Pub Date : 1998-08-31DOI: 10.1109/IECON.1998.724120
D. Meister, P. Pokrandt, A. Both
Experiments with industrial robot systems showed that the accuracy of these systems is not sufficient for many surgical applications. Hence, we developed an algorithm which takes the trajectory generator of the robot control system into account. Furthermore, the inhomogeneous milling characteristics of a bone are predicted by its computed tomography (CT). Results from experiments demonstrated that the demanded accuracy can be achieved using this approach. Since December 1997 several patients have been treated with our surgical robot CASPAR, which encapsulates this strategy in the field of total hip replacement (THR).
{"title":"Milling accuracy in robot assisted orthopaedic surgery","authors":"D. Meister, P. Pokrandt, A. Both","doi":"10.1109/IECON.1998.724120","DOIUrl":"https://doi.org/10.1109/IECON.1998.724120","url":null,"abstract":"Experiments with industrial robot systems showed that the accuracy of these systems is not sufficient for many surgical applications. Hence, we developed an algorithm which takes the trajectory generator of the robot control system into account. Furthermore, the inhomogeneous milling characteristics of a bone are predicted by its computed tomography (CT). Results from experiments demonstrated that the demanded accuracy can be achieved using this approach. Since December 1997 several patients have been treated with our surgical robot CASPAR, which encapsulates this strategy in the field of total hip replacement (THR).","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"45 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":"115947654","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.1998.722930
E. Renier, P. Suzeau, F. Truchetet, P. Geveaux
High frequency soldering allows high production speed, contactless heating and good quality of the weld. The speed limit of soldering is principally imposed by a good drive of the metal in the profiling machine. To control a HF soldering process, the authors propose a new method and approach which consists in controlling the temperature with a thermal image acquisition system developed in their laboratory. Their computer vision, described in this paper, is based on CCD thermography. This technology brings many advantages and tools in the measurement of thermal and spatial parameters. In fact, high spatial (800/spl times/600 pixels) and temporal resolutions, good relative thermal resolution (10/spl deg/C in the range of 800 to 2000/spl deg/C), linearity of calibration curves and large temperature measurement range are the main advantages of their system. They especially developed some specific image processing (line subpixel detection) used to measure spatial parameters: soldering angle, tube axis, shift between borders of the metal sheet along transversal cross section. All these parameters controlled in real time, allow to inform the welder operator about process drift. Actually, this machine is used to control the process and not to supervise it. Some information measured during HF soldering help them to analyse and understand all the occurring process drift.
{"title":"Spatial and thermal measurements using thermography CCD during HF soldering of metallic tubes","authors":"E. Renier, P. Suzeau, F. Truchetet, P. Geveaux","doi":"10.1109/IECON.1998.722930","DOIUrl":"https://doi.org/10.1109/IECON.1998.722930","url":null,"abstract":"High frequency soldering allows high production speed, contactless heating and good quality of the weld. The speed limit of soldering is principally imposed by a good drive of the metal in the profiling machine. To control a HF soldering process, the authors propose a new method and approach which consists in controlling the temperature with a thermal image acquisition system developed in their laboratory. Their computer vision, described in this paper, is based on CCD thermography. This technology brings many advantages and tools in the measurement of thermal and spatial parameters. In fact, high spatial (800/spl times/600 pixels) and temporal resolutions, good relative thermal resolution (10/spl deg/C in the range of 800 to 2000/spl deg/C), linearity of calibration curves and large temperature measurement range are the main advantages of their system. They especially developed some specific image processing (line subpixel detection) used to measure spatial parameters: soldering angle, tube axis, shift between borders of the metal sheet along transversal cross section. All these parameters controlled in real time, allow to inform the welder operator about process drift. Actually, this machine is used to control the process and not to supervise it. Some information measured during HF soldering help them to analyse and understand all the occurring process drift.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"146 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":"131945225","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.1998.722850
C. Guetbi, D. Kouamé, A. Ouahabi, J. Chemla, L. Bensaada
It is well known that classical time delay estimation gives an inexact estimation of the true delay between two signals delayed by nonintegral multiple of the sample period. For more accurate estimation, new methods are proposed to estimate small time delay with regard to sample period of ultrasonic signals. In this paper, the authors focus on two methods based on the wavelet transform for time delay estimation between ultrasound emitted pulses and the received signal. The first technique consists in computing at a fixed frequency (which is the emitting frequency of the ultrasonic signal) the difference of maximum time argument between wavelet coefficients of the two signals (the reference and the delayed signal). The second technique, based on a crosswavelet representation, directly provides the time delay between the two signals. The performance of these methods in terms of bias and variance are compared to classical correlation using polynomial interpolation. Numerical results show the superior performance of the crosswavelet approach for time delay estimation.
