Pub Date : 2018-08-01DOI: 10.1109/icamechs.2018.8506848
{"title":"Content Announce","authors":"","doi":"10.1109/icamechs.2018.8506848","DOIUrl":"https://doi.org/10.1109/icamechs.2018.8506848","url":null,"abstract":"","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124411683","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8506935
Hikaru Sato, S. Wakui
This paper describes how to adjust the disturbance observer without a differentiator and to implement of it on a linear stage. This disturbance observer consists only of integrators. In the typical disturbance observer, the differentiator causes high frequency noise. However, the disturbance observer without differentiator does not have this trouble. The use of this disturbance observer allows to expand the pass band of the low pass filter, and it is predicted that the ability of estimating disturbance would be improved. Implementation of a newly created second-order lag system disturbance observer without differentiator is proposed. In order to implement the disturbance observer, it is necessary to obtain the nominal model of the plant. However, it is troublesome to use another control technology. Therefore, parameters are adjusted with implementation of disturbance observer. The effect by applying disturbance observer is verified. Different adjustment methods are also compared.
{"title":"Adjustment and Implementation of a Disturbance Observer without Differentiator","authors":"Hikaru Sato, S. Wakui","doi":"10.1109/ICAMECHS.2018.8506935","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8506935","url":null,"abstract":"This paper describes how to adjust the disturbance observer without a differentiator and to implement of it on a linear stage. This disturbance observer consists only of integrators. In the typical disturbance observer, the differentiator causes high frequency noise. However, the disturbance observer without differentiator does not have this trouble. The use of this disturbance observer allows to expand the pass band of the low pass filter, and it is predicted that the ability of estimating disturbance would be improved. Implementation of a newly created second-order lag system disturbance observer without differentiator is proposed. In order to implement the disturbance observer, it is necessary to obtain the nominal model of the plant. However, it is troublesome to use another control technology. Therefore, parameters are adjusted with implementation of disturbance observer. The effect by applying disturbance observer is verified. Different adjustment methods are also compared.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129896973","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8507149
Mingjie Wang, Gaowei Tian, Cunxiang Yang, H. Qiu, Jie Wu
In order to calculate magnetic field of the end for permanent magnet linear synchronous motor (PMLSM), the equivalent partition model are used to study the change of magnetic field. Firstly, by using the layered model method, magnetic field of the coupled region of PMLSM is solved. And then end region is equivalent to an arc structure, and end magnetic field of partition model is set up. The end region of whole motor is equivalent to the coupled region of stator and rotor, end effect region and open region. Finally, combined with the equivalent air gap length, the analytical formula of magnetic field in each region is obtained, and correctness of the analytical method is proved by the finite element analysis (FEA).
{"title":"Magnetic Field Calculation of End Region in Permanent Magnet Synchronous Linear Motor","authors":"Mingjie Wang, Gaowei Tian, Cunxiang Yang, H. Qiu, Jie Wu","doi":"10.1109/ICAMECHS.2018.8507149","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8507149","url":null,"abstract":"In order to calculate magnetic field of the end for permanent magnet linear synchronous motor (PMLSM), the equivalent partition model are used to study the change of magnetic field. Firstly, by using the layered model method, magnetic field of the coupled region of PMLSM is solved. And then end region is equivalent to an arc structure, and end magnetic field of partition model is set up. The end region of whole motor is equivalent to the coupled region of stator and rotor, end effect region and open region. Finally, combined with the equivalent air gap length, the analytical formula of magnetic field in each region is obtained, and correctness of the analytical method is proved by the finite element analysis (FEA).","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129590670","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8507037
Dexin Liu, M. Sun, D. Qian
In order to solve the bionic quadruped robot movement control problems, a improved method with particular attention on toe trajectory is proposed. The kinematic equation of legs is established through motion analysisJoint angle functions are solved by inverse kinematics employing legs phases in typical gait planning and the displacement for rods of hydraulic cylinders by mechanism. The toe trajectory is calculated to ensures the smoothness of the robot moving. Experimental results show that the robot walks stably on the even surface, the undulation of body has small amplitude, and the design of prototype is rational and efficient.
