Pub Date : 1999-11-29DOI: 10.1109/IECON.1999.816479
Y. Takahashi, S. Ogawa, S. Machida
A power assist wheel chair robot by which a patient can climb over a step up to about 10 cm without a helper is proposed in this paper. A patient can maintain inverse pendulum control of the wheel chair after raising its front wheels. Then, a patient can move to the step maintaining the inverse pendulum control, and can climb over the step using DC motor force. In this paper, the dynamics of the front wheel raising of the wheel chair, the mechanical designs, the control system, the experimental results of the front wheel raising and the inverse pendulum control are presented.
{"title":"Front wheel raising and inverse pendulum control of power assist wheel chair robot","authors":"Y. Takahashi, S. Ogawa, S. Machida","doi":"10.1109/IECON.1999.816479","DOIUrl":"https://doi.org/10.1109/IECON.1999.816479","url":null,"abstract":"A power assist wheel chair robot by which a patient can climb over a step up to about 10 cm without a helper is proposed in this paper. A patient can maintain inverse pendulum control of the wheel chair after raising its front wheels. Then, a patient can move to the step maintaining the inverse pendulum control, and can climb over the step using DC motor force. In this paper, the dynamics of the front wheel raising of the wheel chair, the mechanical designs, the control system, the experimental results of the front wheel raising and the inverse pendulum control are presented.","PeriodicalId":378710,"journal":{"name":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128176755","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 : 1999-11-29DOI: 10.1109/IECON.1999.816473
Xiaolin Ren, Guangrui Hu, Z. Tan
In this paper, the problem of controlling chaos in a chaotic neuron is investigated. Specially, a simpler pulse feedback method is introduced, in which constant pulses are used to control chaos. The authors call this method the constant pulse feedback (CPF) method. The CPF method does not require any a priori knowledge of the dynamics of the system, such as the stable fixed points or unstable periodic orbits. The stability analysis is employed to study the nature of controlling chaos of the CPF method, and then the method is applied to control chaos in a neuron when it is in chaotic state. Both theoretical and numerical results show CPF method can stabilize the neuron state on desired fixed points or periodic orbits efficiently.
{"title":"Controlling chaos in a chaotic neutron","authors":"Xiaolin Ren, Guangrui Hu, Z. Tan","doi":"10.1109/IECON.1999.816473","DOIUrl":"https://doi.org/10.1109/IECON.1999.816473","url":null,"abstract":"In this paper, the problem of controlling chaos in a chaotic neuron is investigated. Specially, a simpler pulse feedback method is introduced, in which constant pulses are used to control chaos. The authors call this method the constant pulse feedback (CPF) method. The CPF method does not require any a priori knowledge of the dynamics of the system, such as the stable fixed points or unstable periodic orbits. The stability analysis is employed to study the nature of controlling chaos of the CPF method, and then the method is applied to control chaos in a neuron when it is in chaotic state. Both theoretical and numerical results show CPF method can stabilize the neuron state on desired fixed points or periodic orbits efficiently.","PeriodicalId":378710,"journal":{"name":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130471276","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 : 1999-11-29DOI: 10.1109/IECON.1999.822237
T. Takahashi, A. Kawamura
A long time is required to solve the inverse kinematics problem by the numerical iterative method (i.e. Newton-Raphson method) if the dimension of the Jacobian matrix becomes large. In this paper a new high speed numerical calculation method (SMJM method: simply modified Jacobian matrix method) to calculate the inverse kinematics of nonredundant manipulators and redundant manipulators are proposed. The calculation time is drastically decreased, by replacing some elements of the Jacobian matrix with zeroes. The Monte Carlo method has been used to verify the advantage of the proposed SMJM method for the 6 link nonredundant manipulator and the 4 link redundant manipulator.
