Pub Date : 1998-08-31DOI: 10.1109/IECON.1998.722929
S. Kaierle, J. Beersiek, E. Kreutz, R. Poprawe, J. Gunnewig, H. Rake
In laser beam welding, the penetration depth is one of the most important quality aspects. Many industrial applications demand for accurate welding depths without fluctuations. As a consequence, the utilization of appropriate methods for online supervision and control of the welding depth is required. The development of a multivariable online control system for the control of the penetration depth in laser beam welding is described. The technical realization and the achieved results are figured out in detail. Comparison between controlled and uncontrolled laser welding shows the improvement. The control system is part of a higher ranked setup for controlling the whole manufacturing process within an autonomous production cell.
{"title":"Online control of penetration depth in laser beam welding","authors":"S. Kaierle, J. Beersiek, E. Kreutz, R. Poprawe, J. Gunnewig, H. Rake","doi":"10.1109/IECON.1998.722929","DOIUrl":"https://doi.org/10.1109/IECON.1998.722929","url":null,"abstract":"In laser beam welding, the penetration depth is one of the most important quality aspects. Many industrial applications demand for accurate welding depths without fluctuations. As a consequence, the utilization of appropriate methods for online supervision and control of the welding depth is required. The development of a multivariable online control system for the control of the penetration depth in laser beam welding is described. The technical realization and the achieved results are figured out in detail. Comparison between controlled and uncontrolled laser welding shows the improvement. The control system is part of a higher ranked setup for controlling the whole manufacturing process within an autonomous production cell.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116021265","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 : 1998-08-31DOI: 10.1109/IECON.1998.724265
K. Berns, V. Kepplin, R. Dillmann
In this paper, the stereo camera system of the walking machine LAURON II is described. The whole system is used in a way such that obstacles in the moving direction of the machine are detected. As a measurement technique, two grayscale cameras combined with a line laser are used, which evaluate changes of the shape of the generated line. Based on the two camera images and with the help of triangulation, it is also possible to calculate the distance to an object in front of the machine.
{"title":"Terrain and obstacle detection for walking machines using a stereo-camera-head","authors":"K. Berns, V. Kepplin, R. Dillmann","doi":"10.1109/IECON.1998.724265","DOIUrl":"https://doi.org/10.1109/IECON.1998.724265","url":null,"abstract":"In this paper, the stereo camera system of the walking machine LAURON II is described. The whole system is used in a way such that obstacles in the moving direction of the machine are detected. As a measurement technique, two grayscale cameras combined with a line laser are used, which evaluate changes of the shape of the generated line. Based on the two camera images and with the help of triangulation, it is also possible to calculate the distance to an object in front of the machine.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122366704","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 : 1998-08-31DOI: 10.1109/IECON.1998.724040
H. Rodder, Oliver Kieckhofel, S. Manzke
Service is a real challenge for manufacturers selling worldwide and the expectations of the customers are high. Teleservice-the remote support of maintenance operations based on information technology-enables the manufacturers to meet both customer requirements and personal interests, such as reduction of costs. This article introduces diMas (distributed Maintenance system), an Internet-based system used by manufacturers to provide maintenance-related information to their own service technicians and their customers.
{"title":"Internet-based maintenance support for customers and manufacturers","authors":"H. Rodder, Oliver Kieckhofel, S. Manzke","doi":"10.1109/IECON.1998.724040","DOIUrl":"https://doi.org/10.1109/IECON.1998.724040","url":null,"abstract":"Service is a real challenge for manufacturers selling worldwide and the expectations of the customers are high. Teleservice-the remote support of maintenance operations based on information technology-enables the manufacturers to meet both customer requirements and personal interests, such as reduction of costs. This article introduces diMas (distributed Maintenance system), an Internet-based system used by manufacturers to provide maintenance-related information to their own service technicians and their customers.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"176 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122093823","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 : 1998-08-31DOI: 10.1109/IECON.1998.724180
R. Krishnan, P. Vijayraghavan
A new converter topology for permanent magnet brushless DC (PMBDC) motors is proposed in this paper. It has the advantages of minimum number of power switching devices, equal voltage rating for all the switching devices and variable DC link voltage for application to the motor. The operational characteristics of this converter-driven PMBDC drive are derived for four-quadrant performance. The feasibility of the proposed converter topology for the four-quadrant PMBDC motor drive system is validated by extensive dynamic simulation of the motor drive system. The simulations verify the advantages of the drive in low speed operation with lower switching ripple and hence lower torque ripple. The merits and demerits of the converter are derived. A comparison of the proposed converter with the 3 phase full-wave converter is given.
