Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5985813
Huifang Liu, Zhenyuan Jia, Fuji Wang, F. Zong
Aiming at a lack of systematic investigation on magnetostrictive force sensor using giant magnetostrictive materials (GMM) as the sensitive element, a giant magnetostrictive force sensor which uses a GMM rod as the core element is proposed in the paper. The force sensor can measure static and dynamic force simultaneously. The systematic design process and method are expounded in detail. Among them, the magnetic circuit is designed and analyzed by finite element method. Based on these, working conditions and component parameters of the sensor are analyzed through theoretical analysis and experimental measurement. At last, the static and dynamic output characteristics under the optimal working condition are studied by experimental method. The design method and analysis results lay a foundation for the development of giant magnetostrictive force sensor with GMM.
{"title":"Study on the design method of giant magnetostrictive force sensor","authors":"Huifang Liu, Zhenyuan Jia, Fuji Wang, F. Zong","doi":"10.1109/ICMA.2011.5985813","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985813","url":null,"abstract":"Aiming at a lack of systematic investigation on magnetostrictive force sensor using giant magnetostrictive materials (GMM) as the sensitive element, a giant magnetostrictive force sensor which uses a GMM rod as the core element is proposed in the paper. The force sensor can measure static and dynamic force simultaneously. The systematic design process and method are expounded in detail. Among them, the magnetic circuit is designed and analyzed by finite element method. Based on these, working conditions and component parameters of the sensor are analyzed through theoretical analysis and experimental measurement. At last, the static and dynamic output characteristics under the optimal working condition are studied by experimental method. The design method and analysis results lay a foundation for the development of giant magnetostrictive force sensor with GMM.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"108 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":"121123618","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.2011.5986306
Inseok Yang, Donggil Kim, Dongik Lee
Failure of an actuator in the multi-actuated control surfaces causes catastrophic structural failure due to oblique deflection. In this paper, a networked fault tolerant control strategy to accommodate actuator failure with an application to a modern aircraft is presented. The proposed control strategy is based on intelligent subsystems, such as smart actuators, that are interconnected through a bi-directional digital communication network. A smart actuator is capable of providing information on the device health status that can be used to tolerate faults. This information is then used not only to prevent undesirable force acting on the control surface by driving normal actuators, but also to tolerate the faulty surface by re-allocating redundant surfaces. Simulation results with an aircraft show that the proposed fault-tolerant control method can effectively maintain the desirable control performance in the presence of failure with an actuator in the control surface.
{"title":"Networked fault-tolerant control strategy of multi-actuated control surface failure using smart actuators","authors":"Inseok Yang, Donggil Kim, Dongik Lee","doi":"10.1109/ICMA.2011.5986306","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986306","url":null,"abstract":"Failure of an actuator in the multi-actuated control surfaces causes catastrophic structural failure due to oblique deflection. In this paper, a networked fault tolerant control strategy to accommodate actuator failure with an application to a modern aircraft is presented. The proposed control strategy is based on intelligent subsystems, such as smart actuators, that are interconnected through a bi-directional digital communication network. A smart actuator is capable of providing information on the device health status that can be used to tolerate faults. This information is then used not only to prevent undesirable force acting on the control surface by driving normal actuators, but also to tolerate the faulty surface by re-allocating redundant surfaces. Simulation results with an aircraft show that the proposed fault-tolerant control method can effectively maintain the desirable control performance in the presence of failure with an actuator in the control surface.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"15 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":"121352408","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}
Conventional vascular interventional surgery (VIS) is performed by surgeons under fluoroscopic X-ray guidance. Catheter operating systems have been developed to reduce physical stress and X-ray irradiation to the interventional radiologists. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to adjust the position and orientation of catheter operating system. Therefore, a novel active supporting medical manipulator was developed to accurately position and firmly hold catheter operating system. The structure was synthesized and optimized according to the clinical VIS requirements. The mechanism was designed and kinematics was analyzed. Finally, the simulations and experiments showed the feasibility of the active supporting medical manipulator, which facilitate the control of catheter operating system in clinical teleoperating.