{"title":"Flow velocity estimation using ultrasound signals and wavelet transformation","authors":"C. Guetbi, D. Kouamé, A. Ouahabi, J. Chemla, L. Bensaada","doi":"10.1109/IECON.1998.722850","DOIUrl":"https://doi.org/10.1109/IECON.1998.722850","url":null,"abstract":"It is well known that classical time delay estimation gives an inexact estimation of the true delay between two signals delayed by nonintegral multiple of the sample period. For more accurate estimation, new methods are proposed to estimate small time delay with regard to sample period of ultrasonic signals. In this paper, the authors focus on two methods based on the wavelet transform for time delay estimation between ultrasound emitted pulses and the received signal. The first technique consists in computing at a fixed frequency (which is the emitting frequency of the ultrasonic signal) the difference of maximum time argument between wavelet coefficients of the two signals (the reference and the delayed signal). The second technique, based on a crosswavelet representation, directly provides the time delay between the two signals. The performance of these methods in terms of bias and variance are compared to classical correlation using polynomial interpolation. Numerical results show the superior performance of the crosswavelet approach for time delay estimation.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"3 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":"130035248","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.1998.724137
M. Aime, M. Degner, N.H. Tice, R. Lorenz
This paper reviews techniques used for the measurement of saliencies in AC machines. The ability to measure saliencies is important because of the effect of saliencies on machine behavior. Saliency information can be used to aid or improve machine design, modeling, and analysis, as well as for sensorless control. From a review of existing measurement techniques it is shown that there are two main drawbacks to most of the published techniques for saliency measurement. First, almost all of the techniques require either a modification to the machine design and construction, or they cannot be used under normal machine operating conditions. Second, the dynamic measurement of the physical location of saliencies has not been addressed although it is important for the development of accurate models. To overcome these shortcomings, a new method of dynamically measuring the location of saliencies is presented that does not require any modification to the machine's design or construction, and does not affect the normal operation of the machine. Experimental results are presented together with detailed analysis and discussion that show some of the potential applications of the proposed technique.
{"title":"Measuring the location of saliencies in AC machines","authors":"M. Aime, M. Degner, N.H. Tice, R. Lorenz","doi":"10.1109/IECON.1998.724137","DOIUrl":"https://doi.org/10.1109/IECON.1998.724137","url":null,"abstract":"This paper reviews techniques used for the measurement of saliencies in AC machines. The ability to measure saliencies is important because of the effect of saliencies on machine behavior. Saliency information can be used to aid or improve machine design, modeling, and analysis, as well as for sensorless control. From a review of existing measurement techniques it is shown that there are two main drawbacks to most of the published techniques for saliency measurement. First, almost all of the techniques require either a modification to the machine design and construction, or they cannot be used under normal machine operating conditions. Second, the dynamic measurement of the physical location of saliencies has not been addressed although it is important for the development of accurate models. To overcome these shortcomings, a new method of dynamically measuring the location of saliencies is presented that does not require any modification to the machine's design or construction, and does not affect the normal operation of the machine. Experimental results are presented together with detailed analysis and discussion that show some of the potential applications of the proposed technique.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"64 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":"134525484","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.1998.724015
S. Benz, M. Schulten
This paper presents a system for user-oriented production support in industrial, shop-floor-like environments. The increasing complexity of production processes and in parallel the ongoing organisational changes in the manufacturing industry strengthen the need for a new generation of software tools on the shop-floor level. Based on the analysis of the workflow, user knowledge and used machinery a concept for a set of user-oriented production support tools is shown. Additionally, this paper illustrates the exemplary implementation of this generic concept in co-operation with a Danish ship builder. The employed technology is presented regarding the achievements as well as its limitations.