{"title":"Structural Design and Gait Simulation of Bionic Quadruped Robot","authors":"Dexin Liu, M. Sun, D. Qian","doi":"10.1109/ICAMECHS.2018.8507037","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8507037","url":null,"abstract":"In order to solve the bionic quadruped robot movement control problems, a improved method with particular attention on toe trajectory is proposed. The kinematic equation of legs is established through motion analysisJoint angle functions are solved by inverse kinematics employing legs phases in typical gait planning and the displacement for rods of hydraulic cylinders by mechanism. The toe trajectory is calculated to ensures the smoothness of the robot moving. Experimental results show that the robot walks stably on the even surface, the undulation of body has small amplitude, and the design of prototype is rational and efficient.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126766944","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8507142
Qiangsong Zhao, Sainan Chen, Xiaohui Lu
A proportional-integral multiresonant type repetitive control (PIMR-type RC) has not only a better harmonics suppressing performance but also a faster error convergence rate. However, reference frequency fluctuation in a large range will significantly decrease the harmonics suppressing performance of PIMR-type repetitive control. In this paper, a PIMR-type repetitive control with frequency adaptation is proposed to cope with the frequency fluctuation. The improved PIMR-type repetitive control uses fractional delay filter which can be approximately realized by finite impulse response (FIR) filter. The varying fractional delay filters ensure that the resonant frequencies can match the actual reference frequency and harmonic frequencies. The simulation results show that the proposed PIMR-type repetitive control can track grid reference signal and suppress harmonic signals, and have good error convergence rate under grid frequency fluctuation.
{"title":"A PIMR-Type Repetitive Control for a Grid-Tied Inverter with Frequency Adaptation","authors":"Qiangsong Zhao, Sainan Chen, Xiaohui Lu","doi":"10.1109/ICAMECHS.2018.8507142","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8507142","url":null,"abstract":"A proportional-integral multiresonant type repetitive control (PIMR-type RC) has not only a better harmonics suppressing performance but also a faster error convergence rate. However, reference frequency fluctuation in a large range will significantly decrease the harmonics suppressing performance of PIMR-type repetitive control. In this paper, a PIMR-type repetitive control with frequency adaptation is proposed to cope with the frequency fluctuation. The improved PIMR-type repetitive control uses fractional delay filter which can be approximately realized by finite impulse response (FIR) filter. The varying fractional delay filters ensure that the resonant frequencies can match the actual reference frequency and harmonic frequencies. The simulation results show that the proposed PIMR-type repetitive control can track grid reference signal and suppress harmonic signals, and have good error convergence rate under grid frequency fluctuation.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130212117","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8506859
Qiangsong Zhao, Xiaohui Lu, Sainan Chen, Weifeng Li
In conventional repetitive control, integer-order phase lead compensation will be over compensation or under compensation under low sampling frequency. For this reason, an improved repetitive control based on combination phase lead compensation is proposed. In this paper, the model of the inverter is built, and then the improved repetitive control scheme, including internal model filter Q (z), low-pass filter S (z), and the proposed combination phase lead compensator are designed. Furthermore, experiments of inverter based on TMS320F2812 are implemented, and the results show that proposed repetitive control scheme can improve the quality of the output voltage waveform.
