A new method of collision free motion path planning using Non uniform rational B- Spline curves for mobile robots is addressed in this paper. Obstacles of polygonal nature are used and the navigation occurs in a dynamic environment. Mathematical Modeling with vector addition technique is used to compute the set of points which will form the final path. NURBS technique is applied on the computed set of points which results in smooth curve as the final path, giving the advantage of more efficient motion. NURBS offsets of the computed NURBS path have been defined to avoid collision. Number of obstacles is not a constraint in the model presented. Number and position of obstacles can be changed dynamically which will be encountered by the robot and the path computed will be updated accordingly ensuring the shortest path.
{"title":"Robot motion planning in a dynamic environment using offset Non-Uniform Rational B-Splines (NURBS)","authors":"Aditya Singh, Anuj Aggarwal, Manik Vashisht, Rajesh Siddavatam","doi":"10.1109/ICIT.2011.5754393","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754393","url":null,"abstract":"A new method of collision free motion path planning using Non uniform rational B- Spline curves for mobile robots is addressed in this paper. Obstacles of polygonal nature are used and the navigation occurs in a dynamic environment. Mathematical Modeling with vector addition technique is used to compute the set of points which will form the final path. NURBS technique is applied on the computed set of points which results in smooth curve as the final path, giving the advantage of more efficient motion. NURBS offsets of the computed NURBS path have been defined to avoid collision. Number of obstacles is not a constraint in the model presented. Number and position of obstacles can be changed dynamically which will be encountered by the robot and the path computed will be updated accordingly ensuring the shortest path.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125720888","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754404
D. Kasun Prasanga, A. Abeykoon, S. Prasad, L. Udawatta
In a healthy heart, there is no any abnormal blood flow takes place inside, in addition to the usual blood circulating pattern. However when the valves or tissues inside the heart are in diseased conditions, this usual blood flow pattern gets changed. As a result, abnormal sounds are produced with the normal heart beat sound. These abnormal sounds are known as cardiac murmurs. By identifying the murmur type doctors can diagnose the cardiac pathology related to that particular murmur type. This paper describes an electronic stethoscopic device that can be used as a stethoscope as well as murmur identification equipment. Chest piece of an ordinary stethoscope has been used to capture the heart beat with a microphone attached to it. Then the captured signal is amplified and sampled in the device itself and the sampled data is then transmitted to the central location to carry out the signal processing. Since there is a processor inside the device, processing of data can also be done in the device if required. Also the device has the capability of storing the sampled data for future analysis.
{"title":"Auscultation based stethoscopic diagnostic device for cardiac murmur identification","authors":"D. Kasun Prasanga, A. Abeykoon, S. Prasad, L. Udawatta","doi":"10.1109/ICIT.2011.5754404","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754404","url":null,"abstract":"In a healthy heart, there is no any abnormal blood flow takes place inside, in addition to the usual blood circulating pattern. However when the valves or tissues inside the heart are in diseased conditions, this usual blood flow pattern gets changed. As a result, abnormal sounds are produced with the normal heart beat sound. These abnormal sounds are known as cardiac murmurs. By identifying the murmur type doctors can diagnose the cardiac pathology related to that particular murmur type. This paper describes an electronic stethoscopic device that can be used as a stethoscope as well as murmur identification equipment. Chest piece of an ordinary stethoscope has been used to capture the heart beat with a microphone attached to it. Then the captured signal is amplified and sampled in the device itself and the sampled data is then transmitted to the central location to carry out the signal processing. Since there is a processor inside the device, processing of data can also be done in the device if required. Also the device has the capability of storing the sampled data for future analysis.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127172266","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754408
Kazuki Nagase, S. Katsura
In recent years, high-precision works in a distant place have been enabled by using bilateral control systems. The general master-slave systems are not movable, because they are constrained on a ground. A mobile-hapto has been proposed as a movable master-slave system, in order to realize operations at wide areas in human-living spaces. The movement method of the mobile-hapto is achieved by wheels. However, bipedalism is suitable for human-living spaces. Therefore, a walking-sensation feedback system has been proposed for a remote operation of the biped robot. In the research, the control system has been designed on the basis of a four-channel bilateral control system. Therefore, the operability is improved. It has not been argued about the transparency of the control system. In this paper, in order to verify that external force is fed back to an operator, the hybrid matrices of the control system are derived. Finally, the availability of the control system is confirmed by experimental results.
