As the development of robot technology and automation etc., the motor has been required for more torque and less volume. This paper presents a type of low speed and high torque motor ——a double meshing motor with new structure and new principle integrating the reduction gear which can be applied in robot joint and meets the need of space endurance and space fitness of robot. Compared with conventional motors, the noticeable features of this motor are short drive chain, high respond speed, stability at low speed, big output torque. For the reason of using two rotors, the eccentric force and operation vibration induced by the eccentric motion of rotors can be balanced and decreased efficiently. Additionally, the operation principle and mechanism characteristics of this new motor are introduced, and a solid model is designed. As for the control method, it is simple and same as the switched reluctance motor. The magnetic circuit model of this motor is established, and this model is applied to analysis the features of motor as well as the finite element analysis is also figured out. The coenergy principle is used to calculate the starting torque of the motor. For verifying the calculation, the results of finite element analysis is adopted to compare with the results calculated by magnetic coenergy method. Based on these results of calculation and finite element analysis simulation, the double meshing motor has higher torque and lower speed compare with the conventional motor has the same volume; it is evident that the double meshing gear motor has application prospect and practical value.
{"title":"Structure Design and Simulation Analysis of the Double Meshing Gear Motor","authors":"Ruihua Li, S. Wei, Q. Liao, Zhensong Ni","doi":"10.1109/CAR.2009.27","DOIUrl":"https://doi.org/10.1109/CAR.2009.27","url":null,"abstract":"As the development of robot technology and automation etc., the motor has been required for more torque and less volume. This paper presents a type of low speed and high torque motor ——a double meshing motor with new structure and new principle integrating the reduction gear which can be applied in robot joint and meets the need of space endurance and space fitness of robot. Compared with conventional motors, the noticeable features of this motor are short drive chain, high respond speed, stability at low speed, big output torque. For the reason of using two rotors, the eccentric force and operation vibration induced by the eccentric motion of rotors can be balanced and decreased efficiently. Additionally, the operation principle and mechanism characteristics of this new motor are introduced, and a solid model is designed. As for the control method, it is simple and same as the switched reluctance motor. The magnetic circuit model of this motor is established, and this model is applied to analysis the features of motor as well as the finite element analysis is also figured out. The coenergy principle is used to calculate the starting torque of the motor. For verifying the calculation, the results of finite element analysis is adopted to compare with the results calculated by magnetic coenergy method. Based on these results of calculation and finite element analysis simulation, the double meshing motor has higher torque and lower speed compare with the conventional motor has the same volume; it is evident that the double meshing gear motor has application prospect and practical value.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122172282","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}
This paper proposes a highly robust method for face recognition and authentication. Techniques introduced in this work are composed of two stages. Firstly, the feature of face is to be detected by the principle of Trace Transform. Then, in the second stage, the Hausdorff distance and Shape Context are employed to measure and determine of similarity between models and test images. From the experimental result of 6,325 images, the average of accuracy rate is higher than 84%.
{"title":"Face Verification base-on Hausdorff-Shape Context","authors":"Rerkchai Fooprateepsiri, W. Kurutach","doi":"10.1109/CAR.2009.83","DOIUrl":"https://doi.org/10.1109/CAR.2009.83","url":null,"abstract":"This paper proposes a highly robust method for face recognition and authentication. Techniques introduced in this work are composed of two stages. Firstly, the feature of face is to be detected by the principle of Trace Transform. Then, in the second stage, the Hausdorff distance and Shape Context are employed to measure and determine of similarity between models and test images. From the experimental result of 6,325 images, the average of accuracy rate is higher than 84%.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123916756","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}
This paper proposed a limit-cycle based algorithm for cooperative hunting task using multiple mobile robots. By integrating the model-based system and the behavior-based system, a hybrid distributed control system is established, which emphasizes on the autonomy and intelligence of each robot. On the one hand, the algorithm uses artificial potential field for multi-robot formation. On the other hand, the limit-cycle based algorithm is introduced to enable the robot team to pursue themoving target and ultimately encircle the target in a symmetrical circle formation. In addition, the paper designs a heading direction control law for obstacle avoidance, and solves the problem of robot freezing caused by counteraction between repulsion and attraction. Simulation results show the effectiveness and reliability of the proposed method in cooperative hunting control.
