Pub Date : 2011-10-01DOI: 10.1109/IWACI.2011.6160103
B. Yao, Guang Wen
In order to investigate the ineluctability problem of communication time delay in force tele-presence of the tele-operation robot system, a tele-presence system based on the virtual reality is setup in this paper. The system structure, geometrical noumenon model, and man-machine interface are introduced in detail. In the tele-operation system, graphical robot technology is used to solve the time delay in tele-operation system, and the relating experiments have proved the validity of the reappearance of the movement of an actual robot by a graphical robot.
{"title":"Research on the tele-operation robot system with tele-presence","authors":"B. Yao, Guang Wen","doi":"10.1109/IWACI.2011.6160103","DOIUrl":"https://doi.org/10.1109/IWACI.2011.6160103","url":null,"abstract":"In order to investigate the ineluctability problem of communication time delay in force tele-presence of the tele-operation robot system, a tele-presence system based on the virtual reality is setup in this paper. The system structure, geometrical noumenon model, and man-machine interface are introduced in detail. In the tele-operation system, graphical robot technology is used to solve the time delay in tele-operation system, and the relating experiments have proved the validity of the reappearance of the movement of an actual robot by a graphical robot.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122310270","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985712
Guang Wen, Mingde Gong, Hongyan Zhang
Tele-operated bilateral hydraulic servo system with master-slave robot at the core can be complex manipulated in uncertain or extreme environment (such as space, seabed, radialization, battlefield, etc.). In this paper, it mainly researches control a force feedback bilateral master-slave servo system which is composed of electro-hydraulic servo system. In a tele-operated master-slave system, the master plays as a reference input device to the slave as well as a force feedback device. In order to feel a force fed back from the slave by the operator, a problem called back-drivability must be solved which an actuator in a hydraulic servo-system cannot be operated freely by manual means. As a practical solution to this problem, a driving method of actuator is proposed that a force sensor is used to attach the actuator. Furthermore, as an application of the sense of force proposed, a bilateral master-slave system is constructed which is composed of electro-hydraulic control system. Experimental results are given and shown that the “sense of force” can be fed by operator sensitively.
{"title":"Research on a development hydraulic servo tele-robotics system","authors":"Guang Wen, Mingde Gong, Hongyan Zhang","doi":"10.1109/ICMA.2011.5985712","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985712","url":null,"abstract":"Tele-operated bilateral hydraulic servo system with master-slave robot at the core can be complex manipulated in uncertain or extreme environment (such as space, seabed, radialization, battlefield, etc.). In this paper, it mainly researches control a force feedback bilateral master-slave servo system which is composed of electro-hydraulic servo system. In a tele-operated master-slave system, the master plays as a reference input device to the slave as well as a force feedback device. In order to feel a force fed back from the slave by the operator, a problem called back-drivability must be solved which an actuator in a hydraulic servo-system cannot be operated freely by manual means. As a practical solution to this problem, a driving method of actuator is proposed that a force sensor is used to attach the actuator. Furthermore, as an application of the sense of force proposed, a bilateral master-slave system is constructed which is composed of electro-hydraulic control system. Experimental results are given and shown that the “sense of force” can be fed by operator sensitively.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123053724","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985671
Yong Yu, Wenyuan Liang, Y. Ge
In this paper, we focus on the Jacobian analysis of a novel assisting mechanism which is used on human hip joint power assisting. Different from conventional assisting systems, the adopted assisting mechanism is a 3UPS parallel mechanism which can realize assisting all human hip joint's DOF among mechanical workspace. Parallel mechanism, also known as possessing the merits such as higher precision and higher stiffness, however, is much more complex than serial mechanism. By an effective way of differing the constraint equations, direct parallel kinematical Jacobian denoting the velocity relation between the active joints and end-effector is worked out. By demonstrating some simulation and actual experimental results, this kinematical Jacobian is proved to be applicable to be used on human walking power assisting control.
