Pub Date : 1998-08-31DOI: 10.1109/IECON.1998.722848
F. Arrebola, C. Urdiales, P. Camacho, F. Sandoval
In this paper, the authors present a foveal active vision system. It is capable of moving and fixating the fovea to any region of a scene, detecting its most relevant areas to extract certain features of these regions of interest. The system conducts a segmentation of the image, detects the possible existing objects in the scene, obtains hierarchically a set of features for each detected object-centroid, area, bounding box and grey level and extracts the corners of the object contained in the fovea. This system is going to be integrated in an autonomous mobile agent, so it is important to process each object in the optimal resolution level to minimise computational load and time requirements. The most important novelty of the system is the use of reconfigurable shifted fovea retinotopologies, also including a new algorithm capable of obtaining a curvature function by means of local histograms of the contour chain code to reliably calculate the stable corners of the contour of the objects.
{"title":"Vision system based on shifted fovea multiresolution retinotopologies","authors":"F. Arrebola, C. Urdiales, P. Camacho, F. Sandoval","doi":"10.1109/IECON.1998.722848","DOIUrl":"https://doi.org/10.1109/IECON.1998.722848","url":null,"abstract":"In this paper, the authors present a foveal active vision system. It is capable of moving and fixating the fovea to any region of a scene, detecting its most relevant areas to extract certain features of these regions of interest. The system conducts a segmentation of the image, detects the possible existing objects in the scene, obtains hierarchically a set of features for each detected object-centroid, area, bounding box and grey level and extracts the corners of the object contained in the fovea. This system is going to be integrated in an autonomous mobile agent, so it is important to process each object in the optimal resolution level to minimise computational load and time requirements. The most important novelty of the system is the use of reconfigurable shifted fovea retinotopologies, also including a new algorithm capable of obtaining a curvature function by means of local histograms of the contour chain code to reliably calculate the stable corners of the contour of the objects.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"6 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":"132105420","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.1998.724172
D. Gebler, J. Holtz
High-performance position control can be improved by the compensation of gear backlash. This paper presents a compensation method that does not need an output position sensor. In the first section, two different methods of on-system backlash identification are described. One method is based on dynamic reaction to a small torque impulse injected by the motor, while the other analyses the change of torque at the end of the backlash dead zone in a quasi-stationary trajectory. The second section of the paper deals with backlash compensation. Based on the identified value of backlash, the angular error of the output shaft is reduced. A self-learning time-optimal control method is described. Experimental measurements demonstrate the excellent performance and accuracy of the compensated system.
{"title":"Identification and compensation of gear backlash without output position sensor in high-precision servo systems","authors":"D. Gebler, J. Holtz","doi":"10.1109/IECON.1998.724172","DOIUrl":"https://doi.org/10.1109/IECON.1998.724172","url":null,"abstract":"High-performance position control can be improved by the compensation of gear backlash. This paper presents a compensation method that does not need an output position sensor. In the first section, two different methods of on-system backlash identification are described. One method is based on dynamic reaction to a small torque impulse injected by the motor, while the other analyses the change of torque at the end of the backlash dead zone in a quasi-stationary trajectory. The second section of the paper deals with backlash compensation. Based on the identified value of backlash, the angular error of the output shaft is reduced. A self-learning time-optimal control method is described. Experimental measurements demonstrate the excellent performance and accuracy of the compensated system.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"10 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":"131438404","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.1998.724037
M. Stohr, J. Dunker, G. Hartmann
The authors describe a view based 3D recognition system providing recognition and pose estimation of holistically learnt objects. Recognition is based upon biologically motivated contour representations providing tolerance against minor perspective distortions. According to this tolerance, interpolation between different views is implicitly given, and only a small set of prototypical normalized views must be learnt. An active camera fixating the object eliminates two translatory degrees of freedom, while normalization of views eliminates distance and rotation with respect to the camera-axis. So one has to find a set of normalized prototypical views covering completely the view sphere for recognition purposes. A simple heuristic is able to select an almost optimal set of views, which can further be improved using stochastic optimization methods. During recognition the tolerant, normalized representation of a presented object is compared with the prototypes. The best matching prototypes not only provide hypotheses of the object but also give a first estimation of the object pose. A high resolution pose estimation and a precise verification are also possible, if an additional set of reference vectors for the estimation of the view direction is learnt.
