abstract":"This paper presents a collision avoidance system based on vision sensors that is suitable for collaborative robotics scenarios. In fact, collaborative robotics foresees the possibility that humans and robots share the same workspace, so the safety of the human operators must be ensured. The collision avoidance algorithm here presented can modify the trajectory of the robot in order to avoid any collisions with a human operator. A fundamental element for the algorithm is the relative position between robot and human. In this work, the information of the position of a human operator is obtained by Microsoft Kinect sensor in the form of a point cloud. Two Microsoft Kinect are used and their point cloud data is merged to overcome the problems related to the possible occlusions of the sensors, obtaining a more reliable point cloud. Each Kinect works with a dedicated PC and the two PCs communicate via ethernet network in a master-slave mode. The layout of the acquiring system is described and the functions used for the communication between the PCs and the manipulation of the point clouds are presented. Results of simulation tests made to verify the performances of the system and collision avoidance based on point cloud compared with convex mesh are reported and discussed.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117299117","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 : 2019-10-01DOI: 10.1109/ICMECT.2019.8932112
D. Tran, Hoang Vu Dao, Huanfeng Liu, Y. Yum, K. Ahn
In this paper, an adaptive output feedback controller is proposed for an n-degrees of freedom (DOF) manipulator with the time-varying output constraints, the unmeasured variables, and the external disturbances. An extended state observer (ESO) is employed for estimating not only the external disturbance but also the unmeasured states in order to improve the accuracy of the closed-loop system. When the barrier Lyapunov function is used to develop the proposed control with the ESO, the output constraints of the robotic manipulator are overcome. Finally, some simulations of the proposed control are conducted on a 3-DOF manipulator to verify the effectiveness of the proposed control with the presence of unknown frictions, external disturbance, and the time-varying output constraints.
{"title":"Barrier Lyapunov Function Based Output Control and Extended State Observer for a Manipulator with Time-Varying Output Constraints and Uncertainties","authors":"D. Tran, Hoang Vu Dao, Huanfeng Liu, Y. Yum, K. Ahn","doi":"10.1109/ICMECT.2019.8932112","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932112","url":null,"abstract":"In this paper, an adaptive output feedback controller is proposed for an n-degrees of freedom (DOF) manipulator with the time-varying output constraints, the unmeasured variables, and the external disturbances. An extended state observer (ESO) is employed for estimating not only the external disturbance but also the unmeasured states in order to improve the accuracy of the closed-loop system. When the barrier Lyapunov function is used to develop the proposed control with the ESO, the output constraints of the robotic manipulator are overcome. Finally, some simulations of the proposed control are conducted on a 3-DOF manipulator to verify the effectiveness of the proposed control with the presence of unknown frictions, external disturbance, and the time-varying output constraints.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"45 4-5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116507322","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 : 2019-10-01DOI: 10.1109/ICMECT.2019.8932098
Tetsuro Hayashi, Keigo Takasugi, N. Asakawa, Naohiko Suzuki, Y. Kaneko
In machine tools that bear large loads during operating cycles, a maintenance system is very important for avoiding machine failure. The aim of this study is to develop a system to detect impending failure of turning spindles. However, few studies have examined the causality between vibration data and physical failure phenomena during actual use of a turning spindle. In this study, feature values as characteristics of failure were extracted from the vibration data, and the correlation between the change in feature values and the bearing surface condition was clarified.
{"title":"Development of Lubrication Failure Detection System for Turning Spindle","authors":"Tetsuro Hayashi, Keigo Takasugi, N. Asakawa, Naohiko Suzuki, Y. Kaneko","doi":"10.1109/ICMECT.2019.8932098","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932098","url":null,"abstract":"In machine tools that bear large loads during operating cycles, a maintenance system is very important for avoiding machine failure. The aim of this study is to develop a system to detect impending failure of turning spindles. However, few studies have examined the causality between vibration data and physical failure phenomena during actual use of a turning spindle. In this study, feature values as characteristics of failure were extracted from the vibration data, and the correlation between the change in feature values and the bearing surface condition was clarified.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133766781","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 : 2019-10-01DOI: 10.1109/ICMECT.2019.8932154
R. D’Amato, Gerardo Amato, A. Ruggiero
In this work a frequency-dependent Adaptive Noise Cancellation-based Tracking Controller (ANC-TC), for the stabilization of trajectories of a flexible rotor in lubricated full journal bearings, is designed. Starting from the medialization of forces felt by rotor and journal bearings during rotation motion, a manual matrix solution of equations is developed.