{"title":"Jacobian analysis for parallel mechanism using on human walking power assisting","authors":"Yong Yu, Wenyuan Liang, Y. Ge","doi":"10.1109/ICMA.2011.5985671","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985671","url":null,"abstract":"In this paper, we focus on the Jacobian analysis of a novel assisting mechanism which is used on human hip joint power assisting. Different from conventional assisting systems, the adopted assisting mechanism is a 3UPS parallel mechanism which can realize assisting all human hip joint's DOF among mechanical workspace. Parallel mechanism, also known as possessing the merits such as higher precision and higher stiffness, however, is much more complex than serial mechanism. By an effective way of differing the constraint equations, direct parallel kinematical Jacobian denoting the velocity relation between the active joints and end-effector is worked out. By demonstrating some simulation and actual experimental results, this kinematical Jacobian is proved to be applicable to be used on human walking power assisting control.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"16 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120884068","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985733
T. Tsukada, K. Watanabe, M. Koide, M. Hirose, Y. Horie, Y. Yamagishi
In this paper novel methods to measure the three-dimensional position of the round hole are presented. The round holes are widely used as a reference with the positioning of the automobile body construction process. We have developed a sensor composed of a TV camera and two laser slit light sources for measuring the 3D position of the round hole. The sensor measures the coordinates of four points on a circumference of round hole using triangulation method. By combining the slit image and the round hole image, four points are detected with high accuracy. In the experiment, position measurement accuracy 0.1mm or less (Working distance 200mm) are obtained and confirmed the basic performance of the developed sensor.
{"title":"Development of 3-D position measurement method for a round hole","authors":"T. Tsukada, K. Watanabe, M. Koide, M. Hirose, Y. Horie, Y. Yamagishi","doi":"10.1109/ICMA.2011.5985733","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985733","url":null,"abstract":"In this paper novel methods to measure the three-dimensional position of the round hole are presented. The round holes are widely used as a reference with the positioning of the automobile body construction process. We have developed a sensor composed of a TV camera and two laser slit light sources for measuring the 3D position of the round hole. The sensor measures the coordinates of four points on a circumference of round hole using triangulation method. By combining the slit image and the round hole image, four points are detected with high accuracy. In the experiment, position measurement accuracy 0.1mm or less (Working distance 200mm) are obtained and confirmed the basic performance of the developed sensor.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125167516","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986260
Nan Xiao, Shuxiang Guo
In the paper the authors introduced a human-scale tele-operating system for biomedical applications. The core of the system is a 6 DOF parallel mechanism with highly precision. A control model was built and the parameters were identified by a genetic algorithm. To improve the performances and eliminate the nonlinear hysteretic restoring force, a MRAC controller was designed. The MRAC controller was designed based on Lyapunov stability theory. Then numerical experiments were carried out. The numerical experimental results indicate that the controller could improve the performances and the nonlinear hysteretic restoring force was got compensated.
{"title":"Design and simulation of a MRAC controller for a human-scale tele-operating system","authors":"Nan Xiao, Shuxiang Guo","doi":"10.1109/ICMA.2011.5986260","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986260","url":null,"abstract":"In the paper the authors introduced a human-scale tele-operating system for biomedical applications. The core of the system is a 6 DOF parallel mechanism with highly precision. A control model was built and the parameters were identified by a genetic algorithm. To improve the performances and eliminate the nonlinear hysteretic restoring force, a MRAC controller was designed. The MRAC controller was designed based on Lyapunov stability theory. Then numerical experiments were carried out. The numerical experimental results indicate that the controller could improve the performances and the nonlinear hysteretic restoring force was got compensated.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125900677","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986284
Daiwei Feng, Dagui Huang, Dinggen Li
This paper investigates the application of stochastic model predictive control (SMPC) methodology for developing power management strategies tailored for the serial hydraulic hybrid vehicle (SHHV). The velocity demand from the driver is expressed as a random Markov process. A forward-facing closed-loop model of the SHHV powertrain is built and simulated in MATLAB/SIMULINK. The predictive model in SMPC is formulated by successive on-line linearization. The simulation results over a standard driving cycle are presented to show the improved performance of SMPC over other deterministic approaches.
