Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5552014
Q. Duan, J.L. Du, B. Duan, Tj Li, A. Tang
A steady-state dynamic model for a cable in air is put forward by using some tensor relations. For the dynamic motion of a long-span Cable Driven Parallel Robot (CDPR) system, a driven cable deployment and retrieval mathematical model of CDPR is developed by employing lumped mass method. The boundary condition of cable and initial values of equations is founded, The partial differential governing equation of each cable is thus transformed into a set of ordinary differential equations, which can be solved by adaptive Runge-Kutta algorithm. Simulation examples verify the effectiveness of the mathematical model of variable length CDPR.
{"title":"Modeling of variable length Cable Driven Parallel Robot","authors":"Q. Duan, J.L. Du, B. Duan, Tj Li, A. Tang","doi":"10.1109/MESA.2010.5552014","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552014","url":null,"abstract":"A steady-state dynamic model for a cable in air is put forward by using some tensor relations. For the dynamic motion of a long-span Cable Driven Parallel Robot (CDPR) system, a driven cable deployment and retrieval mathematical model of CDPR is developed by employing lumped mass method. The boundary condition of cable and initial values of equations is founded, The partial differential governing equation of each cable is thus transformed into a set of ordinary differential equations, which can be solved by adaptive Runge-Kutta algorithm. Simulation examples verify the effectiveness of the mathematical model of variable length CDPR.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121261989","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552034
Takeyuki Kodama, Yudai Suzuki, Shinji Chiba
Embedded systems are applied in various products and the demand for them is very high. However, there is shortfall in human resources of embedded system engineers in Japan. For this reason, we conduct training courses based on the e-learning system to promote embedded system engineering education. For these courses, we have developed a remote practice system to support the participants of the training course do self-learning. The participants can check own software design and digital hardware designs using this system on the Internet. We conducted some training courses using this educational system and evaluated the results.
{"title":"Development of a remote practice system for embedded system education","authors":"Takeyuki Kodama, Yudai Suzuki, Shinji Chiba","doi":"10.1109/MESA.2010.5552034","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552034","url":null,"abstract":"Embedded systems are applied in various products and the demand for them is very high. However, there is shortfall in human resources of embedded system engineers in Japan. For this reason, we conduct training courses based on the e-learning system to promote embedded system engineering education. For these courses, we have developed a remote practice system to support the participants of the training course do self-learning. The participants can check own software design and digital hardware designs using this system on the Internet. We conducted some training courses using this educational system and evaluated the results.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128074793","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552016
J. Nielsen, Levi Rock, Brad Rogers, Andrew Dalia, Joshua Adams, Y. Chen
Using cyber-physical systems to emulate complex social structures is an emerging field, with interesting applications. Such social structures can be used to better understand insect, animal, or even human populations. Additionally, these structures can be used to implement dynamic team work and problem-solving capabilities within autonomous agents. This research explores two separate experiment types in order to implement complex social systems using simple, individual behaviors. First, a situation in which a team of agents works together to locate another agent that is trying to evade capture; second, an agent is presented with a network of mobile defense units that are unaware of its presence- it must intelligently avoid detection and reach its goal using analyzing the distribution of the defense units.
{"title":"Automated social coordination of cyber-physical systems with mobile actuator and sensor networks","authors":"J. Nielsen, Levi Rock, Brad Rogers, Andrew Dalia, Joshua Adams, Y. Chen","doi":"10.1109/MESA.2010.5552016","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552016","url":null,"abstract":"Using cyber-physical systems to emulate complex social structures is an emerging field, with interesting applications. Such social structures can be used to better understand insect, animal, or even human populations. Additionally, these structures can be used to implement dynamic team work and problem-solving capabilities within autonomous agents. This research explores two separate experiment types in order to implement complex social systems using simple, individual behaviors. First, a situation in which a team of agents works together to locate another agent that is trying to evade capture; second, an agent is presented with a network of mobile defense units that are unaware of its presence- it must intelligently avoid detection and reach its goal using analyzing the distribution of the defense units.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"439 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134098265","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552011
A. Synodinos, N. Aspragathos
This paper presents a systematic approach for structuring potential fields in the free workspace of a mobile robot based on solid modeling concepts. The robot is considered as a solid object with volume and mass inside an artificial potential field which represents the free space. The applied force and torque to the robot is determined in order to find the direction and the magnitude of the translation and the angle of rotation respectively. A search method based on a modified simulated annealing is introduced to determine the path from the initial to the goal configuration where the robot is guided to the global minimum of the potential field avoiding the trap in local minima. Simulated experiments show the efficiency of the proposed approach and the paper concludes with the discussion of the results and hints for future work.
{"title":"Path planning of a mobile robot using solid modeling techniques on potential fields","authors":"A. Synodinos, N. Aspragathos","doi":"10.1109/MESA.2010.5552011","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552011","url":null,"abstract":"This paper presents a systematic approach for structuring potential fields in the free workspace of a mobile robot based on solid modeling concepts. The robot is considered as a solid object with volume and mass inside an artificial potential field which represents the free space. The applied force and torque to the robot is determined in order to find the direction and the magnitude of the translation and the angle of rotation respectively. A search method based on a modified simulated annealing is introduced to determine the path from the initial to the goal configuration where the robot is guided to the global minimum of the potential field avoiding the trap in local minima. Simulated experiments show the efficiency of the proposed approach and the paper concludes with the discussion of the results and hints for future work.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131882991","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552095
Yan Li, H. Sheng, Y. Chen
In this paper, we derive the impulse response of the fractional distributed order low-pass filters. Based on the derived analytical impulse response, a method on how to perform the discretization of the above distributed order low-pass filters is presented. Time and frequency domains illustrations are provided.