{"title":"Optimized holistic 3D object recognition based on tolerant contour representations","authors":"M. Stohr, J. Dunker, G. Hartmann","doi":"10.1109/IECON.1998.724037","DOIUrl":"https://doi.org/10.1109/IECON.1998.724037","url":null,"abstract":"The authors describe a view based 3D recognition system providing recognition and pose estimation of holistically learnt objects. Recognition is based upon biologically motivated contour representations providing tolerance against minor perspective distortions. According to this tolerance, interpolation between different views is implicitly given, and only a small set of prototypical normalized views must be learnt. An active camera fixating the object eliminates two translatory degrees of freedom, while normalization of views eliminates distance and rotation with respect to the camera-axis. So one has to find a set of normalized prototypical views covering completely the view sphere for recognition purposes. A simple heuristic is able to select an almost optimal set of views, which can further be improved using stochastic optimization methods. During recognition the tolerant, normalized representation of a presented object is compared with the prototypes. The best matching prototypes not only provide hypotheses of the object but also give a first estimation of the object pose. A high resolution pose estimation and a precise verification are also possible, if an additional set of reference vectors for the estimation of the view direction is learnt.","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":"131682208","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.1998.724033
U. Buker
This paper concentrates on object models for the recognition of complex three-dimensional objects with a robot vision system. After giving a short overview on existing approaches, some demands on object models for robot vision systems are formulated. Afterwards, an approach of hybrid object models that fulfils all of these demands is presented. These hybrid models integrate neurobiologically motivated object representations by model neurons similar to complex cortical cells and the explicit representation of objects by semantic networks, a well known methodology in the field of symbolic artificial intelligence. Thereby, one can combine the attribute of robustness and fault tolerance of neural networks with the well structured design of symbolic processing. Additionally, the procedural interface of semantic networks allows the development of active vision systems and the implementation of reliable recognition on the basis of multiple viewpoints.
{"title":"Hybrid object models for robot vision","authors":"U. Buker","doi":"10.1109/IECON.1998.724033","DOIUrl":"https://doi.org/10.1109/IECON.1998.724033","url":null,"abstract":"This paper concentrates on object models for the recognition of complex three-dimensional objects with a robot vision system. After giving a short overview on existing approaches, some demands on object models for robot vision systems are formulated. Afterwards, an approach of hybrid object models that fulfils all of these demands is presented. These hybrid models integrate neurobiologically motivated object representations by model neurons similar to complex cortical cells and the explicit representation of objects by semantic networks, a well known methodology in the field of symbolic artificial intelligence. Thereby, one can combine the attribute of robustness and fault tolerance of neural networks with the well structured design of symbolic processing. Additionally, the procedural interface of semantic networks allows the development of active vision systems and the implementation of reliable recognition on the basis of multiple viewpoints.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"30 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":"131683626","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.1998.724003
S. Shinnaka
This paper presents a new scheme of adaptive vector control for inverter-fed induction motors, which can identify crucial motor parameters in a real-time manner. The total system has a novel configuration consisting of two subsystems, a vector control system in the synchronous frame and an adaptive identification system in the stationary frame. The proposed adaptive identification system is new and can adaptively and simultaneously identify two motor parameters varying dynamically with temperature, magnetic saturation or motor faults, which are related directly with control performance and possibly with real-time motor fault detection and diagnosis. High performance of the proposed scheme is verified through practical evaluation tests of the adaptive vector control system. Variation of torque generated by the system to motor frame temperature variation of about 50/spl deg/C is only 0.5%. Linearity of torque generation up to 300% of torque rating is ensured. Deviation from ideal response is almost constant up to 300% of torque rating, whose magnitude is only about 1% of torque rating. Inverse of rotor time constant, which is one of the identified parameters for high control performance, seems to present also straight and valuable information on rotor-bar breaks where rotor resistance increases, inductance decreases and consequently the change of inverse of rotor time constant as their ratio is much enhanced.