{"title":"Stochastic model predictive energy management for series hydraulic hybrid vehicle","authors":"Daiwei Feng, Dagui Huang, Dinggen Li","doi":"10.1109/ICMA.2011.5986284","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986284","url":null,"abstract":"This paper investigates the application of stochastic model predictive control (SMPC) methodology for developing power management strategies tailored for the serial hydraulic hybrid vehicle (SHHV). The velocity demand from the driver is expressed as a random Markov process. A forward-facing closed-loop model of the SHHV powertrain is built and simulated in MATLAB/SIMULINK. The predictive model in SMPC is formulated by successive on-line linearization. The simulation results over a standard driving cycle are presented to show the improved performance of SMPC over other deterministic approaches.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123297254","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986370
Y. Kang, Min Choel Lee, C. Kim, S. Yoon, Chi-Beom Noh
Instead of single mobile robot, multi mobile robots can perform complex tasks with simple robot system and algorithm. But multi mobile robots face much more complex driving problem than singular driving. To solve the problem, in this study, driving algorithm based on the energy method is applied to the individual robot in a group. This makes a cluster be in a formation automatically and suggests a cluster the automatic driving method so that they stably arrive at the target. The Energy method mentioned above is applying attractive force and repulsive force to a special target, other robots or obstacles. This creates the potential energy, and the robot is controlled to drive in the direction of decreasing energy, which basically satisfies Lyapunov function. Through this method, a cluster robot is able to create a formation and stably arrives at its target. Also, it makes the algorithm stabilized by applying the data's average which involves environment to Lyapunov function. In the meantime, it successfully overcomes the problems such as errors for recognizing environment and weak performance of sensor. Since it uses information only on comparative distance and degree among objects, driving algorithm is very simple, and processor is speedy due to small amount of calculation.
{"title":"A study of cluster robots line formatted navigation using potential field method","authors":"Y. Kang, Min Choel Lee, C. Kim, S. Yoon, Chi-Beom Noh","doi":"10.1109/ICMA.2011.5986370","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986370","url":null,"abstract":"Instead of single mobile robot, multi mobile robots can perform complex tasks with simple robot system and algorithm. But multi mobile robots face much more complex driving problem than singular driving. To solve the problem, in this study, driving algorithm based on the energy method is applied to the individual robot in a group. This makes a cluster be in a formation automatically and suggests a cluster the automatic driving method so that they stably arrive at the target. The Energy method mentioned above is applying attractive force and repulsive force to a special target, other robots or obstacles. This creates the potential energy, and the robot is controlled to drive in the direction of decreasing energy, which basically satisfies Lyapunov function. Through this method, a cluster robot is able to create a formation and stably arrives at its target. Also, it makes the algorithm stabilized by applying the data's average which involves environment to Lyapunov function. In the meantime, it successfully overcomes the problems such as errors for recognizing environment and weak performance of sensor. Since it uses information only on comparative distance and degree among objects, driving algorithm is very simple, and processor is speedy due to small amount of calculation.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115022537","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986362
Zhiyong Xie, Zhang Tao, Nong Cheng, Jingyan Song
An improved method based on Lazy wavelet lifting scheme and mixed threshold function combined with idea of domain relative filters is proposed for the purpose of enhancing the accuracy of de-noising output of Fiber Optic Gyroscope (FOG) and eliminating the drawback of slow speed of former wavelets. This new method can reduce the bias of soft threshold function and the variance of hard threshold function to increase the local and global de-noising accuracy with the advantage of low computational cost. The de-noise results of one FOG's static and dynamic output signals used in practice demonstrate the validity of this method, less time and high accuracy, and show its value for practical application.
