Pub Date : 2019-10-01DOI: 10.1109/ICMECT.2019.8932137
Y. Ham, Mojiz Abbas Trimzi, Hong-Uk Kim, Jung-Ho Park, S. Yun, Young Hyun Kim, Jaegoo Han
Mists and sprays generated from various liquids have plenty of domestic and industrial applications but their production has never been easy. With the passage of time, various atomization, spraying and mist generation techniques have been adopted by the society but there is plenty of room in the application field of water mists and sprays. In this paper, a high pressure water system is considered to produce fine mist and water spray which could be adopted in numerous practical applications. This research focuses on keeping the mist supply system simple and compact. The system analysis using mathematical model and multiple simulations has been carried out for spray time estimation of high pressure mist supply system. The results indicate that the use of mist supply system up to 10 liter capacity provides smart and easy transportation opportunities and enhances the areas of application for sprays and mists while system pressure is kept up to 200bar.
{"title":"Spray Time Estimation of a High Pressure Water Supply System for Water Mist Spray","authors":"Y. Ham, Mojiz Abbas Trimzi, Hong-Uk Kim, Jung-Ho Park, S. Yun, Young Hyun Kim, Jaegoo Han","doi":"10.1109/ICMECT.2019.8932137","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932137","url":null,"abstract":"Mists and sprays generated from various liquids have plenty of domestic and industrial applications but their production has never been easy. With the passage of time, various atomization, spraying and mist generation techniques have been adopted by the society but there is plenty of room in the application field of water mists and sprays. In this paper, a high pressure water system is considered to produce fine mist and water spray which could be adopted in numerous practical applications. This research focuses on keeping the mist supply system simple and compact. The system analysis using mathematical model and multiple simulations has been carried out for spray time estimation of high pressure mist supply system. The results indicate that the use of mist supply system up to 10 liter capacity provides smart and easy transportation opportunities and enhances the areas of application for sprays and mists while system pressure is kept up to 200bar.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"1 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":"129552285","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.2019.8932102
C. Vo, Xuan Dinh To, K. Ahn
This paper presents an adaptive variable impedance controller combinations for ground reaction force (GRF) control of an active robotic leg with external uncertainties. An adaptive control scheme is used to handle the parameters of the dynamic in any environment stiffness uncertainties, and a robust control scheme so the convergence of tracking errors was flaunted robustness to differences of GRF. The boundary surface not only obtains optimal impedance parameters but also bounds control gains to compromise between the two conflicting objectives of trajectory tracking. Furthermore, stability and convergence characteristic of the controlled system is demonstrated for a stable force tracking execution. Finally, simulation results are shown the high steady-state tracking performance of joint movements and reasonable control to verify the efficacy of the controller for different challenging model parameters.
{"title":"Variable Impedance Control for a Robotic Leg with External Uncertainties","authors":"C. Vo, Xuan Dinh To, K. Ahn","doi":"10.1109/ICMECT.2019.8932102","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932102","url":null,"abstract":"This paper presents an adaptive variable impedance controller combinations for ground reaction force (GRF) control of an active robotic leg with external uncertainties. An adaptive control scheme is used to handle the parameters of the dynamic in any environment stiffness uncertainties, and a robust control scheme so the convergence of tracking errors was flaunted robustness to differences of GRF. The boundary surface not only obtains optimal impedance parameters but also bounds control gains to compromise between the two conflicting objectives of trajectory tracking. Furthermore, stability and convergence characteristic of the controlled system is demonstrated for a stable force tracking execution. Finally, simulation results are shown the high steady-state tracking performance of joint movements and reasonable control to verify the efficacy of the controller for different challenging model parameters.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"1 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":"115668308","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.2019.8932134
T. Dang, M. Nguyen, K. Ahn
This paper presents a new wave energy converter (WEC) concept with variable stiffness mechanism (VSM). The WEC system includes four main components: a frame structure; a buoy with guiding shaft; a VSM with a ball screw, two pre-tension springs, motor and gearbox; a supplementary mass coupled with linear generator. In the first embodiment, the up and down motion of the buoy under heave wave is converted to linear motion of the supplementary mass. The mass will oscillate two coils coupled with it. The oscillation of two coils in two magnetic walls will create electricity by the principle of electromagnetic induction as a linear generator. In the second embodiment, two pre-tension springs will create a negative stiffness effect acts on the oscillation of the mass thus its motion is amplified. In the third embodiment, the VSM with the motor can control the motion of the ball screw thus the displacement of the spring will be changed to increase the restore spring force which can boost the motion of the mass. The specification of the system is proposed and studied. The working principle is analyzed. The mathematical model is then derived to investigate the system operation. Simulation has been done to evaluate the operation of the system.