{"title":"Combination Phase Lead Compensation RC for an Inverter","authors":"Qiangsong Zhao, Xiaohui Lu, Sainan Chen, Weifeng Li","doi":"10.1109/ICAMECHS.2018.8506859","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8506859","url":null,"abstract":"In conventional repetitive control, integer-order phase lead compensation will be over compensation or under compensation under low sampling frequency. For this reason, an improved repetitive control based on combination phase lead compensation is proposed. In this paper, the model of the inverter is built, and then the improved repetitive control scheme, including internal model filter Q (z), low-pass filter S (z), and the proposed combination phase lead compensator are designed. Furthermore, experiments of inverter based on TMS320F2812 are implemented, and the results show that proposed repetitive control scheme can improve the quality of the output voltage waveform.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131322245","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8506735
Yi-tao Liang, Yafei Li, Kui-bin Zhao, Lei Meng
Aiming at the problem of tracking bias and deteriorating robustness due to background interference and sudden change of object movement state in video tracking, this study proposed a new object tracking algorithm based on multichannel extraction of AHLBP texture features. This algorithm took into account the local visual information of the image, proposed an AHLBP texture extraction method with adaptive threshold. The method overcame the limitations caused by a single fixed threshold in texture extraction. In order to mine image texture information in depth, textures were extracted from the three color channels in the HSV color space. Then the paper fully used the texture to establish an accurate and complete object model as a description of the object, and achieved object tracking. Experimental results show that the algorithm can effectively improve the accuracy and stability of tracking and make the tracking algorithm has a better robustness.
{"title":"Object Tracking Algorithm based on Multi-channel Extraction of AHLBP Texture Features","authors":"Yi-tao Liang, Yafei Li, Kui-bin Zhao, Lei Meng","doi":"10.1109/ICAMECHS.2018.8506735","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8506735","url":null,"abstract":"Aiming at the problem of tracking bias and deteriorating robustness due to background interference and sudden change of object movement state in video tracking, this study proposed a new object tracking algorithm based on multichannel extraction of AHLBP texture features. This algorithm took into account the local visual information of the image, proposed an AHLBP texture extraction method with adaptive threshold. The method overcame the limitations caused by a single fixed threshold in texture extraction. In order to mine image texture information in depth, textures were extracted from the three color channels in the HSV color space. Then the paper fully used the texture to establish an accurate and complete object model as a description of the object, and achieved object tracking. Experimental results show that the algorithm can effectively improve the accuracy and stability of tracking and make the tracking algorithm has a better robustness.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126653776","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8506837
Yupeng Pan, Ping Jiang, Hongliang Yu, Siguang Wang
Intelligent optimal control is an organic combination of optimization method and control method, and a better control strategy is adopted to solve the problem of control system. According to the characteristics of strong coupling, nonlinearity, uncertainty and large lag in cement production process, reasonable control method and optimization method are chosen to achieve the aim of improving quality and efficiency of cement production and reducing energy saving. In this paper, the production process, control difficulties, control strategies and optimization methods of each link of cement are reviewed.
{"title":"A survey on intelligent optimal control techniques of cement production","authors":"Yupeng Pan, Ping Jiang, Hongliang Yu, Siguang Wang","doi":"10.1109/ICAMECHS.2018.8506837","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8506837","url":null,"abstract":"Intelligent optimal control is an organic combination of optimization method and control method, and a better control strategy is adopted to solve the problem of control system. According to the characteristics of strong coupling, nonlinearity, uncertainty and large lag in cement production process, reasonable control method and optimization method are chosen to achieve the aim of improving quality and efficiency of cement production and reducing energy saving. In this paper, the production process, control difficulties, control strategies and optimization methods of each link of cement are reviewed.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130757053","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8506743
Zelin Meng, Xiangbo Kong, Lin Meng, Hiroyuki Tomiyama
Development of distance measure technology will always make contributions to the industry and society. Therefore, distance measure based on binocular vision technology has become a hot research topic. This kind of distance measure technology has relative high measure accuracy as well as lower hardware cost. However, due to the adoption of inexpensive binocular cameras, the tangential and radial distortions exist. Thus, the distortion will in turn bring measure error. In other words, measure accuracy of system will decline. This paper, we propose a stereo calibration method for binocular cameras. Camera calibration method is employed to obtain the intrinsic and extrinsic as well as distortion parameters of cameras. Stereo calibration is conducted to correlate the left and right image plane. Rectification method is to make left and right image plane satisfy epipolar constraint. Because after rectification, we can reduce computation of matching correspond feature points in left and right image as well as improve system response speed. The average reprojection error can be controlled within 9 pixels.