{"title":"High speed numerical calculation method for on-line inverse kinematics of robot manipulators","authors":"T. Takahashi, A. Kawamura","doi":"10.1109/IECON.1999.822237","DOIUrl":"https://doi.org/10.1109/IECON.1999.822237","url":null,"abstract":"A long time is required to solve the inverse kinematics problem by the numerical iterative method (i.e. Newton-Raphson method) if the dimension of the Jacobian matrix becomes large. In this paper a new high speed numerical calculation method (SMJM method: simply modified Jacobian matrix method) to calculate the inverse kinematics of nonredundant manipulators and redundant manipulators are proposed. The calculation time is drastically decreased, by replacing some elements of the Jacobian matrix with zeroes. The Monte Carlo method has been used to verify the advantage of the proposed SMJM method for the 6 link nonredundant manipulator and the 4 link redundant manipulator.","PeriodicalId":378710,"journal":{"name":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127991050","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 : 1999-11-29DOI: 10.1109/IECON.1999.819406
O. Lang, A. Graser
In this paper a new approach for robust visual-servoing in 6 degrees of freedom (DOF) is described. The procedures of image-based visual-servoing provide calibration robust methods for visual control of robots. One of the main problems for visual-servoing with a gripper mounted camera is the variable object size due to camera movements. This leads to very high demands on the object recognition algorithms. Furthermore, with the decrease of the object size in the image, the influence of measurement noise increases. In this paper, an approach using a zoom camera to get constant object sizes during movement is described. Object identification is simplified and the influence of measurement noise is reduced. Because of the variable focal length objects may become invisible by the camera due to gripper movements. Pose control in 6 DOF is used to overcome this problem. The control strategy is divided into the phases exploration, rough-approach, alignment, and fine-approach. Marked objects are introduced to the system by teaching-by-showing. The whole process is calibration robust and therefore suitable for only rough calibrated camera and robot systems. No object knowledge, except the distance of the object to the camera while teaching, is used for adaptation of the system model. The approach and its verification by a simulation is described in this paper.
{"title":"Visual control of 6 DOF robots with constant object size in the image by means of zoom camera","authors":"O. Lang, A. Graser","doi":"10.1109/IECON.1999.819406","DOIUrl":"https://doi.org/10.1109/IECON.1999.819406","url":null,"abstract":"In this paper a new approach for robust visual-servoing in 6 degrees of freedom (DOF) is described. The procedures of image-based visual-servoing provide calibration robust methods for visual control of robots. One of the main problems for visual-servoing with a gripper mounted camera is the variable object size due to camera movements. This leads to very high demands on the object recognition algorithms. Furthermore, with the decrease of the object size in the image, the influence of measurement noise increases. In this paper, an approach using a zoom camera to get constant object sizes during movement is described. Object identification is simplified and the influence of measurement noise is reduced. Because of the variable focal length objects may become invisible by the camera due to gripper movements. Pose control in 6 DOF is used to overcome this problem. The control strategy is divided into the phases exploration, rough-approach, alignment, and fine-approach. Marked objects are introduced to the system by teaching-by-showing. The whole process is calibration robust and therefore suitable for only rough calibrated camera and robot systems. No object knowledge, except the distance of the object to the camera while teaching, is used for adaptation of the system model. The approach and its verification by a simulation is described in this paper.","PeriodicalId":378710,"journal":{"name":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","volume":"157 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128807742","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 : 1999-11-29DOI: 10.1109/IECON.1999.819408
G. Erceg, R. Erceg, T. Idžotić
In the paper digitally based excitation systems for the synchronous brushless generators are presented. A digital control system is realized with a digital signal processor ADSP-2001. System configuration, control functions with their structure functions are also presented. The control system has two feedback loops: the main one is based on a generator's voltage and the inner one based on excitation current of the exciter. Beside basic function of a voltage controller the digital system has some other control functions, like: limits of minimal and maximal exciter current, compensation of the voltage (based on reactive and active current characteristics), voltage/frequency characteristic, and possibility of communicating with higher system levels.