{"title":"A Study on Wave Energy Converter with Variable Stiffness Mechanism","authors":"T. Dang, M. Nguyen, K. Ahn","doi":"10.1109/ICMECT.2019.8932134","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932134","url":null,"abstract":"This paper presents a new wave energy converter (WEC) concept with variable stiffness mechanism (VSM). The WEC system includes four main components: a frame structure; a buoy with guiding shaft; a VSM with a ball screw, two pre-tension springs, motor and gearbox; a supplementary mass coupled with linear generator. In the first embodiment, the up and down motion of the buoy under heave wave is converted to linear motion of the supplementary mass. The mass will oscillate two coils coupled with it. The oscillation of two coils in two magnetic walls will create electricity by the principle of electromagnetic induction as a linear generator. In the second embodiment, two pre-tension springs will create a negative stiffness effect acts on the oscillation of the mass thus its motion is amplified. In the third embodiment, the VSM with the motor can control the motion of the ball screw thus the displacement of the spring will be changed to increase the restore spring force which can boost the motion of the mass. The specification of the system is proposed and studied. The working principle is analyzed. The mathematical model is then derived to investigate the system operation. Simulation has been done to evaluate the operation of the system.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"1 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":"125798814","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.2019.8932150
N. Bruchon, G. Fenu, G. Gaio, M. Lonza, F. A. Pellegrino, Erica Salvato
The optimization of particle accelerators is a challenging task, and many different approaches have been proposed in years, to obtain an optimal tuning of the plant and to keep it optimally tuned despite drifts or disturbances. Indeed, the classical model-free approaches (such as Gradient Ascent or Extremum Seeking algorithms) have intrinsic limitations. To overcome those limitations, Machine Learning techniques, in particular, the Reinforcement Learning, are attracting more and more attention in the particle accelerator community. The purpose of this paper is to apply a Reinforcement Learning model-free approach to the alignment of a seed laser, based on a rather general target function depending on the laser trajectory. The study focuses on the alignment of the lasers at FERMI, the free-electron laser facility at Elettra Sincrotrone Trieste. In particular, we employ Q-learning with linear function approximation and report experimental results obtained in two setups, which are the actual setups where the final application has to be deployed. Despite the simplicity of the approach, we report satisfactory preliminary results, that represent the first step toward a fully automatic procedure for seed laser to the electron beam. Such a superimposition is, at present, performed manually.