{"title":"Bilateral control of walking haptic system","authors":"Kazuki Nagase, S. Katsura","doi":"10.1109/ICIT.2011.5754408","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754408","url":null,"abstract":"In recent years, high-precision works in a distant place have been enabled by using bilateral control systems. The general master-slave systems are not movable, because they are constrained on a ground. A mobile-hapto has been proposed as a movable master-slave system, in order to realize operations at wide areas in human-living spaces. The movement method of the mobile-hapto is achieved by wheels. However, bipedalism is suitable for human-living spaces. Therefore, a walking-sensation feedback system has been proposed for a remote operation of the biped robot. In the research, the control system has been designed on the basis of a four-channel bilateral control system. Therefore, the operability is improved. It has not been argued about the transparency of the control system. In this paper, in order to verify that external force is fed back to an operator, the hybrid matrices of the control system are derived. Finally, the availability of the control system is confirmed by experimental results.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129225787","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754366
Tian‐Hua Liu, Chih-Lun Chen, Jui-Ling Chen
This paper proposes the predictive controller design for a sensorless interior permanent magnet synchronous motor drive system. The predictive controllers include a current-loop predictive controller and a speed-loop predictive controller. By using the proposed control algorithms, the closed-loop sensorless interior permanent magnet synchronous motor drive system can achieve fast transient responses, satisfactory load disturbance responses, and good tracking responses. A digital signal processor, TMS 320F2812, is used to perform the rotor position estimating algorithm and the predictive control algorithms. As a result, the hardware is very simple. Experimental results can validate the theoretical analysis and show the predictive controllers perform better than the PI controllers.
{"title":"Implementation of a predictive controller for a sensorless IPMSM drive system","authors":"Tian‐Hua Liu, Chih-Lun Chen, Jui-Ling Chen","doi":"10.1109/ICIT.2011.5754366","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754366","url":null,"abstract":"This paper proposes the predictive controller design for a sensorless interior permanent magnet synchronous motor drive system. The predictive controllers include a current-loop predictive controller and a speed-loop predictive controller. By using the proposed control algorithms, the closed-loop sensorless interior permanent magnet synchronous motor drive system can achieve fast transient responses, satisfactory load disturbance responses, and good tracking responses. A digital signal processor, TMS 320F2812, is used to perform the rotor position estimating algorithm and the predictive control algorithms. As a result, the hardware is very simple. Experimental results can validate the theoretical analysis and show the predictive controllers perform better than the PI controllers.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121007417","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754367
K. Sambarapu, S. Mark Halpin
A procedure to reorder the output of Prony's method used in modal extraction of signal waveforms is presented. This is especially useful for power system stability studies and real field measurements with noise. The method is illustrated with the help of an example.
{"title":"Prony's method output reordering algorithm for power system applications","authors":"K. Sambarapu, S. Mark Halpin","doi":"10.1109/ICIT.2011.5754367","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754367","url":null,"abstract":"A procedure to reorder the output of Prony's method used in modal extraction of signal waveforms is presented. This is especially useful for power system stability studies and real field measurements with noise. The method is illustrated with the help of an example.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125834250","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754405
E. Akin, I. Aydin, M. Karakose
This paper presents three intelligent methods for condition monitoring of induction motors in real-time. A structured neural network has been designed to prognosis of instantaneous faults. The inputs of neural network are the standard deviation and mean of feature signal obtained by Hilbert transform of one phase current signal. The stator related faults have been diagnosed by designing fuzzy logic. The amplitudes of three phase currents have been given to fuzzy logic and the condition of stator has been diagnosed. The last algorithm uses the phase space of the Hilbert transform of one phase current and detects broken rotor bar faults using negative selection algorithm. The contribution of the algorithm is the development of synchronously worked algorithms, optimized for low-cost Field Programmable Gate Array (FPGA) implementation. Extensive simulations were applied to test the performance of each algorithm, and the results show that the algorithms give high accuracy in detecting whether a possible fault has occurred in any component of the motor. The average detection time of the faults is above within 2 milliseconds or less.