{"title":"A new power converter topology for PM brushless DC motor drives","authors":"R. Krishnan, P. Vijayraghavan","doi":"10.1109/IECON.1998.724180","DOIUrl":"https://doi.org/10.1109/IECON.1998.724180","url":null,"abstract":"A new converter topology for permanent magnet brushless DC (PMBDC) motors is proposed in this paper. It has the advantages of minimum number of power switching devices, equal voltage rating for all the switching devices and variable DC link voltage for application to the motor. The operational characteristics of this converter-driven PMBDC drive are derived for four-quadrant performance. The feasibility of the proposed converter topology for the four-quadrant PMBDC motor drive system is validated by extensive dynamic simulation of the motor drive system. The simulations verify the advantages of the drive in low speed operation with lower switching ripple and hence lower torque ripple. The merits and demerits of the converter are derived. A comparison of the proposed converter with the 3 phase full-wave converter is given.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129502722","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 : 1998-08-31DOI: 10.1109/IECON.1998.724016
M. Benbouzid
This paper is intended as a tutorial overview of induction motors signature analysis as a medium for fault detection. The purpose is to introduce in a concise manner the fundamental theory, main results, and practical applications of motor signature analysis for the detection and the localization of abnormal electrical and mechanical conditions that indicate, or may lead to, a failure of induction motors. The paper is focused on the so-called motor current signature analysis (MCSA) which utilizes the results of spectral analysis of the stator current. The paper is purposefully written without "state of the art" terminology for the benefit of practicing engineers in facilities today who may not be familiar with signal processing.
{"title":"A review of induction motors signature analysis as a medium for faults detection","authors":"M. Benbouzid","doi":"10.1109/IECON.1998.724016","DOIUrl":"https://doi.org/10.1109/IECON.1998.724016","url":null,"abstract":"This paper is intended as a tutorial overview of induction motors signature analysis as a medium for fault detection. The purpose is to introduce in a concise manner the fundamental theory, main results, and practical applications of motor signature analysis for the detection and the localization of abnormal electrical and mechanical conditions that indicate, or may lead to, a failure of induction motors. The paper is focused on the so-called motor current signature analysis (MCSA) which utilizes the results of spectral analysis of the stator current. The paper is purposefully written without \"state of the art\" terminology for the benefit of practicing engineers in facilities today who may not be familiar with signal processing.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"145 8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129725379","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 : 1998-08-31DOI: 10.1109/IECON.1998.723942
H. Tsunekawa
A technique to predict principal motions of earthquakes using preliminary tremors, has been developed. Taking advantage of the time lag between them, we can take suitable countermeasures against the principal motions that affect urban structures; e.g. an escape from dangerous zones, stopping elevators and gas supply, and activating AMD (active mass damper) systems. A structured neural network is used to construct a peak ground acceleration prediction model, where inputs are fuzzified shaking direction data, and power spectrum and maximum acceleration of preliminary tremors. The proposed model has been improved by handling some earthquakes in Ibaraki-ken south-west zone that least fit the model as exceptions. Mean square error of the improved model is reduced to one third of the statistical model.