{"title":"Toward the Application of Reinforcement Learning to the Intensity Control of a Seeded Free-Electron Laser","authors":"N. Bruchon, G. Fenu, G. Gaio, M. Lonza, F. A. Pellegrino, Erica Salvato","doi":"10.1109/ICMECT.2019.8932150","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932150","url":null,"abstract":"The optimization of particle accelerators is a challenging task, and many different approaches have been proposed in years, to obtain an optimal tuning of the plant and to keep it optimally tuned despite drifts or disturbances. Indeed, the classical model-free approaches (such as Gradient Ascent or Extremum Seeking algorithms) have intrinsic limitations. To overcome those limitations, Machine Learning techniques, in particular, the Reinforcement Learning, are attracting more and more attention in the particle accelerator community. The purpose of this paper is to apply a Reinforcement Learning model-free approach to the alignment of a seed laser, based on a rather general target function depending on the laser trajectory. The study focuses on the alignment of the lasers at FERMI, the free-electron laser facility at Elettra Sincrotrone Trieste. In particular, we employ Q-learning with linear function approximation and report experimental results obtained in two setups, which are the actual setups where the final application has to be deployed. Despite the simplicity of the approach, we report satisfactory preliminary results, that represent the first step toward a fully automatic procedure for seed laser to the electron beam. Such a superimposition is, at present, performed manually.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"16 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":"127464702","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.2019.8932133
Kee-Bong Choi, Jaejong Lee, Geehong Kim, Hyungjun Lim, Soongeun Kwon, Sang-Chul Lee
A Transmission Electron Microscopy is to observe and to analyze morphology and crystalline structure of a membrane specimen. The specimen is placed onto a sample holder which is manipulated by a motorized stage. In this study, a specimen stage for Transmission Electron Microscopy is designed. The stage consists of a sample holder and four motorized axes for three linear motions and one tilt motion. Especially, the specimen put in a vacuum environment must be separated from the atmosphere. The specimen stage is developed based on the conventional one. The motion systems for the linear motion are put on the tilt platform. The motor system consists of a motor, a reducer, an encoder, a lead screw and a linear guide. The reducing ratio of the reducer is chosen to satisfy the requirement of resolution. Among the linear motions, the Y and Z-motion transferred to the holder tip through a spherical joint. Therefore, the Y and Z-motion is reduced with a lever ratio by the spherical joint. The sample holder with the specimen is transferred through a guide column to put the specimen at the center of the vacuum chamber. The sample holder and the linear guide column are designed for an air-lock. Finally, experiments are carried out to show the performance of the developed stage.
{"title":"Development of a Specimen Stage for Transmission Electron Microscopy","authors":"Kee-Bong Choi, Jaejong Lee, Geehong Kim, Hyungjun Lim, Soongeun Kwon, Sang-Chul Lee","doi":"10.1109/ICMECT.2019.8932133","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932133","url":null,"abstract":"A Transmission Electron Microscopy is to observe and to analyze morphology and crystalline structure of a membrane specimen. The specimen is placed onto a sample holder which is manipulated by a motorized stage. In this study, a specimen stage for Transmission Electron Microscopy is designed. The stage consists of a sample holder and four motorized axes for three linear motions and one tilt motion. Especially, the specimen put in a vacuum environment must be separated from the atmosphere. The specimen stage is developed based on the conventional one. The motion systems for the linear motion are put on the tilt platform. The motor system consists of a motor, a reducer, an encoder, a lead screw and a linear guide. The reducing ratio of the reducer is chosen to satisfy the requirement of resolution. Among the linear motions, the Y and Z-motion transferred to the holder tip through a spherical joint. Therefore, the Y and Z-motion is reduced with a lever ratio by the spherical joint. The sample holder with the specimen is transferred through a guide column to put the specimen at the center of the vacuum chamber. The sample holder and the linear guide column are designed for an air-lock. Finally, experiments are carried out to show the performance of the developed stage.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"10 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":"126533690","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.2019.8932149
A. Andreev, O. Peregudova
In the paper, new approaches to solve the problems on set-point stabilization and trajectory tracking control (TTC) of elastic joined robotic manipulators are presented. In stabilization problem using the Lyapunov functionals method, a new control scheme like a nonlinear PI regulator is obtained in which only the positions of the motors rotors are measured. In the trajectory tracking control problem, a new controller is obtained using only the positions of the motors rotors as well as the coordinates and velocities of the links. The scheme of the controller is constructed by using a Lyapunov vector functions approach. The controller obtained in this paper consists of three parts which are a nonlinear feedback term, a feedforward one, and a dynamic filter state variables.