{"title":"A Distributed Multi-Robot Cooperative Hunting Algorithm Based on Limit-cycle","authors":"M. Wu, Feifei Huang, Long Wang, Ji-Ying Sun","doi":"10.1109/CAR.2009.32","DOIUrl":"https://doi.org/10.1109/CAR.2009.32","url":null,"abstract":"This paper proposed a limit-cycle based algorithm for cooperative hunting task using multiple mobile robots. By integrating the model-based system and the behavior-based system, a hybrid distributed control system is established, which emphasizes on the autonomy and intelligence of each robot. On the one hand, the algorithm uses artificial potential field for multi-robot formation. On the other hand, the limit-cycle based algorithm is introduced to enable the robot team to pursue themoving target and ultimately encircle the target in a symmetrical circle formation. In addition, the paper designs a heading direction control law for obstacle avoidance, and solves the problem of robot freezing caused by counteraction between repulsion and attraction. Simulation results show the effectiveness and reliability of the proposed method in cooperative hunting control.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114822231","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}
A new controllable color appearance model (CAM) called QLAB is presented based on CIELAB. QLAB is derived from the perceptually uniform CIELAB color model, and is provided with perceptual representation way extracted from HSB color model. The QLAB offers a regular form and perceptual uniformity color model to designers. The process and methods of constructing QLAB is described, and two application cases are discussed at last. The test results show that QLAB is more controllable and practical than general CAMs. A new controllable color appearance model (CAM) called QLAB is presented based on CIELAB. QLAB is derived from the perceptually uniform CIELAB color model, and is provided with perceptual representation way extracted from HSB color model. The QLAB offers a regular form and perceptual uniformity color model to designers. The process and methods of constructing QLAB is described, and two application cases are discussed at last. The test results show that QLAB is more controllable and practical than general CAMs.
{"title":"A Modified Color Appearance Model of CIELAB","authors":"Quan Zhang, Zhenyu Gu, X. G. Ming","doi":"10.1109/CAR.2009.26","DOIUrl":"https://doi.org/10.1109/CAR.2009.26","url":null,"abstract":"A new controllable color appearance model (CAM) called QLAB is presented based on CIELAB. QLAB is derived from the perceptually uniform CIELAB color model, and is provided with perceptual representation way extracted from HSB color model. The QLAB offers a regular form and perceptual uniformity color model to designers. The process and methods of constructing QLAB is described, and two application cases are discussed at last. The test results show that QLAB is more controllable and practical than general CAMs. A new controllable color appearance model (CAM) called QLAB is presented based on CIELAB. QLAB is derived from the perceptually uniform CIELAB color model, and is provided with perceptual representation way extracted from HSB color model. The QLAB offers a regular form and perceptual uniformity color model to designers. The process and methods of constructing QLAB is described, and two application cases are discussed at last. The test results show that QLAB is more controllable and practical than general CAMs.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126551186","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}
The research on tracking control system of maneuvering target is a hot issue. 2-DOF robot has kinematic capability of tracking non-maneuvering and maneuvering targets in air, while the servo control of the robot is crucial for the performance of target tracking. Traditional routine, including modeling, simulation and controller design, is a serial process, so the burdensome iterative steps bring about restrictions to the development period and efficiency. RCP as a live design can realize a smooth and fast transition from conceptual design to experimental verifications. Based on this technique a design routine is proposed and used for HIL simulation of 2-DOF Tracking Robot of Maneuvering Target. Experimental results show that the new routine is efficient and the requirements are better fulfilled.
{"title":"RCP-based HIL Simulation and Control for 2-DOF Tracking Robot of Maneuvering Target","authors":"Zhizhong Tong, Hui Zhang, Zhengmao Ye, Junwei Han","doi":"10.1109/CAR.2009.82","DOIUrl":"https://doi.org/10.1109/CAR.2009.82","url":null,"abstract":"The research on tracking control system of maneuvering target is a hot issue. 2-DOF robot has kinematic capability of tracking non-maneuvering and maneuvering targets in air, while the servo control of the robot is crucial for the performance of target tracking. Traditional routine, including modeling, simulation and controller design, is a serial process, so the burdensome iterative steps bring about restrictions to the development period and efficiency. RCP as a live design can realize a smooth and fast transition from conceptual design to experimental verifications. Based on this technique a design routine is proposed and used for HIL simulation of 2-DOF Tracking Robot of Maneuvering Target. Experimental results show that the new routine is efficient and the requirements are better fulfilled.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123339119","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}
Traffic flow on roads is a non-linear, stochastic phenomenon, with complex interactions between vehicles. This paper discussed the dynamic nature of urban intersections, and presents a novel traffic flow evolution model at a time scale and of a level of detail suitable for on-line estimation, simulation and control. The intersection is considered as interconnected components of urban road network. The macroscopic model proposed here extends the platoon-dispersion model by redefining inflow and outflow vectors, and by also specifying the control vector. Two variables were added to the model, i.e. the turning proportion and the lane assignment scheme. The turning proportion is an obvious variant, and yet the lane assignment is time-varying in some especial condition. Simple stochastic matrix equations described the macroscopic traffic behavior of each movement. This will allow the simulation of quite large road networks by composing many intersection models. The model is validated over real traffic data with abrupt changes in the demand of flow.