{"title":"A fuzzy neural network prediction model of the principal motions of earthquakes based on preliminary tremors","authors":"H. Tsunekawa","doi":"10.1109/IECON.1998.723942","DOIUrl":"https://doi.org/10.1109/IECON.1998.723942","url":null,"abstract":"A technique to predict principal motions of earthquakes using preliminary tremors, has been developed. Taking advantage of the time lag between them, we can take suitable countermeasures against the principal motions that affect urban structures; e.g. an escape from dangerous zones, stopping elevators and gas supply, and activating AMD (active mass damper) systems. A structured neural network is used to construct a peak ground acceleration prediction model, where inputs are fuzzified shaking direction data, and power spectrum and maximum acceleration of preliminary tremors. The proposed model has been improved by handling some earthquakes in Ibaraki-ken south-west zone that least fit the model as exceptions. Mean square error of the improved model is reduced to one third of the statistical model.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129785748","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 : 1998-08-31DOI: 10.1109/IECON.1998.722840
Xuejun Sheng, Mathias Kromker
This paper reports on the results of an ongoing European research project aiming to develop an integrated mechatronics system for turbine blades repair using advanced 3D sensing and multi-axis NC milling technology. The essence of the system is its capability of generating NC milling paths adaptively for turbine blades which can significantly vary from their nominative dimensions and shapes. The path generation is based on an reconstruction and extrapolation algorithm that automatically reconstructs the ideal geometric model of blades from multiple range images and is described in details.
{"title":"Surface reconstruction and extrapolation from multiple range images for automatic turbine blades repair","authors":"Xuejun Sheng, Mathias Kromker","doi":"10.1109/IECON.1998.722840","DOIUrl":"https://doi.org/10.1109/IECON.1998.722840","url":null,"abstract":"This paper reports on the results of an ongoing European research project aiming to develop an integrated mechatronics system for turbine blades repair using advanced 3D sensing and multi-axis NC milling technology. The essence of the system is its capability of generating NC milling paths adaptively for turbine blades which can significantly vary from their nominative dimensions and shapes. The path generation is based on an reconstruction and extrapolation algorithm that automatically reconstructs the ideal geometric model of blades from multiple range images and is described in details.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129866883","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 : 1998-08-31DOI: 10.1109/IECON.1998.723016
P. Verdelho, G. Marques
A four-leg PWM voltage power converter is presented in this paper for three-phase four-wire active power filters or neutral current compensator applications. The four-leg PWM voltage converter AC currents should be controlled. This is accomplished with a generalised space vector based current controller in an /spl alpha//spl beta/0 coordinate system. This controller enables to impose equal hysteresis errors in the converter four wire currents. All the current harmonic systems of positive, negative and zero sequence can be injected by the converter and thus compensated in the mains. This converter has superior performance compared with the four-wire three-phase PWM voltage converter with split DC-link capacitors.
{"title":"A current control system based in /spl alpha//spl beta/0 variables for a four-leg PWM voltage converter","authors":"P. Verdelho, G. Marques","doi":"10.1109/IECON.1998.723016","DOIUrl":"https://doi.org/10.1109/IECON.1998.723016","url":null,"abstract":"A four-leg PWM voltage power converter is presented in this paper for three-phase four-wire active power filters or neutral current compensator applications. The four-leg PWM voltage converter AC currents should be controlled. This is accomplished with a generalised space vector based current controller in an /spl alpha//spl beta/0 coordinate system. This controller enables to impose equal hysteresis errors in the converter four wire currents. All the current harmonic systems of positive, negative and zero sequence can be injected by the converter and thus compensated in the mains. This converter has superior performance compared with the four-wire three-phase PWM voltage converter with split DC-link capacitors.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129026411","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 : 1998-08-31DOI: 10.1109/IECON.1998.722867
Jin-Soo Kim, Iee-Woo Yang, Young-Seok Kim, Young-Jo Kim
In industrial motor drive systems, a shaft torsional vibration is often generated when a motor and a load are connected with a flexible shaft. This paper treats the vibration suppression control of such a system. Recently a new method has been developed which estimates the unknown state variables by using the reduced order observer and feeds back these state variables by using a pole placement design method. This state feedback control method can control the command following property and the load disturbance suppression property independently. In this paper, a vibration suppression control method of a two-mass resonant system using an H/sub /spl infin// filter is proposed. The proposed control method uses the H/sub /spl infin// filter as an observer of the state feedback controller. The H/sub /spl infin// filter has good estimating property about an unknown input. To show the validity of the H/sub /spl infin// filter, under the same controller, the authors compared real shaft torsional torque with estimated shaft torsional torque in case of using the state observer or the H/sub /spl infin// filter, respectively. As a result, they confirmed that the H/sub /spl infin// filter had excellent estimating property. Experimental results show the validity of the proposed controller and the proposed controller is compared with the state feedback controller using the state observer.