{"title":"On Output Feedback Stabilization and Tracking Control of Elastic-Joint Robotic Manipulators","authors":"A. Andreev, O. Peregudova","doi":"10.1109/ICMECT.2019.8932149","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932149","url":null,"abstract":"In the paper, new approaches to solve the problems on set-point stabilization and trajectory tracking control (TTC) of elastic joined robotic manipulators are presented. In stabilization problem using the Lyapunov functionals method, a new control scheme like a nonlinear PI regulator is obtained in which only the positions of the motors rotors are measured. In the trajectory tracking control problem, a new controller is obtained using only the positions of the motors rotors as well as the coordinates and velocities of the links. The scheme of the controller is constructed by using a Lyapunov vector functions approach. The controller obtained in this paper consists of three parts which are a nonlinear feedback term, a feedforward one, and a dynamic filter state variables.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"46 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":"128977988","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.2019.8932116
A. Ariano, V. Perna, A. Senatore, Roberto Scatigno, F. Nicolò, F. Fazioli, G. Avallone, Stefano Pesce, A. Gagliano
This paper aims to investigate the vibrational behavior of the industrial manipulator Racer 7-1.4 produced by COMAU SpA to find a new trajectory planning strategy allowing to improve the productivity without neglecting the precision. Starting from the definition of a 9DoF rigid model with lumped parameter, the first natural frequency of the system has been identified in seven reference positions. Then, several static and dynamic simulations have been carried out to reach out to define a closed form analytic function to predict the entity of the vibration during the trajectory planning. It points out that the optimal way to define a move is to set the move duration at twice of the period of oscillation related to the first mode of vibration of the system. This strategy has been confirmed by experimental tests, allowing the decrease in vibration in addition to execution time reduction.
{"title":"Novel Trajectory Planning Strategy for Industrial Manipulator to Enhance Vibrational Behavior and Productivity: Virtual Model and Experiments","authors":"A. Ariano, V. Perna, A. Senatore, Roberto Scatigno, F. Nicolò, F. Fazioli, G. Avallone, Stefano Pesce, A. Gagliano","doi":"10.1109/ICMECT.2019.8932116","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932116","url":null,"abstract":"This paper aims to investigate the vibrational behavior of the industrial manipulator Racer 7-1.4 produced by COMAU SpA to find a new trajectory planning strategy allowing to improve the productivity without neglecting the precision. Starting from the definition of a 9DoF rigid model with lumped parameter, the first natural frequency of the system has been identified in seven reference positions. Then, several static and dynamic simulations have been carried out to reach out to define a closed form analytic function to predict the entity of the vibration during the trajectory planning. It points out that the optimal way to define a move is to set the move duration at twice of the period of oscillation related to the first mode of vibration of the system. This strategy has been confirmed by experimental tests, allowing the decrease in vibration in addition to execution time reduction.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"1 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":"130337147","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.2019.8932110
Jiange Wang, Xiaolei Li
Since each robot communicates with each other though a wireless network with limited width and uncertainties, it is significant and necessary to propose a robust consensus control strategy which can also save bandwidth resources. In this paper, we concern on the event-triggered consensus control problem of networked robotic systems modeled by Euler-Lagrange systems over an uncertain network. The contributions of this paper are twofold: First, the uncertain directed network is considered which modeled by an uncertain part in edge weight. Several communication constraints can be covered by this configuration. Second, an event-triggered consensus protocol is proposed for the nonlinear robotic systems, which can greatly save bandwidth resources. Under the proposed control approach, Zeno behavior is proved to be avoided. Finally, some simulation results are presented to verify the effectiveness of the proposed control strategy.
{"title":"Distributed Event-Triggered Consensus for Nonlinear Networked Robotic Systems over an Uncertain Network","authors":"Jiange Wang, Xiaolei Li","doi":"10.1109/ICMECT.2019.8932110","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932110","url":null,"abstract":"Since each robot communicates with each other though a wireless network with limited width and uncertainties, it is significant and necessary to propose a robust consensus control strategy which can also save bandwidth resources. In this paper, we concern on the event-triggered consensus control problem of networked robotic systems modeled by Euler-Lagrange systems over an uncertain network. The contributions of this paper are twofold: First, the uncertain directed network is considered which modeled by an uncertain part in edge weight. Several communication constraints can be covered by this configuration. Second, an event-triggered consensus protocol is proposed for the nonlinear robotic systems, which can greatly save bandwidth resources. Under the proposed control approach, Zeno behavior is proved to be avoided. Finally, some simulation results are presented to verify the effectiveness of the proposed control strategy.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"46 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":"129484728","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.2019.8932139
C. Amici, M. Tiboni, M. Ghidoni, F. Ceresoli, P. Gaffurini, L. Bissolotti, M. Mor, Davide Fausti, M. Antonini, Federica Ragni
Objective: Robotic devices are commonly used in rehabilitation as support to physiotherapists in their daily rehabilitation activities, since they can monitor and quantify the subject's performance and deliver feedback, as well as supply physical therapy. This work aims at performing a preliminary validation of an innovative device, developed within the SIMeRiON funded project, and identifying the optimal experimental setup for the clinical trials, through the analysis of the characteristics of a planar reaching movement impressed to the upper limb of the subject in a sequence of repetitions. Methods: A male healthy subject (26 years old) has been recruited, and asked to perform an imposed reaching movement with his left arm, during three consecutive sessions. The subject was instrumented with two triaxial accelerometers, placed in two possible configurations, and eight passive optical markers evaluated with a two fixed cameras optoelectronic system. To identify and compare different motion cycles, the collected data have been analyzed in MATLAB and R environment. Results: Data emphasize a high repeatability of the imposed movement, especially at human-machine interface, and suggest that accelerometers data could be integrated with different sensors (e.g. sEMG sensors).