{"title":"New adaptive vector control for induction motors and its potential application for motor fault detection","authors":"S. Shinnaka","doi":"10.1109/IECON.1998.724003","DOIUrl":"https://doi.org/10.1109/IECON.1998.724003","url":null,"abstract":"This paper presents a new scheme of adaptive vector control for inverter-fed induction motors, which can identify crucial motor parameters in a real-time manner. The total system has a novel configuration consisting of two subsystems, a vector control system in the synchronous frame and an adaptive identification system in the stationary frame. The proposed adaptive identification system is new and can adaptively and simultaneously identify two motor parameters varying dynamically with temperature, magnetic saturation or motor faults, which are related directly with control performance and possibly with real-time motor fault detection and diagnosis. High performance of the proposed scheme is verified through practical evaluation tests of the adaptive vector control system. Variation of torque generated by the system to motor frame temperature variation of about 50/spl deg/C is only 0.5%. Linearity of torque generation up to 300% of torque rating is ensured. Deviation from ideal response is almost constant up to 300% of torque rating, whose magnitude is only about 1% of torque rating. Inverse of rotor time constant, which is one of the identified parameters for high control performance, seems to present also straight and valuable information on rotor-bar breaks where rotor resistance increases, inductance decreases and consequently the change of inverse of rotor time constant as their ratio is much enhanced.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"85 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":"115538828","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.1998.722876
D. Grenier, S. Yala, O. Akhrif, L. Dessaint
In this paper, the authors present a direct torque control scheme for a permanent-magnet (PM) AC motor. For this purpose, state feedback input-output linearization techniques are used with a systematic way of selecting outputs in such a way that not only the torque-voltage (or speed-voltage and position-voltage if necessary) relationship is linearized but a physical criterion is optimized (the minimization of copper losses for example). This strategy can be applied to various types of motors, such as brushless DC motors and PM stepper motors, and can also be seen as method to extend the Park's transformation. Simulations show the high performances of the proposed direct torque control scheme.
{"title":"Direct torque control of PM AC motor with non-sinusoidal flux distribution using state-feedback linearization techniques","authors":"D. Grenier, S. Yala, O. Akhrif, L. Dessaint","doi":"10.1109/IECON.1998.722876","DOIUrl":"https://doi.org/10.1109/IECON.1998.722876","url":null,"abstract":"In this paper, the authors present a direct torque control scheme for a permanent-magnet (PM) AC motor. For this purpose, state feedback input-output linearization techniques are used with a systematic way of selecting outputs in such a way that not only the torque-voltage (or speed-voltage and position-voltage if necessary) relationship is linearized but a physical criterion is optimized (the minimization of copper losses for example). This strategy can be applied to various types of motors, such as brushless DC motors and PM stepper motors, and can also be seen as method to extend the Park's transformation. Simulations show the high performances of the proposed direct torque control scheme.","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":"114415289","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.1998.722927
I. Jenayeh, F. Simon, H. Rake
In this paper, a microcontroller-based digital feedback control of a positioning device for a ventilation machine is presented. This kind of machine allows either volume- or pressure-based controlled ventilation. The interdependence between both important physiological variables, respiration volume and lung pressure, is highlighted and the requirements for the control system are discussed in this paper. Based on a mathematical model for the respiration device and the characteristics of the patient lung, a feedback control concept for both respiration modes is developed and is presented. To sum up, some simulation results are also shown.
{"title":"Digital feedback control of a volume- or pressure-based ventilation device","authors":"I. Jenayeh, F. Simon, H. Rake","doi":"10.1109/IECON.1998.722927","DOIUrl":"https://doi.org/10.1109/IECON.1998.722927","url":null,"abstract":"In this paper, a microcontroller-based digital feedback control of a positioning device for a ventilation machine is presented. This kind of machine allows either volume- or pressure-based controlled ventilation. The interdependence between both important physiological variables, respiration volume and lung pressure, is highlighted and the requirements for the control system are discussed in this paper. Based on a mathematical model for the respiration device and the characteristics of the patient lung, a feedback control concept for both respiration modes is developed and is presented. To sum up, some simulation results are also shown.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"242 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":"114937425","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.1998.724079
B. Kattentidt
The automotive industry will produce and will offer electric motor vehicles (EV) in the future increasingly. This is necessary because of mineral oil energy resources coming to end. Furthermore, this is initiated by the "clean-air-act" in California. This essay analyzes the market chances of the electric vehicle with the aid of a survey via vehicle drives (conventionally, in hybrid form and electrically). A qualitative comparison of electric vehicle designs among each another and to vehicles with combustion engines (ICE) is made. An optimization of the mechatronical drive system considering the life-cycle costs (energy consumption) and the drive characteristics as well as customer expectations is made. For the electrical motor in the overall electric motor vehicle system, a specific optimization regulation is given.