{"title":"A Control-oriented Macroscopic Traffic Flow Model for Urban Diverse Intersections","authors":"Kaige Wen, Shiru Qu, Yumei Zhang","doi":"10.1109/CAR.2009.95","DOIUrl":"https://doi.org/10.1109/CAR.2009.95","url":null,"abstract":"Traffic flow on roads is a non-linear, stochastic phenomenon, with complex interactions between vehicles. This paper discussed the dynamic nature of urban intersections, and presents a novel traffic flow evolution model at a time scale and of a level of detail suitable for on-line estimation, simulation and control. The intersection is considered as interconnected components of urban road network. The macroscopic model proposed here extends the platoon-dispersion model by redefining inflow and outflow vectors, and by also specifying the control vector. Two variables were added to the model, i.e. the turning proportion and the lane assignment scheme. The turning proportion is an obvious variant, and yet the lane assignment is time-varying in some especial condition. Simple stochastic matrix equations described the macroscopic traffic behavior of each movement. This will allow the simulation of quite large road networks by composing many intersection models. The model is validated over real traffic data with abrupt changes in the demand of flow.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123509746","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}
Slide level is one of the most important indexes of CNC machine tool performance. A novel kind of sensorless rapid on-line evaluation technology for machine tool slide level based on linear or rotary scale, motor encoder and AC servo motor current/output torque is proposed. To acquire the level information, the sensorless test principle is profoundly investigated, and the relationship mathematical model between the slide level and the sensorless data is established. Furthermore, according to the Stribeck effect, the various amplitude and velocity triangular wave test curve and a kind of precise nonlinear model identification method are suggested to get the key parameters such as static friction torque, coulomb friction torque, viscous coefficient and total moment of inertia. And then CNC slide level can be identified. The analyses results of the experiments show that it is simple, rapid, feasible and reliable for evaluating slide level.
{"title":"Sensorless Rapid On-line Evaluation for Slide Level","authors":"Yuqing Zhou, X. Mei, Dong Liu, G. Jiang, N. Sun","doi":"10.1109/CAR.2009.94","DOIUrl":"https://doi.org/10.1109/CAR.2009.94","url":null,"abstract":"Slide level is one of the most important indexes of CNC machine tool performance. A novel kind of sensorless rapid on-line evaluation technology for machine tool slide level based on linear or rotary scale, motor encoder and AC servo motor current/output torque is proposed. To acquire the level information, the sensorless test principle is profoundly investigated, and the relationship mathematical model between the slide level and the sensorless data is established. Furthermore, according to the Stribeck effect, the various amplitude and velocity triangular wave test curve and a kind of precise nonlinear model identification method are suggested to get the key parameters such as static friction torque, coulomb friction torque, viscous coefficient and total moment of inertia. And then CNC slide level can be identified. The analyses results of the experiments show that it is simple, rapid, feasible and reliable for evaluating slide level.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"228 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124520937","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}
Xiaochu Liu, Jingfeng He, Zhengmao Ye, D. Cong, Junwei Han
The modeling and study of three-stage electro-hydraulic servo valve are presented in this paper. According to its construction and principle, its model is built. The results of simulation and experimental test are consistent, which proves the validity of the model. Based on the study of the model, the performances of three-stage electro-hydraulic servo valve are mainly affected by pilot valve performance, spool and sleeve performance, position transducer performance and servo controller performance, which shows that there are four main key technologies. The study results have a guiding role for developing higher performance three-stage electro-hydraulic servo valve.