{"title":"Preliminary Validation of a Device for the Upper and Lower Limb Robotic Rehabilitation","authors":"C. Amici, M. Tiboni, M. Ghidoni, F. Ceresoli, P. Gaffurini, L. Bissolotti, M. Mor, Davide Fausti, M. Antonini, Federica Ragni","doi":"10.1109/ICMECT.2019.8932139","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932139","url":null,"abstract":"Objective: Robotic devices are commonly used in rehabilitation as support to physiotherapists in their daily rehabilitation activities, since they can monitor and quantify the subject's performance and deliver feedback, as well as supply physical therapy. This work aims at performing a preliminary validation of an innovative device, developed within the SIMeRiON funded project, and identifying the optimal experimental setup for the clinical trials, through the analysis of the characteristics of a planar reaching movement impressed to the upper limb of the subject in a sequence of repetitions. Methods: A male healthy subject (26 years old) has been recruited, and asked to perform an imposed reaching movement with his left arm, during three consecutive sessions. The subject was instrumented with two triaxial accelerometers, placed in two possible configurations, and eight passive optical markers evaluated with a two fixed cameras optoelectronic system. To identify and compare different motion cycles, the collected data have been analyzed in MATLAB and R environment. Results: Data emphasize a high repeatability of the imposed movement, especially at human-machine interface, and suggest that accelerometers data could be integrated with different sensors (e.g. sEMG sensors).","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"51 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":"123637683","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.2019.8932117
M. Sharifzadeh, F. Bruzelius, B. Jacobson, A. Senatore
Knowledge of the tire-road friction condition is an important key for driver safety and vehicle stability systems during ice and snow road. In particular, friction information can be used to enhance the performance of Advanced Driver-Assistance Systems (ADAS) applications providing real-time forces condition. The paper deals with a method for real-time identification of tyre/road friction condition using both Pacejka model and steady state form of distributed LuGre to obtain the friction based on recursive nonlinear optimization of the curve fitting errors. Finally, the effectiveness of the method is confirmed by real-time simulations in ice and snow conditions.
{"title":"Tyre Models for Online Identification in ADAS Applications","authors":"M. Sharifzadeh, F. Bruzelius, B. Jacobson, A. Senatore","doi":"10.1109/ICMECT.2019.8932117","DOIUrl":"https://doi.org/10.1109/ICMECT.2019.8932117","url":null,"abstract":"Knowledge of the tire-road friction condition is an important key for driver safety and vehicle stability systems during ice and snow road. In particular, friction information can be used to enhance the performance of Advanced Driver-Assistance Systems (ADAS) applications providing real-time forces condition. The paper deals with a method for real-time identification of tyre/road friction condition using both Pacejka model and steady state form of distributed LuGre to obtain the friction based on recursive nonlinear optimization of the curve fitting errors. Finally, the effectiveness of the method is confirmed by real-time simulations in ice and snow conditions.","PeriodicalId":309525,"journal":{"name":"2019 23rd International Conference on Mechatronics Technology (ICMT)","volume":"245 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":"114822647","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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