{"title":"User-oriented production support","authors":"S. Benz, M. Schulten","doi":"10.1109/IECON.1998.724015","DOIUrl":"https://doi.org/10.1109/IECON.1998.724015","url":null,"abstract":"This paper presents a system for user-oriented production support in industrial, shop-floor-like environments. The increasing complexity of production processes and in parallel the ongoing organisational changes in the manufacturing industry strengthen the need for a new generation of software tools on the shop-floor level. Based on the analysis of the workflow, user knowledge and used machinery a concept for a set of user-oriented production support tools is shown. Additionally, this paper illustrates the exemplary implementation of this generic concept in co-operation with a Danish ship builder. The employed technology is presented regarding the achievements as well as its limitations.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"35 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":"134195908","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.1998.724237
D. Ruiz-Caballero, I. Barbi
This paper introduces a new flyback-current-fed push-pull DC-DC power converter whose significant advantages in comparison with conventional designs are: reduction in the number of output diodes; and unified output characteristics to represent both the buck and the boost operation modes in the continuous conduction mode. Theoretical analysis, design methodology and experimental results taken from a 600 W, 25 kHz laboratory prototype are presented in this paper. The circuit introduced is suitable for switching mode power supply design as well as power factor correction applications.
{"title":"A new flyback-current-fed push-pull DC-DC converter","authors":"D. Ruiz-Caballero, I. Barbi","doi":"10.1109/IECON.1998.724237","DOIUrl":"https://doi.org/10.1109/IECON.1998.724237","url":null,"abstract":"This paper introduces a new flyback-current-fed push-pull DC-DC power converter whose significant advantages in comparison with conventional designs are: reduction in the number of output diodes; and unified output characteristics to represent both the buck and the boost operation modes in the continuous conduction mode. Theoretical analysis, design methodology and experimental results taken from a 600 W, 25 kHz laboratory prototype are presented in this paper. The circuit introduced is suitable for switching mode power supply design as well as power factor correction applications.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"243 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":"131535458","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.1998.723935
P. Baranyi, P. Korondi, I. Mihálcz, Z. Gubinyi, H. Hashimoto
The main contribution of this paper is an experimental adaptation of a fuzzy rule base reduction based on singular value decomposition. The experimental setup consists of a robot finger furnished with shape memory alloy (SMA) as an "artificial muscle".
{"title":"Fuzzy rule base reduction for robot finger furnished with shape memory alloy","authors":"P. Baranyi, P. Korondi, I. Mihálcz, Z. Gubinyi, H. Hashimoto","doi":"10.1109/IECON.1998.723935","DOIUrl":"https://doi.org/10.1109/IECON.1998.723935","url":null,"abstract":"The main contribution of this paper is an experimental adaptation of a fuzzy rule base reduction based on singular value decomposition. The experimental setup consists of a robot finger furnished with shape memory alloy (SMA) as an \"artificial muscle\".","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"40 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":"131562928","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.1998.724287
P. García-González, A. García-Cerrada
This paper presents a detailed investigation of a UPFC control system. The dynamic model of the UPFC has been developed using the space-vector representation of the instantaneous three-phase variables using Park's transformation. The Park's transformation and the reference frame selected reduce the control of the real and reactive power flows to the control of the d- and q-axis currents, respectively. The control loops and the algorithms to ensure instantaneous power control decoupling are explained in detail. The controller also maintains constant the voltage at the DC-link of the back to back inverters. The problems derived from the discrete inverter output control are taken into account when using space-vector PWM. A simulator has been developed to illustrate the main results before building a prototype. A continuous-time model has been used for the power system and the control has been implemented in discrete time. The inverters have been simulated using ideal switches with 0.5 kHz switching frequency.