{"title":"Using digital signal processor for excitation system of brushless synchronous generator","authors":"G. Erceg, R. Erceg, T. Idžotić","doi":"10.1109/IECON.1999.819408","DOIUrl":"https://doi.org/10.1109/IECON.1999.819408","url":null,"abstract":"In the paper digitally based excitation systems for the synchronous brushless generators are presented. A digital control system is realized with a digital signal processor ADSP-2001. System configuration, control functions with their structure functions are also presented. The control system has two feedback loops: the main one is based on a generator's voltage and the inner one based on excitation current of the exciter. Beside basic function of a voltage controller the digital system has some other control functions, like: limits of minimal and maximal exciter current, compensation of the voltage (based on reactive and active current characteristics), voltage/frequency characteristic, and possibility of communicating with higher system levels.","PeriodicalId":378710,"journal":{"name":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","volume":"263 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123203304","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 : 1999-11-29DOI: 10.1109/IECON.1999.816499
X. Sun, Dehong Xu, F. Leung, Yousheng Wang, Yim-Shu Lee
A low-cost analog neural network control scheme for the inverters of uninterruptible power supplies (UPS) is proposed to achieve low total harmonic distortion (THD) output voltage and good dynamic response. Such a scheme is based on a learning control law from representative example patterns obtained from two simulation models. One is a multiple-feedback-loop controller for linear loads, and the other is a novel, idealized load-current-feedback controller specially designed for nonlinear loads. Example patterns for various loading conditions are used in the offline training of a selected neural network. When the training is completed, the neural network is used to control the UPS inverter online. A simple analog hardware is built to implement the proposed neural network controller; an optimized PI controller is built as well. Experimental results show that the proposed neural network-controlled inverter achieves lower THD and better dynamic response than the PI-controlled inverter does.
{"title":"Design and implementation of a neural-network-controlled UPS inverter","authors":"X. Sun, Dehong Xu, F. Leung, Yousheng Wang, Yim-Shu Lee","doi":"10.1109/IECON.1999.816499","DOIUrl":"https://doi.org/10.1109/IECON.1999.816499","url":null,"abstract":"A low-cost analog neural network control scheme for the inverters of uninterruptible power supplies (UPS) is proposed to achieve low total harmonic distortion (THD) output voltage and good dynamic response. Such a scheme is based on a learning control law from representative example patterns obtained from two simulation models. One is a multiple-feedback-loop controller for linear loads, and the other is a novel, idealized load-current-feedback controller specially designed for nonlinear loads. Example patterns for various loading conditions are used in the offline training of a selected neural network. When the training is completed, the neural network is used to control the UPS inverter online. A simple analog hardware is built to implement the proposed neural network controller; an optimized PI controller is built as well. Experimental results show that the proposed neural network-controlled inverter achieves lower THD and better dynamic response than the PI-controlled inverter does.","PeriodicalId":378710,"journal":{"name":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","volume":"735 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122942030","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 : 1999-11-29DOI: 10.1109/IECON.1999.822193
A. Hirota, S. Nagai, M. Nakaoka
A delta-sigma modulator is effectively utilized as a PWM pattern generator for high-frequency switching mode inverters. However, in the case that it is applied for voltage source chopper type DC-DC converters, it is noted that the significant features cannot be achieved and implemented. The authors propose a novel delta-sigma modulation circuit which alters a quantized feedback signal to a continuous signal of a DC-DC converter output. If the ripple voltage of the input side DC source exists in practice, a fluctuation in the feedback signal is produced. As a result, the proposed delta-sigma modulator has the inherent nature of spread spectrum. Furthermore, the delta-sigma modulated converter circuit can be considered as an error amplifier, and automatic amplitude control characteristics will be implemented in this converter.
{"title":"A novel delta-sigma modulated DC-DC power converter operating under DC ripple voltage","authors":"A. Hirota, S. Nagai, M. Nakaoka","doi":"10.1109/IECON.1999.822193","DOIUrl":"https://doi.org/10.1109/IECON.1999.822193","url":null,"abstract":"A delta-sigma modulator is effectively utilized as a PWM pattern generator for high-frequency switching mode inverters. However, in the case that it is applied for voltage source chopper type DC-DC converters, it is noted that the significant features cannot be achieved and implemented. The authors propose a novel delta-sigma modulation circuit which alters a quantized feedback signal to a continuous signal of a DC-DC converter output. If the ripple voltage of the input side DC source exists in practice, a fluctuation in the feedback signal is produced. As a result, the proposed delta-sigma modulator has the inherent nature of spread spectrum. Furthermore, the delta-sigma modulated converter circuit can be considered as an error amplifier, and automatic amplitude control characteristics will be implemented in this converter.","PeriodicalId":378710,"journal":{"name":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126405583","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 : 1999-11-29DOI: 10.1109/IECON.1999.822236
S. Alfs, O. Ivlev, C. Martens, A. Graser
A simulation tool for designing and testing control devices for advanced robots with an arbitrary number of redundant joints is presented. The novel real-time suitable control technology, called kinematic configuration control, bases on a new approach of resolving redundancy. For redundant manipulators with practical relevant regular kinematic chains, the approach allows to obtain a closed-form solution of the inverse kinematics, as for common nonredundant industrial robots. These offline evaluated symbolic inverse functions need low online computing power. Therefore also controllers for dexterous robots with high degree of redundancy can be implemented on low-cost consumer computer. The described PC-based simulator supports the design of this kind of controller. During a simulation process, the algorithm-specified parameters of inverse functions are optimized. The control algorithm is formed as a separate controller module. After verification it can be effortlessly transferred into a real robot control device.