{"title":"FPGA based intelligent condition monitoring of induction motors: Detection, diagnosis, and prognosis","authors":"E. Akin, I. Aydin, M. Karakose","doi":"10.1109/ICIT.2011.5754405","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754405","url":null,"abstract":"This paper presents three intelligent methods for condition monitoring of induction motors in real-time. A structured neural network has been designed to prognosis of instantaneous faults. The inputs of neural network are the standard deviation and mean of feature signal obtained by Hilbert transform of one phase current signal. The stator related faults have been diagnosed by designing fuzzy logic. The amplitudes of three phase currents have been given to fuzzy logic and the condition of stator has been diagnosed. The last algorithm uses the phase space of the Hilbert transform of one phase current and detects broken rotor bar faults using negative selection algorithm. The contribution of the algorithm is the development of synchronously worked algorithms, optimized for low-cost Field Programmable Gate Array (FPGA) implementation. Extensive simulations were applied to test the performance of each algorithm, and the results show that the algorithms give high accuracy in detecting whether a possible fault has occurred in any component of the motor. The average detection time of the faults is above within 2 milliseconds or less.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114788785","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754339
G. Popa, C. Diniș, S. Deaconu, I. Popa
The plate-type electrostatic precipitators are often used in industry, especially at dedusting of high gas flows. An important application is in case of thermo-electrical power plants. The electrostatic charging of dust particles depends on more electric parameters, and its experimental determination is difficult. The electrostatic charging depends on the electric field's strength, on the dust particles' diameter and on the particles' relative electric permittivity. For a real channel from the field on an ESP and for the discharge wires from industry, to which the discharge peaks are not identical, it was made a digital on-scale analysis, by the finite element method, for the field lines of the electric potential and electric fields' strength. The analysis was achieved for the cross-section and longitudinal section of a channel, when the gas has dust and when the dust is missing. The digital analysis is an important tool to determine and study the electric parameters, which are hard to be experimentally determined.
{"title":"A numerical modeling of electric parameters from industrial plate-type electrostatic precipitator","authors":"G. Popa, C. Diniș, S. Deaconu, I. Popa","doi":"10.1109/ICIT.2011.5754339","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754339","url":null,"abstract":"The plate-type electrostatic precipitators are often used in industry, especially at dedusting of high gas flows. An important application is in case of thermo-electrical power plants. The electrostatic charging of dust particles depends on more electric parameters, and its experimental determination is difficult. The electrostatic charging depends on the electric field's strength, on the dust particles' diameter and on the particles' relative electric permittivity. For a real channel from the field on an ESP and for the discharge wires from industry, to which the discharge peaks are not identical, it was made a digital on-scale analysis, by the finite element method, for the field lines of the electric potential and electric fields' strength. The analysis was achieved for the cross-section and longitudinal section of a channel, when the gas has dust and when the dust is missing. The digital analysis is an important tool to determine and study the electric parameters, which are hard to be experimentally determined.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129262518","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754341
T. Kondo, Kentaro Kobayashi, M. Katayama
This paper discusses a wireless control system for cooperative motion of machines, and clarifies the influence of packet loss on the system behavior. In performance evaluation, we focus on the synchronization of the motion of the fellow machines. In addition, using the nature of wireless, a new wireless control method is proposed for maintaining the performance under packet loss conditions. In the proposed method, each machine receives control signals destined for all machines, and the main controller also uses all state information of all machines. The additional information of other controller-plant pairs is used when the signal from the counterpart is lost. As an example of the plants, rotary inverted pendulums, which move synchronously with wireless connections in their control-feedback loops, are considered. Numerical examples confirm the superiority of the proposed method over conventional methods from the view-point of synchronization of each machine.