{"title":"Control system for a UPFC in a transmission line","authors":"P. García-González, A. García-Cerrada","doi":"10.1109/IECON.1998.724287","DOIUrl":"https://doi.org/10.1109/IECON.1998.724287","url":null,"abstract":"This paper presents a detailed investigation of a UPFC control system. The dynamic model of the UPFC has been developed using the space-vector representation of the instantaneous three-phase variables using Park's transformation. The Park's transformation and the reference frame selected reduce the control of the real and reactive power flows to the control of the d- and q-axis currents, respectively. The control loops and the algorithms to ensure instantaneous power control decoupling are explained in detail. The controller also maintains constant the voltage at the DC-link of the back to back inverters. The problems derived from the discrete inverter output control are taken into account when using space-vector PWM. A simulator has been developed to illustrate the main results before building a prototype. A continuous-time model has been used for the power system and the control has been implemented in discrete time. The inverters have been simulated using ideal switches with 0.5 kHz switching frequency.","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":"133374286","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.1998.724121
C. Burghart, J. Raczkowsky, U. Rembold, H. Worn
Using a robot in craniofacial surgery might seem to be a rather far fetched idea. However, a high level of precision, skill and experience is necessary in order to perform maxillofacial interventions successfully and harmonically. Thus the Institute of Process Control and Robotics has devised a complex computer aided surgical system which supports the surgeon before and during the operation. On the one hand preoperative plans can be generated by using a three-dimensional computer model of the patient's skull. On the other hand the best planning device is rather useless if there is no adequate means at hand to intraoperatively transpose the established plan with the required accuracy. In this paper we present our surgical robotic system for craniofacial surgery and give an insight into some of its features.
{"title":"Robot cell for craniofacial surgery","authors":"C. Burghart, J. Raczkowsky, U. Rembold, H. Worn","doi":"10.1109/IECON.1998.724121","DOIUrl":"https://doi.org/10.1109/IECON.1998.724121","url":null,"abstract":"Using a robot in craniofacial surgery might seem to be a rather far fetched idea. However, a high level of precision, skill and experience is necessary in order to perform maxillofacial interventions successfully and harmonically. Thus the Institute of Process Control and Robotics has devised a complex computer aided surgical system which supports the surgeon before and during the operation. On the one hand preoperative plans can be generated by using a three-dimensional computer model of the patient's skull. On the other hand the best planning device is rather useless if there is no adequate means at hand to intraoperatively transpose the established plan with the required accuracy. In this paper we present our surgical robotic system for craniofacial surgery and give an insight into some of its features.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"165 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":"133580263","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.1998.724027
G. Fink, C. Schillo, F. Kummert, G. Sagerer
For the development of effective multi-modal man-machine interfaces the incremental generation of speech recognition results is an important prerequisite. On the one hand the system can instantaneously react to the user's intention even while the user is speaking. On the other hand the results of speech recognition can be used to assist the processing of other modalities, e.g, the interpretation of gestures. In this paper we present an incremental speech recognition system embedded in a multi-modal environment. The system is able to incrementally produce word hypotheses in real time. Thus, utterances of arbitrary length can be processed and direct interactions with other modalities are possible.
{"title":"Incremental speech recognition for multimodal interfaces","authors":"G. Fink, C. Schillo, F. Kummert, G. Sagerer","doi":"10.1109/IECON.1998.724027","DOIUrl":"https://doi.org/10.1109/IECON.1998.724027","url":null,"abstract":"For the development of effective multi-modal man-machine interfaces the incremental generation of speech recognition results is an important prerequisite. On the one hand the system can instantaneously react to the user's intention even while the user is speaking. On the other hand the results of speech recognition can be used to assist the processing of other modalities, e.g, the interpretation of gestures. In this paper we present an incremental speech recognition system embedded in a multi-modal environment. The system is able to incrementally produce word hypotheses in real time. Thus, utterances of arbitrary length can be processed and direct interactions with other modalities are possible.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"32 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":"133450915","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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