{"title":"Structure synthesis and optimization of a supporting medical manipulator for vascular interventional surgery","authors":"Xing-tao Wang, Xing-guang Duan, Qiang Huang, Hong-hua Zhao, Yue Chen, Chao Chen","doi":"10.1109/ICMA.2011.5985642","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985642","url":null,"abstract":"Conventional vascular interventional surgery (VIS) is performed by surgeons under fluoroscopic X-ray guidance. Catheter operating systems have been developed to reduce physical stress and X-ray irradiation to the interventional radiologists. However, the catheter operating systems are all attached to surgical bed or fixed at the tip of passive manipulator, which is inconvenient to adjust the position and orientation of catheter operating system. Therefore, a novel active supporting medical manipulator was developed to accurately position and firmly hold catheter operating system. The structure was synthesized and optimized according to the clinical VIS requirements. The mechanism was designed and kinematics was analyzed. Finally, the simulations and experiments showed the feasibility of the active supporting medical manipulator, which facilitate the control of catheter operating system in clinical teleoperating.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"19 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":"123367995","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.2011.5985958
Yueyang Ben, Zhongjun Zhu, Qian Li, Xiao Wu
A fine alignment method suitable for marine strapdown inertial navigation system is proposed. In this method, Doppler velocity log is applied to give velocity reference because of its accuracy and independence. System error equation is deduced to obtain fine alignment model. And the measurement equation corresponded to Doppler velocity log is given in this paper. In order to validate this method, we carry it out under several marine conditions, including movement with constant velocity and direction, three-axis sway and acceleration. The simulation results show that the proposed method has appropriate duration and great accuracy.
{"title":"DVL aided fine alignment for marine SINS","authors":"Yueyang Ben, Zhongjun Zhu, Qian Li, Xiao Wu","doi":"10.1109/ICMA.2011.5985958","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985958","url":null,"abstract":"A fine alignment method suitable for marine strapdown inertial navigation system is proposed. In this method, Doppler velocity log is applied to give velocity reference because of its accuracy and independence. System error equation is deduced to obtain fine alignment model. And the measurement equation corresponded to Doppler velocity log is given in this paper. In order to validate this method, we carry it out under several marine conditions, including movement with constant velocity and direction, three-axis sway and acceleration. The simulation results show that the proposed method has appropriate duration and great accuracy.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"70 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":"123766239","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.2011.5985803
Xiaochuan Zhao, Yihao Qian, Min Zhang, Jinzhe Niu, Yuxiang Kou
Navigation technology plays an important role in the designing of advanced robot. An advanced robot navigation system based on GPS/INS is modeled in this paper. According to the model, the causes of the errors in measurement equation are analyzed, concluding that HDOP (Horizontal Dilution of Precision) and VDOP (Vertical Dilution of Precision) provided by GPS receiver are the crucial factors for the change of measurement noise in the mathematical model. Based on the above conclusion, this paper proposes a novel second order fuzzy self-adaptive filter design. Choosing the differences of location and velocity information provided by GPS receiver and INS device as the inputs, this filter modifies the regulation factor based on the residual sequence statistical information and PDOP (Position Dilution of Precision) provided by GPS receiver to correct the outputs of INS device using fuzzy logic. The experimental results demonstrate that the improved adaptive Kalman filtering algorithm proposed in this paper has a strong adaptability to time-varying measurement noises, which improves precision of the advanced robot navigation.
{"title":"An improved adaptive Kalman filtering algorithm for advanced robot navigation system based on GPS/INS","authors":"Xiaochuan Zhao, Yihao Qian, Min Zhang, Jinzhe Niu, Yuxiang Kou","doi":"10.1109/ICMA.2011.5985803","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985803","url":null,"abstract":"Navigation technology plays an important role in the designing of advanced robot. An advanced robot navigation system based on GPS/INS is modeled in this paper. According to the model, the causes of the errors in measurement equation are analyzed, concluding that HDOP (Horizontal Dilution of Precision) and VDOP (Vertical Dilution of Precision) provided by GPS receiver are the crucial factors for the change of measurement noise in the mathematical model. Based on the above conclusion, this paper proposes a novel second order fuzzy self-adaptive filter design. Choosing the differences of location and velocity information provided by GPS receiver and INS device as the inputs, this filter modifies the regulation factor based on the residual sequence statistical information and PDOP (Position Dilution of Precision) provided by GPS receiver to correct the outputs of INS device using fuzzy logic. The experimental results demonstrate that the improved adaptive Kalman filtering algorithm proposed in this paper has a strong adaptability to time-varying measurement noises, which improves precision of the advanced robot navigation.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"28 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":"123990171","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.2011.5985843
N. Reddy, R. Ray, S. N. Shome
In nature, several animals and insects use jumping locomotion in rough terrains. Jumping locomotion is useful for ground robots as jumping provide high speed movement with enhanced energy efficiency. It also helps in overcoming obstacles relatively larger than their body sizes. Jumping needs coordination and large instantaneous forces within a very short duration. In this paper, a method of jumping by using a four-bar spring/linkage mechanism integrated with spool winding and ratchet release mechanism has been presented. Inspired by the frogs, we have modeled and simulated a simple and efficient four legged jumping frog robot.