{"title":"Improved de-noising approach of Fiber Optic Gyroscope based on lifting scheme wavelet","authors":"Zhiyong Xie, Zhang Tao, Nong Cheng, Jingyan Song","doi":"10.1109/ICMA.2011.5986362","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986362","url":null,"abstract":"An improved method based on Lazy wavelet lifting scheme and mixed threshold function combined with idea of domain relative filters is proposed for the purpose of enhancing the accuracy of de-noising output of Fiber Optic Gyroscope (FOG) and eliminating the drawback of slow speed of former wavelets. This new method can reduce the bias of soft threshold function and the variance of hard threshold function to increase the local and global de-noising accuracy with the advantage of low computational cost. The de-noise results of one FOG's static and dynamic output signals used in practice demonstrate the validity of this method, less time and high accuracy, and show its value for practical application.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122658059","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986255
A. Suebsomran
This paper presents the controller design of teleoperation system. Many of uncertainty during operations through the reciprocal interaction occur at each subsystem side, master and slave. Since teleoperation applies in different places, thus control effort is hard to obtaining the certain parameters due to the fidelity of human and machine to perform some task. This research is proposed the direct adaptive neuro control. With approximation of uncertainty parametric system, radial basis function network (RBFN) is employed to approximate an uncertainty come up with input signal. This approximate signal is fed to model reference adaptive control structure with adaptive law. Disturbance is generated to incorporate with system. The result of teleoperation system is clearly explained in simulation fashion with the comparison to performance of controller. Finally we can be concluded that the purpose of design system can work well in the teleoperation applications.
{"title":"Direct adaptive neuro control for teleoperation","authors":"A. Suebsomran","doi":"10.1109/ICMA.2011.5986255","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986255","url":null,"abstract":"This paper presents the controller design of teleoperation system. Many of uncertainty during operations through the reciprocal interaction occur at each subsystem side, master and slave. Since teleoperation applies in different places, thus control effort is hard to obtaining the certain parameters due to the fidelity of human and machine to perform some task. This research is proposed the direct adaptive neuro control. With approximation of uncertainty parametric system, radial basis function network (RBFN) is employed to approximate an uncertainty come up with input signal. This approximate signal is fed to model reference adaptive control structure with adaptive law. Disturbance is generated to incorporate with system. The result of teleoperation system is clearly explained in simulation fashion with the comparison to performance of controller. Finally we can be concluded that the purpose of design system can work well in the teleoperation applications.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122743887","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985705
Lu Cao, Dipankar Das, Yoshinori Kobayashi, Y. Kuno
Exactly same objects produce dramatically different images depending on their poses to the camera and result in great ambiguity for spatial recognition. Different poses of same objects also lead to different orientations in the use of intrinsic system. Our current study is focusing on this issue and can be divided into three phases. First, we propose an object pose-estimation model which is capable of recognizing unseen views. We achieve this goal by building a discrete key-pose structure parameterized by an azimuth and using PHOG [20] descriptor to measure the shape correspondence between two images. A large number of instances are learned at the training stage through semi-supervised. Then, we show experimental results on our own dataset. Second, according to the analyzed criteria in the use of intrinsic system, we recognize the frontal orientation of an intrinsic geometry object combining with pose-estimation results (e.g., a LCD screen). Finally, we summarize our integrated model which is able to classify object category, estimate object pose, distinguish intrinsic spatial relations between reference and target objects and locate the target under users' instructions.
{"title":"Object spatial recognition for service robots: Where is the front?","authors":"Lu Cao, Dipankar Das, Yoshinori Kobayashi, Y. Kuno","doi":"10.1109/ICMA.2011.5985705","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985705","url":null,"abstract":"Exactly same objects produce dramatically different images depending on their poses to the camera and result in great ambiguity for spatial recognition. Different poses of same objects also lead to different orientations in the use of intrinsic system. Our current study is focusing on this issue and can be divided into three phases. First, we propose an object pose-estimation model which is capable of recognizing unseen views. We achieve this goal by building a discrete key-pose structure parameterized by an azimuth and using PHOG [20] descriptor to measure the shape correspondence between two images. A large number of instances are learned at the training stage through semi-supervised. Then, we show experimental results on our own dataset. Second, according to the analyzed criteria in the use of intrinsic system, we recognize the frontal orientation of an intrinsic geometry object combining with pose-estimation results (e.g., a LCD screen). Finally, we summarize our integrated model which is able to classify object category, estimate object pose, distinguish intrinsic spatial relations between reference and target objects and locate the target under users' instructions.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122180455","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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