{"title":"A wireless cooperative motion control system with mutual use of control signals","authors":"T. Kondo, Kentaro Kobayashi, M. Katayama","doi":"10.1109/ICIT.2011.5754341","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754341","url":null,"abstract":"This paper discusses a wireless control system for cooperative motion of machines, and clarifies the influence of packet loss on the system behavior. In performance evaluation, we focus on the synchronization of the motion of the fellow machines. In addition, using the nature of wireless, a new wireless control method is proposed for maintaining the performance under packet loss conditions. In the proposed method, each machine receives control signals destined for all machines, and the main controller also uses all state information of all machines. The additional information of other controller-plant pairs is used when the signal from the counterpart is lost. As an example of the plants, rotary inverted pendulums, which move synchronously with wireless connections in their control-feedback loops, are considered. Numerical examples confirm the superiority of the proposed method over conventional methods from the view-point of synchronization of each machine.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129412224","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754353
G. P. Breier, C. Pereira
This paper presents the development of a reconfigurable embedded system for a residential gateway, based on OSGi (Open Services Gateway Initiative) and implemented using the FemtoJava technology. The proposed systems implements a service oriented architecture and provides support for service discovery and for communication between objects running on heterogeneous platforms. The paper also describes the experimental validation of the proposed architecture using as a case study a temperature control system. The system was implemented on a reconfigurable platform using a Xilinx SPARTAN FPGA.
{"title":"FEMTO-OSGi: Architecture for reconfigurable embedded systems to service management by OSGi","authors":"G. P. Breier, C. Pereira","doi":"10.1109/ICIT.2011.5754353","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754353","url":null,"abstract":"This paper presents the development of a reconfigurable embedded system for a residential gateway, based on OSGi (Open Services Gateway Initiative) and implemented using the FemtoJava technology. The proposed systems implements a service oriented architecture and provides support for service discovery and for communication between objects running on heterogeneous platforms. The paper also describes the experimental validation of the proposed architecture using as a case study a temperature control system. The system was implemented on a reconfigurable platform using a Xilinx SPARTAN FPGA.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131230037","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 : 2011-03-14DOI: 10.1109/ICIT.2011.5754386
Leonardo Rodrigues Sampaio, A. Perkusich, L. D. da Silva
Control systems are used in industry for process automation and to increase the reliability and dependability when executing critical tasks. Failures in the operation of such systems may cause expensive losses and can compromise the plant safety. Therefore, it is necessary to define techniques, methods and tools to increase the dependability as well as reliability. Verification and validation techniques developed by the academy often excel in technical aspects but have little acceptance in industry due to the need of advanced knowledge in formal methods. The goal of this work is to introduce a user-friendly visual conformance validation method to increase the dependability of programmable logic controllers software. Also, a tool to hide formal aspects related to the implementation details from users during the test phase of Ladder programs without the need of specific training in formal methods.
{"title":"Ladder programs validation through model-code traceability","authors":"Leonardo Rodrigues Sampaio, A. Perkusich, L. D. da Silva","doi":"10.1109/ICIT.2011.5754386","DOIUrl":"https://doi.org/10.1109/ICIT.2011.5754386","url":null,"abstract":"Control systems are used in industry for process automation and to increase the reliability and dependability when executing critical tasks. Failures in the operation of such systems may cause expensive losses and can compromise the plant safety. Therefore, it is necessary to define techniques, methods and tools to increase the dependability as well as reliability. Verification and validation techniques developed by the academy often excel in technical aspects but have little acceptance in industry due to the need of advanced knowledge in formal methods. The goal of this work is to introduce a user-friendly visual conformance validation method to increase the dependability of programmable logic controllers software. Also, a tool to hide formal aspects related to the implementation details from users during the test phase of Ladder programs without the need of specific training in formal methods.","PeriodicalId":356868,"journal":{"name":"2011 IEEE International Conference on Industrial Technology","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131244837","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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