{"title":"The vibration suppression control of the two-mass resonant system using the H/sub /spl infin// filter","authors":"Jin-Soo Kim, Iee-Woo Yang, Young-Seok Kim, Young-Jo Kim","doi":"10.1109/IECON.1998.722867","DOIUrl":"https://doi.org/10.1109/IECON.1998.722867","url":null,"abstract":"In industrial motor drive systems, a shaft torsional vibration is often generated when a motor and a load are connected with a flexible shaft. This paper treats the vibration suppression control of such a system. Recently a new method has been developed which estimates the unknown state variables by using the reduced order observer and feeds back these state variables by using a pole placement design method. This state feedback control method can control the command following property and the load disturbance suppression property independently. In this paper, a vibration suppression control method of a two-mass resonant system using an H/sub /spl infin// filter is proposed. The proposed control method uses the H/sub /spl infin// filter as an observer of the state feedback controller. The H/sub /spl infin// filter has good estimating property about an unknown input. To show the validity of the H/sub /spl infin// filter, under the same controller, the authors compared real shaft torsional torque with estimated shaft torsional torque in case of using the state observer or the H/sub /spl infin// filter, respectively. As a result, they confirmed that the H/sub /spl infin// filter had excellent estimating property. Experimental results show the validity of the proposed controller and the proposed controller is compared with the state feedback controller using the state observer.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129318543","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 : 1998-08-31DOI: 10.1109/IECON.1998.724064
Armin Hopp, D. Schulz, Wolfram Burgard, A. Cremers, D. Fellner
The increased costs of laboratory environments such as mobile robots and the specialization of research groups increase the demand for collaboration between different research groups. Although the Internet can be regarded as the most important medium for cooperation over large distances, it does not provide the necessary bandwidth for the transmission of video-streams required, for example, during a tele-experiment wish a mobile robot. In this paper, the authors present a combination of a tele-experimentation environment for autonomous mobile robots (RTL) with a minimal rendering tool-kit for virtual reality (MRT-VR). The RTL-system includes means for bridging transmission gaps by using simulation techniques to predict the robots actions and supports automatic viewpoint selection for virtual cameras in the MRT-VR system. The MRT-VR allows the online visualization of experiments in a virtual environment. MRT-VR additionally supports natural navigation of the user through the 3D virtual environment in various aspects. It includes a collision detection to avoid users getting inside of objects such as walls or cupboards and supports climbing of stairs. Additionally users can select different viewpoints or even automatically follow the robot during its operation. Finally it supports the synchronization of the viewpoints for distributed observers. This paper demonstrates that, by combining both techniques, an improved visualization quality with respect to the precision of the simulation and the ease of operation of tele-operated systems is obtained.
{"title":"Virtual reality visualization of distributed tele-experiments","authors":"Armin Hopp, D. Schulz, Wolfram Burgard, A. Cremers, D. Fellner","doi":"10.1109/IECON.1998.724064","DOIUrl":"https://doi.org/10.1109/IECON.1998.724064","url":null,"abstract":"The increased costs of laboratory environments such as mobile robots and the specialization of research groups increase the demand for collaboration between different research groups. Although the Internet can be regarded as the most important medium for cooperation over large distances, it does not provide the necessary bandwidth for the transmission of video-streams required, for example, during a tele-experiment wish a mobile robot. In this paper, the authors present a combination of a tele-experimentation environment for autonomous mobile robots (RTL) with a minimal rendering tool-kit for virtual reality (MRT-VR). The RTL-system includes means for bridging transmission gaps by using simulation techniques to predict the robots actions and supports automatic viewpoint selection for virtual cameras in the MRT-VR system. The MRT-VR allows the online visualization of experiments in a virtual environment. MRT-VR additionally supports natural navigation of the user through the 3D virtual environment in various aspects. It includes a collision detection to avoid users getting inside of objects such as walls or cupboards and supports climbing of stairs. Additionally users can select different viewpoints or even automatically follow the robot during its operation. Finally it supports the synchronization of the viewpoints for distributed observers. This paper demonstrates that, by combining both techniques, an improved visualization quality with respect to the precision of the simulation and the ease of operation of tele-operated systems is obtained.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129422720","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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