{"title":"Intelligent electromechanical drive systems for motor cars","authors":"B. Kattentidt","doi":"10.1109/IECON.1998.724079","DOIUrl":"https://doi.org/10.1109/IECON.1998.724079","url":null,"abstract":"The automotive industry will produce and will offer electric motor vehicles (EV) in the future increasingly. This is necessary because of mineral oil energy resources coming to end. Furthermore, this is initiated by the \"clean-air-act\" in California. This essay analyzes the market chances of the electric vehicle with the aid of a survey via vehicle drives (conventionally, in hybrid form and electrically). A qualitative comparison of electric vehicle designs among each another and to vehicles with combustion engines (ICE) is made. An optimization of the mechatronical drive system considering the life-cycle costs (energy consumption) and the drive characteristics as well as customer expectations is made. For the electrical motor in the overall electric motor vehicle system, a specific optimization regulation is given.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"17 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":"117030013","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.1998.723955
A. Manuel, R. Ramos, J.A. Gomez, S. Gomáriz, X. Roset, A. Garrido
The work reported here presents a virtual instrument (VI) for total harmonic distortion (THD) measurement index with a high accuracy, this is due to the use of high characteristics windows and DFT (discrete Fourier transform) interpolation algorithms are specially interesting in power switching supplies measurements. In the PWM switching regulators frequency characterization the stimulus signal amplitude has to be small enough to keep the converter in its linear region of operation, but it has to be also large enough to be distinguishable from the random noise. This VI allows the amplitude and frequency range obtention. The THD generated by a nonlinear load in the power distribution system can be measured by this VI. The THD generated in the power distribution system by a flyback DC-DC switching converters has been measured.
{"title":"Virtual instrumentation for power supply harmonic measurement","authors":"A. Manuel, R. Ramos, J.A. Gomez, S. Gomáriz, X. Roset, A. Garrido","doi":"10.1109/IECON.1998.723955","DOIUrl":"https://doi.org/10.1109/IECON.1998.723955","url":null,"abstract":"The work reported here presents a virtual instrument (VI) for total harmonic distortion (THD) measurement index with a high accuracy, this is due to the use of high characteristics windows and DFT (discrete Fourier transform) interpolation algorithms are specially interesting in power switching supplies measurements. In the PWM switching regulators frequency characterization the stimulus signal amplitude has to be small enough to keep the converter in its linear region of operation, but it has to be also large enough to be distinguishable from the random noise. This VI allows the amplitude and frequency range obtention. The THD generated by a nonlinear load in the power distribution system can be measured by this VI. The THD generated in the power distribution system by a flyback DC-DC switching converters has been measured.","PeriodicalId":377136,"journal":{"name":"IECON '98. Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.98CH36200)","volume":"47 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":"116281624","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.1998.724104
H. Diener, U. Kothe, B. Ristow, M. Schreyer, U. Stelbe
A basic system for the acquisition, reconstruction and simulation of real objects (ERSO) is presented. The authors' approach is to combine the knowledge of different research areas as photogrammetric, computer graphics and computer vision to develop new techniques for generating three-dimensional models from images. The first two sections give an introduction and overview of the system architecture. The following sections describe in more detail the different parts of the reconstruction process.
{"title":"ERSO-acquisition, reconstruction and simulation of real objects","authors":"H. Diener, U. Kothe, B. Ristow, M. Schreyer, U. Stelbe","doi":"10.1109/IECON.1998.724104","DOIUrl":"https://doi.org/10.1109/IECON.1998.724104","url":null,"abstract":"A basic system for the acquisition, reconstruction and simulation of real objects (ERSO) is presented. The authors' approach is to combine the knowledge of different research areas as photogrammetric, computer graphics and computer vision to develop new techniques for generating three-dimensional models from images. The first two sections give an introduction and overview of the system architecture. The following sections describe in more detail the different parts of the reconstruction process.","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":"121970205","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：