{"title":"Modeling and Key Technologies Study of Three-Stage Electro-Hydraulic Servo Valve","authors":"Xiaochu Liu, Jingfeng He, Zhengmao Ye, D. Cong, Junwei Han","doi":"10.1109/CAR.2009.78","DOIUrl":"https://doi.org/10.1109/CAR.2009.78","url":null,"abstract":"The modeling and study of three-stage electro-hydraulic servo valve are presented in this paper. According to its construction and principle, its model is built. The results of simulation and experimental test are consistent, which proves the validity of the model. Based on the study of the model, the performances of three-stage electro-hydraulic servo valve are mainly affected by pilot valve performance, spool and sleeve performance, position transducer performance and servo controller performance, which shows that there are four main key technologies. The study results have a guiding role for developing higher performance three-stage electro-hydraulic servo valve.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115588190","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}
Based on the velocity of obstacles and its distribution, the position of the dangerous region (potential collision region) has been predicted. So that the dangerous region would be expanded based on the distribution of its position to ensure the security. By finding the best “Free Road” and estimate the “danger”, a data reduction technique is employed to compress all the information needed in path planning. With the help of that the efficiency of the fuzzy logic controller is improved significantly which is also employed to calculate the speed of the robot. Benefit from the fuzzy logic controller and the dangerous region predicted technique, our method is more robust in dynamic environment with uncertainty. And the results of both experiments and simulations have proved that our method get a better effect than the conventional ones.
{"title":"A Collision Predict Based Local Path Planning of Mobile Robots","authors":"Yang Gao, Shu-dong Sun","doi":"10.1109/CAR.2009.101","DOIUrl":"https://doi.org/10.1109/CAR.2009.101","url":null,"abstract":"Based on the velocity of obstacles and its distribution, the position of the dangerous region (potential collision region) has been predicted. So that the dangerous region would be expanded based on the distribution of its position to ensure the security. By finding the best “Free Road” and estimate the “danger”, a data reduction technique is employed to compress all the information needed in path planning. With the help of that the efficiency of the fuzzy logic controller is improved significantly which is also employed to calculate the speed of the robot. Benefit from the fuzzy logic controller and the dangerous region predicted technique, our method is more robust in dynamic environment with uncertainty. And the results of both experiments and simulations have proved that our method get a better effect than the conventional ones.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129263213","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}
Binrui Wang, Weiyi Zhou, Yinglian Jin, Hong Xu, Haisen Ke
Pneumatic muscles mimic function of human muscles and are used as robot actuators. The intelligent pneumatic muscle (IPM) with shape memory alloy (SMA) wires braided shell was proposed to improve characteristics. The mechanism was designed and prototype test-bench was made. Output force model was established through static force equilibrium analysis. The equation between temperature and contraction ratio of SMA wires was deduced through analyzing the volume ratio of Martensite to Austenite during crystalline structure transformation. This equation was adopted to get calculating methods of the contraction ratio, contractile force per cross-section area and variable stiffness of intelligent pneumatic muscle. Characteristics simulation was done on MATLAB and different pneumatic muscles’ characteristics were compared. The results show IPM has greater shell braided angle, greater contractile force and more flexible stiffness through adjusting SMA contraction ratio.
{"title":"Modeling and Characteristics Analysis of Intelligent Pneumatic Muscle with Shape Memory Alloy Braided Shell","authors":"Binrui Wang, Weiyi Zhou, Yinglian Jin, Hong Xu, Haisen Ke","doi":"10.1109/CAR.2009.31","DOIUrl":"https://doi.org/10.1109/CAR.2009.31","url":null,"abstract":"Pneumatic muscles mimic function of human muscles and are used as robot actuators. The intelligent pneumatic muscle (IPM) with shape memory alloy (SMA) wires braided shell was proposed to improve characteristics. The mechanism was designed and prototype test-bench was made. Output force model was established through static force equilibrium analysis. The equation between temperature and contraction ratio of SMA wires was deduced through analyzing the volume ratio of Martensite to Austenite during crystalline structure transformation. This equation was adopted to get calculating methods of the contraction ratio, contractile force per cross-section area and variable stiffness of intelligent pneumatic muscle. Characteristics simulation was done on MATLAB and different pneumatic muscles’ characteristics were compared. The results show IPM has greater shell braided angle, greater contractile force and more flexible stiffness through adjusting SMA contraction ratio.","PeriodicalId":320307,"journal":{"name":"2009 International Asia Conference on Informatics in Control, Automation and Robotics","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129960908","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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