{"title":"Modeling and simulation of a jumping frog robot","authors":"N. Reddy, R. Ray, S. N. Shome","doi":"10.1109/ICMA.2011.5985843","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985843","url":null,"abstract":"In nature, several animals and insects use jumping locomotion in rough terrains. Jumping locomotion is useful for ground robots as jumping provide high speed movement with enhanced energy efficiency. It also helps in overcoming obstacles relatively larger than their body sizes. Jumping needs coordination and large instantaneous forces within a very short duration. In this paper, a method of jumping by using a four-bar spring/linkage mechanism integrated with spool winding and ratchet release mechanism has been presented. Inspired by the frogs, we have modeled and simulated a simple and efficient four legged jumping frog robot.","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":"125341696","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.2011.5985769
Junhong Liu, Huapeng Wu, H. Handroos, H. Haario
This paper presents a new empirical leakage model of valve. The whole hydraulic system is studied: the system's model utilizing the proposed leakage formula is compared against another model, a known semi-empirical model employing the idea of pseudo section in flowrates. One statistical analysis approach is applied to modeling, using the noise-corrupted physical data. The robustness of models is verified with two new independent situations. Results from fitting and verification have shown that the system model with the proposed leakage formula describes the system dynamics more properly and matches the real responses better.
{"title":"Study of leakage model for servo valve","authors":"Junhong Liu, Huapeng Wu, H. Handroos, H. Haario","doi":"10.1109/ICMA.2011.5985769","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985769","url":null,"abstract":"This paper presents a new empirical leakage model of valve. The whole hydraulic system is studied: the system's model utilizing the proposed leakage formula is compared against another model, a known semi-empirical model employing the idea of pseudo section in flowrates. One statistical analysis approach is applied to modeling, using the noise-corrupted physical data. The robustness of models is verified with two new independent situations. Results from fitting and verification have shown that the system model with the proposed leakage formula describes the system dynamics more properly and matches the real responses better.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"5 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":"127947813","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.2011.5985745
Shuwei Li, Huabo Sun, Lei Yan
A filtering method is proposed in this paper that can generate DTM (digital terrain model) based on multi-scale mathematic morphology. With the second echo information of LIDAR, the method firstly extracts the edge point of vegetation and house, and then process opening operation of mathematical morphology with the remainder data in local region. Comparing adjacent filter surface with the threshold parameter, we extract surface feature during gradually increasing transform scale of filtering window. Experiment shows that our method can effectively generate DTM and also can maintain the terrain details.
{"title":"A filtering method for generating DTM based on multi-scale mathematic morphology","authors":"Shuwei Li, Huabo Sun, Lei Yan","doi":"10.1109/ICMA.2011.5985745","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985745","url":null,"abstract":"A filtering method is proposed in this paper that can generate DTM (digital terrain model) based on multi-scale mathematic morphology. With the second echo information of LIDAR, the method firstly extracts the edge point of vegetation and house, and then process opening operation of mathematical morphology with the remainder data in local region. Comparing adjacent filter surface with the threshold parameter, we extract surface feature during gradually increasing transform scale of filtering window. Experiment shows that our method can effectively generate DTM and also can maintain the terrain details.","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":"128307685","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.2011.5985801
Danilo Cáceres Hernández, K. Jo
This paper we are proposing to detect the localization and recognition of an indoor stairway. This is a fundamental step in the implementing of autonomous stair climbing navigation, as well as the implementing of passive alarm systems intended for the blind and visually impaired. This method analyzes the edges of a stairway based on planar motion tracking and directional filters. The horizontal edges of the stairs are extracted by using the Gabor Filter. Then, the vanishing point is extracted from the specified set of line segments in the aim of facilitating the reconstruction of the stair treads. After this stage, we extract a hypothetical set of targets by using the correlation method. Finally, we employ the discrimination method to find the ground plane, using the behavioral distance measurement. Consequently, the remaining information is considered as an indoor stairway candidate region. As a result, testing is able to prove its effectiveness.