{"title":"Distance Measurement and Camera Calibration based on Binocular Vision Technology","authors":"Zelin Meng, Xiangbo Kong, Lin Meng, Hiroyuki Tomiyama","doi":"10.1109/ICAMECHS.2018.8506743","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8506743","url":null,"abstract":"Development of distance measure technology will always make contributions to the industry and society. Therefore, distance measure based on binocular vision technology has become a hot research topic. This kind of distance measure technology has relative high measure accuracy as well as lower hardware cost. However, due to the adoption of inexpensive binocular cameras, the tangential and radial distortions exist. Thus, the distortion will in turn bring measure error. In other words, measure accuracy of system will decline. This paper, we propose a stereo calibration method for binocular cameras. Camera calibration method is employed to obtain the intrinsic and extrinsic as well as distortion parameters of cameras. Stereo calibration is conducted to correlate the left and right image plane. Rectification method is to make left and right image plane satisfy epipolar constraint. Because after rectification, we can reduce computation of matching correspond feature points in left and right image as well as improve system response speed. The average reprojection error can be controlled within 9 pixels.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128260911","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 : 2018-08-01DOI: 10.1109/ICAMECHS.2018.8507148
Yi-tao Liang, Kui-bin Zhao, Wenqiang Zhang, Yafei Li
Image defogging method based on non physical model (the image contrast enhancement method) and image dehazing method based on physical model (the atmospheric scattering model method), it is the two kinds of method that is focused on at present. The innovation of this article is: the estimation value of parameter achieved by atmospheric scattering model image dehazing method is not optimal; and the method of contrast enhancement makes the part of clear image and the depth of information distortion. On the basis of the theoretical analysis this paper gives an improved linear model which is proposed to describe the fog removal principle based on the atmospheric scattering model and the contrast enhancement method, and the fog removal problems of models were converted into the optimization searching in parameter space. Initial estimates parameters of atmospheric scattering model method based on linear model in the aspect of solving the problem, and the genetic algorithm and the clarity decision function are introduced to optimize the parameters. And then obtain defogging image. Experimental results demonstrate that the proposed method can achieve a better dehazing effect and applicability compared to some state-of-the-art methods.
{"title":"Research on single image haze removal algorithm based on parameter optimization search of linear model","authors":"Yi-tao Liang, Kui-bin Zhao, Wenqiang Zhang, Yafei Li","doi":"10.1109/ICAMECHS.2018.8507148","DOIUrl":"https://doi.org/10.1109/ICAMECHS.2018.8507148","url":null,"abstract":"Image defogging method based on non physical model (the image contrast enhancement method) and image dehazing method based on physical model (the atmospheric scattering model method), it is the two kinds of method that is focused on at present. The innovation of this article is: the estimation value of parameter achieved by atmospheric scattering model image dehazing method is not optimal; and the method of contrast enhancement makes the part of clear image and the depth of information distortion. On the basis of the theoretical analysis this paper gives an improved linear model which is proposed to describe the fog removal principle based on the atmospheric scattering model and the contrast enhancement method, and the fog removal problems of models were converted into the optimization searching in parameter space. Initial estimates parameters of atmospheric scattering model method based on linear model in the aspect of solving the problem, and the genetic algorithm and the clarity decision function are introduced to optimize the parameters. And then obtain defogging image. Experimental results demonstrate that the proposed method can achieve a better dehazing effect and applicability compared to some state-of-the-art methods.","PeriodicalId":325361,"journal":{"name":"2018 International Conference on Advanced Mechatronic Systems (ICAMechS)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121426270","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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