{"title":"Adaptive Noise Cancellation-Based Tracking Control for a Flexible Rotor in Lubricated Journal Bearings","authors":"R. D’Amato, Gerardo Amato, A. Ruggiero","doi":"10.1109/ICMECT.2019.8932154","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932154","url":null,"abstract":"In this work a frequency-dependent Adaptive Noise Cancellation-based Tracking Controller (ANC-TC), for the stabilization of trajectories of a flexible rotor in lubricated full journal bearings, is designed. Starting from the medialization of forces felt by rotor and journal bearings during rotation motion, a manual matrix solution of equations is developed.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132974331","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 : 2019-10-01DOI: 10.1109/ICMECT.2019.8932124
M. Tiboni, Bussola Roberto, Remino Carlo, R. Faglia, R. Adamini, C. Amici
Objective: this paper presents an experimental study of the vibration phenomena in the dynamic weighing system of an automatic rotary filling machine for fluids. The study aims at the sensitivity analysis of the environmental vibrations when the operating conditions of the machine vary and at the identification of the principal causes of excitation. Methods: numerous experimental tests have been carried out on a dedicated test bench and on a complete machine with sixteen stations. For a filling station the load cell signal and the acceleration of the plate that supports the bottle have been acquired and studied. A one-degree of freedom model with varying mass has been implemented in a dedicated software in Delphi language for the vibration modelling. Results: a detailed sensitivity analysis has been developed. The model has allowed a deeper understanding of the phenomena that occur. It also showed the potentiality to be used for the vibration prediction in a compensation process.
{"title":"Study of the Vibrations in a Rotary Weight Filling Machine","authors":"M. Tiboni, Bussola Roberto, Remino Carlo, R. Faglia, R. Adamini, C. Amici","doi":"10.1109/ICMECT.2019.8932124","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932124","url":null,"abstract":"Objective: this paper presents an experimental study of the vibration phenomena in the dynamic weighing system of an automatic rotary filling machine for fluids. The study aims at the sensitivity analysis of the environmental vibrations when the operating conditions of the machine vary and at the identification of the principal causes of excitation. Methods: numerous experimental tests have been carried out on a dedicated test bench and on a complete machine with sixteen stations. For a filling station the load cell signal and the acceleration of the plate that supports the bottle have been acquired and studied. A one-degree of freedom model with varying mass has been implemented in a dedicated software in Delphi language for the vibration modelling. Results: a detailed sensitivity analysis has been developed. The model has allowed a deeper understanding of the phenomena that occur. It also showed the potentiality to be used for the vibration prediction in a compensation process.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114208814","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 : 2019-10-01DOI: 10.1109/ICMECT.2019.8932097
Seong-Woong Choi, Q. Le, Soon-yong Yang
In this paper, we have studied hydraulic system simulation of 7 DOFs dual-arm work machine for disaster response. The hydraulic simulation model is designed using SimulationX to verify the hydraulic power performance of dual arm's operation. Flow rate is analysis by joint velocity of the Work Machine. We also performed instrument and hydraulic simulation simultaneously to determine the operating angle and the response frequency of each joint on the work machine. Next, we simulated the positioning of the accumulator to increase the accuracy of the simulation model and to apply the PID controller and compensate the pressure. Finally, we verified the accuracy of the analytical model by comparing the simulation result with the real system test result. This evaluates the hydraulic characteristics of the 7DOF dual arm joint motion and the accuracy of the simulation model.
{"title":"A Study on Hydraulic Simulation Analysis of a 7 DOF Dual Arm Machinery","authors":"Seong-Woong Choi, Q. Le, Soon-yong Yang","doi":"10.1109/ICMECT.2019.8932097","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932097","url":null,"abstract":"In this paper, we have studied hydraulic system simulation of 7 DOFs dual-arm work machine for disaster response. The hydraulic simulation model is designed using SimulationX to verify the hydraulic power performance of dual arm's operation. Flow rate is analysis by joint velocity of the Work Machine. We also performed instrument and hydraulic simulation simultaneously to determine the operating angle and the response frequency of each joint on the work machine. Next, we simulated the positioning of the accumulator to increase the accuracy of the simulation model and to apply the PID controller and compensate the pressure. Finally, we verified the accuracy of the analytical model by comparing the simulation result with the real system test result. This evaluates the hydraulic characteristics of the 7DOF dual arm joint motion and the accuracy of the simulation model.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114936556","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 : 2019-10-01DOI: 10.1109/ICMECT.2019.8932145
Jianbin Liang, J. W. Jiang, Yinye Yang, D. Al-Ani, B. Bilgin, Anand Sathyan, A. Emadi
This paper presents a skew angle optimization method to reduce torque ripples for an interior permanent magnet synchronous machine (IPMSM) under load excitation. Single- and multi-objective optimizations are employed to maximize the output torque and/or minimize the torque ripple for an IPMSM with four-step linear rotor skew. The motor model is based on look-up tables. The rotor skew angle vector is optimized for priority operating points in both constant-torque and constant-power regions of the torque-speed map. It is found that the output torque and torque ripple can be balanced to meet the targets of the output torque quality and the voltage constraint. Both two- and three-dimensional finite element analyses are used to verify the optimized results.