{"title":"Stairway segmentation using Gabor Filter and vanishing point","authors":"Danilo Cáceres Hernández, K. Jo","doi":"10.1109/ICMA.2011.5985801","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985801","url":null,"abstract":"This paper we are proposing to detect the localization and recognition of an indoor stairway. This is a fundamental step in the implementing of autonomous stair climbing navigation, as well as the implementing of passive alarm systems intended for the blind and visually impaired. This method analyzes the edges of a stairway based on planar motion tracking and directional filters. The horizontal edges of the stairs are extracted by using the Gabor Filter. Then, the vanishing point is extracted from the specified set of line segments in the aim of facilitating the reconstruction of the stair treads. After this stage, we extract a hypothetical set of targets by using the correlation method. Finally, we employ the discrimination method to find the ground plane, using the behavioral distance measurement. Consequently, the remaining information is considered as an indoor stairway candidate region. As a result, testing is able to prove its effectiveness.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"67 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":"128385607","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.2011.5986274
Kaibo Lu, Minqing Jing, Yongqiang Zhang, Heng Liu
Chatter vibrations result in poor surface finish, reduced productivity, and shortened tool life in metal cutting. Although chatter stability and monitoring techniques are broadly studied in literature, the deployment of process monitoring system in the shop floor still presents a challenge. In this paper, we have constructed an online prototype system for industrial applications including two independent modules of chatter stability prediction and monitoring cooperatively. Turning processes are considered. Firstly, the stability charts are evaluated analytically by the application of the Laplace transform. The charts obtained can assist the operators in choosing appropriate cutting parameters before machining. Secondly, the characteristics of chatter are extracted in the time and frequency domains. The norm of chatter arising is formulated in accordance with the variance and spectrum of vibration signals. The corresponding threshold is confirmed relatively in comparison with the characteristics of stable cutting states recorded in the reference database. Thirdly, the algorithms and modules introduced are implemented with the combination of the advantages of MATLAB and C# programming, in which delay strategy and overlap processing can improve the accuracy and performance of the system. Finally, the effectiveness of the techniques and system presented here was verified by experimental results of the industrial machining trials.
{"title":"Industrial applications of chatter stability prediction and monitoring system for turning processes","authors":"Kaibo Lu, Minqing Jing, Yongqiang Zhang, Heng Liu","doi":"10.1109/ICMA.2011.5986274","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986274","url":null,"abstract":"Chatter vibrations result in poor surface finish, reduced productivity, and shortened tool life in metal cutting. Although chatter stability and monitoring techniques are broadly studied in literature, the deployment of process monitoring system in the shop floor still presents a challenge. In this paper, we have constructed an online prototype system for industrial applications including two independent modules of chatter stability prediction and monitoring cooperatively. Turning processes are considered. Firstly, the stability charts are evaluated analytically by the application of the Laplace transform. The charts obtained can assist the operators in choosing appropriate cutting parameters before machining. Secondly, the characteristics of chatter are extracted in the time and frequency domains. The norm of chatter arising is formulated in accordance with the variance and spectrum of vibration signals. The corresponding threshold is confirmed relatively in comparison with the characteristics of stable cutting states recorded in the reference database. Thirdly, the algorithms and modules introduced are implemented with the combination of the advantages of MATLAB and C# programming, in which delay strategy and overlap processing can improve the accuracy and performance of the system. Finally, the effectiveness of the techniques and system presented here was verified by experimental results of the industrial machining trials.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"52 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":"130579697","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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