{"title":"Simulation tool for kinematic configuration control technology for dexterous robots","authors":"S. Alfs, O. Ivlev, C. Martens, A. Graser","doi":"10.1109/IECON.1999.822236","DOIUrl":"https://doi.org/10.1109/IECON.1999.822236","url":null,"abstract":"A simulation tool for designing and testing control devices for advanced robots with an arbitrary number of redundant joints is presented. The novel real-time suitable control technology, called kinematic configuration control, bases on a new approach of resolving redundancy. For redundant manipulators with practical relevant regular kinematic chains, the approach allows to obtain a closed-form solution of the inverse kinematics, as for common nonredundant industrial robots. These offline evaluated symbolic inverse functions need low online computing power. Therefore also controllers for dexterous robots with high degree of redundancy can be implemented on low-cost consumer computer. The described PC-based simulator supports the design of this kind of controller. During a simulation process, the algorithm-specified parameters of inverse functions are optimized. The control algorithm is formed as a separate controller module. After verification it can be effortlessly transferred into a real robot control device.","PeriodicalId":378710,"journal":{"name":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114211379","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 : 1999-11-29DOI: 10.1109/IECON.1999.819447
Ren C. Luo, Pao-Ta Yu, Yih-Fang Lin, H. Leong
Slicing is one of the important procedures of rapid prototyping. It affects the time of the production directly. This paper describes how the slicing algorithm works. The authors first scan the model data of the 3D CAD model, and then detect the support feature according to the model data. The slicing algorithm they have developed is a fast, accurate and reliable slicing process for the application of a rapid prototyping system.
{"title":"Efficient 3D CAD model slicing for rapid prototyping manufacturing systems","authors":"Ren C. Luo, Pao-Ta Yu, Yih-Fang Lin, H. Leong","doi":"10.1109/IECON.1999.819447","DOIUrl":"https://doi.org/10.1109/IECON.1999.819447","url":null,"abstract":"Slicing is one of the important procedures of rapid prototyping. It affects the time of the production directly. This paper describes how the slicing algorithm works. The authors first scan the model data of the 3D CAD model, and then detect the support feature according to the model data. The slicing algorithm they have developed is a fast, accurate and reliable slicing process for the application of a rapid prototyping system.","PeriodicalId":378710,"journal":{"name":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127014451","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 : 1999-11-29DOI: 10.1109/IECON.1999.816475
L. Gerbaud, J. Bigeon, A. Bolopion, B.B. Habib
The paper deals with the building and use of symbolic models for the sizing of static converters. After a presentation of a way to use such a model in an optimisation process for sizing, the paper presents the structure chosen for the sizing model. Such a model is characterised by coherence criteria and generic criteria that can be defined automatically, specific criteria defined by the user and an objective function to achieve. Then, the cautions in using such a model, mainly its numerical instabilities, are discussed and a way to solve them is proposed. After, the paper presents the computer implementation of the model builders. Finally, it illustrates the approach with an example.
{"title":"A symbolic model including numerical aspects for the constrained sizing of static converters","authors":"L. Gerbaud, J. Bigeon, A. Bolopion, B.B. Habib","doi":"10.1109/IECON.1999.816475","DOIUrl":"https://doi.org/10.1109/IECON.1999.816475","url":null,"abstract":"The paper deals with the building and use of symbolic models for the sizing of static converters. After a presentation of a way to use such a model in an optimisation process for sizing, the paper presents the structure chosen for the sizing model. Such a model is characterised by coherence criteria and generic criteria that can be defined automatically, specific criteria defined by the user and an objective function to achieve. Then, the cautions in using such a model, mainly its numerical instabilities, are discussed and a way to solve them is proposed. After, the paper presents the computer implementation of the model builders. Finally, it illustrates the approach with an example.","PeriodicalId":378710,"journal":{"name":"IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)","volume":"123 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133408768","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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