{"title":"Torque Ripple Reduction for Interior Permanent Magnet Synchronous Machines under Load Excitation by Optimizing Rotor Skew Angles","authors":"Jianbin Liang, J. W. Jiang, Yinye Yang, D. Al-Ani, B. Bilgin, Anand Sathyan, A. Emadi","doi":"10.1109/ICMECT.2019.8932145","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932145","url":null,"abstract":"This paper presents a skew angle optimization method to reduce torque ripples for an interior permanent magnet synchronous machine (IPMSM) under load excitation. Single- and multi-objective optimizations are employed to maximize the output torque and/or minimize the torque ripple for an IPMSM with four-step linear rotor skew. The motor model is based on look-up tables. The rotor skew angle vector is optimized for priority operating points in both constant-torque and constant-power regions of the torque-speed map. It is found that the output torque and torque ripple can be balanced to meet the targets of the output torque quality and the voltage constraint. Both two- and three-dimensional finite element analyses are used to verify the optimized results.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114728153","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 : 2019-10-01DOI: 10.1109/ICMECT.2019.8932109
T. Shinshi, D. Shimizu, K. Kodeki, K. Fukushima
Fast steering mirrors (FSMs) are mounted on observation satellites to capture large-scale and high-resolution images. In order to get high quality image correction, FSMs need to have large apertures, high responsivity and multiple degrees of freedom control. In this paper, we propose a FSM that has a large-diameter mirror driven by four voice coil motors and is supported by a compact magnetic suspension system enabling it to have fast response and long-range movement not only in the tip-tilt directions but also in the axial directions. A prototype FSM with an 80 mm diameter dummy mirror was built. The mirror is supported by a magnetic suspension system having six degrees of freedom. The suspended mirror is controlled by the VCMs and the driving ranges in the axial and tip-tilt directions are ±500 µm and ±20 mrad, respectively. Furthermore, the servo bandwidths achieved in the tip-tilt directions are more than 1kHz.
{"title":"A Fast Steering Mirror Driven by Voice Coil Motors and Supported by Magnetic Suspension","authors":"T. Shinshi, D. Shimizu, K. Kodeki, K. Fukushima","doi":"10.1109/ICMECT.2019.8932109","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932109","url":null,"abstract":"Fast steering mirrors (FSMs) are mounted on observation satellites to capture large-scale and high-resolution images. In order to get high quality image correction, FSMs need to have large apertures, high responsivity and multiple degrees of freedom control. In this paper, we propose a FSM that has a large-diameter mirror driven by four voice coil motors and is supported by a compact magnetic suspension system enabling it to have fast response and long-range movement not only in the tip-tilt directions but also in the axial directions. A prototype FSM with an 80 mm diameter dummy mirror was built. The mirror is supported by a magnetic suspension system having six degrees of freedom. The suspended mirror is controlled by the VCMs and the driving ranges in the axial and tip-tilt directions are ±500 µm and ±20 mrad, respectively. Furthermore, the servo bandwidths achieved in the tip-tilt directions are more than 1kHz.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133843509","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 : 2019-10-01DOI: 10.1109/ICMECT.2019.8932152
Rohin Titmarsh, R. Harrison
Automating testing within production can have many benefits in terms of productivity, accuracy and visibility of performance. Particularly in the case for air leak testing for small volumes, such as the application of cooling systems for battery modules in packs for automotive use. Accuracy of the test is key in identifying good parts from bad parts. With this volume and application, the external factors must be heavily controlled in order to maintain consistency, so automation becomes an attractive method to control this. Not only this, but using Industry 4.0 technology such as Industrial Internet of Things, IIoT, the operator and engineer can be empowered with data, not only from the results, but of the test equipment and environment itself. This creates opportunities for the data to be fed back into the process upstream and downstream. This paper explores the automation of this application, and how the visibility of the data can inform downstream and support processes, recommending a model to implement that could be scaled to similar applications.
{"title":"Automated Leak Testing for Cylindrical Cell Automotive Battery Modules: Enabling Data Visibility using Industry 4.0","authors":"Rohin Titmarsh, R. Harrison","doi":"10.1109/ICMECT.2019.8932152","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932152","url":null,"abstract":"Automating testing within production can have many benefits in terms of productivity, accuracy and visibility of performance. Particularly in the case for air leak testing for small volumes, such as the application of cooling systems for battery modules in packs for automotive use. Accuracy of the test is key in identifying good parts from bad parts. With this volume and application, the external factors must be heavily controlled in order to maintain consistency, so automation becomes an attractive method to control this. Not only this, but using Industry 4.0 technology such as Industrial Internet of Things, IIoT, the operator and engineer can be empowered with data, not only from the results, but of the test equipment and environment itself. This creates opportunities for the data to be fed back into the process upstream and downstream. This paper explores the automation of this application, and how the visibility of the data can inform downstream and support processes, recommending a model to implement that could be scaled to similar applications.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122318482","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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