{"title":"On distributed order low-pass filter","authors":"Yan Li, H. Sheng, Y. Chen","doi":"10.1109/MESA.2010.5552095","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552095","url":null,"abstract":"In this paper, we derive the impulse response of the fractional distributed order low-pass filters. Based on the derived analytical impulse response, a method on how to perform the discretization of the above distributed order low-pass filters is presented. Time and frequency domains illustrations are provided.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114103068","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552077
K. Katuri, M. Ramasubramanian, S. Asrani
In glaucoma patients, intraocular pressure (IOP) is a parameter that plays significant role in disease diagnosis and treatment. Continuous IOP measurements could help capture fluctuations in IOP that are found to be relevant to disease progression. In this paper, an implantable surface micromachined capacitive pressure sensor that can be used as a part of LC tank implant circuit is discussed. A three layer Polysilicon process was used for sensor fabrication. A preliminary study on sensor coil is also presented.
{"title":"A surface micromachined capacitive pressure sensor for intraocular pressure measurement","authors":"K. Katuri, M. Ramasubramanian, S. Asrani","doi":"10.1109/MESA.2010.5552077","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552077","url":null,"abstract":"In glaucoma patients, intraocular pressure (IOP) is a parameter that plays significant role in disease diagnosis and treatment. Continuous IOP measurements could help capture fluctuations in IOP that are found to be relevant to disease progression. In this paper, an implantable surface micromachined capacitive pressure sensor that can be used as a part of LC tank implant circuit is discussed. A three layer Polysilicon process was used for sensor fabrication. A preliminary study on sensor coil is also presented.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117160162","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552042
Ling Ma, Youmin Zhang
Fault tolerant control system (FTCS) is to maintain system stability in the presence of fault occurred in the actuators, sensors or other system components. When a fault/failure occurs either in an actuator, sensor or plant, the fault detection and diagnosis (FDD) as the central part of a FTCS will detect and diagnose the source and the magnitude of the fault. The reconfiguration scheme in the FTCS will design the reconfigurable controller based on the FDD information to balance and adapt the system for being able to tolerate to the faults and failures. This paper presents an applicable procedure of integrated fault detection and diagnosis for the NASA Generic Transport Model (GTM) unmanned aerial vehicle (UAV) aircraft model. The implementation of a FDD scheme in handling partial control effector fault cases with the nonlinear GTM and the linear parameter varying (LPV) representation of the nonlinear GTM have been carried out based on a dual unscented Kalman filter (DUKF) and a Baysian rule for detection and isolation decision making. Simulation results show satisfactory results for detecting and diagnosing the control effectors failures.
{"title":"DUKF-based GTM UAV fault detection and diagnosis with nonlinear and LPV models","authors":"Ling Ma, Youmin Zhang","doi":"10.1109/MESA.2010.5552042","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552042","url":null,"abstract":"Fault tolerant control system (FTCS) is to maintain system stability in the presence of fault occurred in the actuators, sensors or other system components. When a fault/failure occurs either in an actuator, sensor or plant, the fault detection and diagnosis (FDD) as the central part of a FTCS will detect and diagnose the source and the magnitude of the fault. The reconfiguration scheme in the FTCS will design the reconfigurable controller based on the FDD information to balance and adapt the system for being able to tolerate to the faults and failures. This paper presents an applicable procedure of integrated fault detection and diagnosis for the NASA Generic Transport Model (GTM) unmanned aerial vehicle (UAV) aircraft model. The implementation of a FDD scheme in handling partial control effector fault cases with the nonlinear GTM and the linear parameter varying (LPV) representation of the nonlinear GTM have been carried out based on a dual unscented Kalman filter (DUKF) and a Baysian rule for detection and isolation decision making. Simulation results show satisfactory results for detecting and diagnosing the control effectors failures.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"373 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128095329","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552068
F. Schupfer, Jiong Ou, P. Brunmayr, C. Grimm
In recent times the trend in system engineering goes towards system modeling and analysis at higher abstraction levels. This provides the major advantage of simplifying the procedure of design reuse and simultaneously allows an abstracted possibility of a joint system evaluation in respect of certain design parameters. Traditionally MATLAB/SIMULINK has been chosen for an abstracted examination of the implemented algorithm. This approach lacks a correlation to the actual available hardware components which finally should implement the functionality. To reduce this modeling gap the presented approach chose SystemC as modeling language allowing a closer consideration of the underlying platform during the system/algorithm modeling process. This simulation model is following expanded by performance parameters provided from an Instruction Set Simulator and a High Level Synthesis tool, respectively. By utilizing this additional information, metrics for an optimum algorithm partitioning are deduced. In the second part of the paper, a practical example is presented and exemplarily implemented to show its suitability in such a high level design process.
{"title":"Performance guided high level algorithm partitioning","authors":"F. Schupfer, Jiong Ou, P. Brunmayr, C. Grimm","doi":"10.1109/MESA.2010.5552068","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552068","url":null,"abstract":"In recent times the trend in system engineering goes towards system modeling and analysis at higher abstraction levels. This provides the major advantage of simplifying the procedure of design reuse and simultaneously allows an abstracted possibility of a joint system evaluation in respect of certain design parameters. Traditionally MATLAB/SIMULINK has been chosen for an abstracted examination of the implemented algorithm. This approach lacks a correlation to the actual available hardware components which finally should implement the functionality. To reduce this modeling gap the presented approach chose SystemC as modeling language allowing a closer consideration of the underlying platform during the system/algorithm modeling process. This simulation model is following expanded by performance parameters provided from an Instruction Set Simulator and a High Level Synthesis tool, respectively. By utilizing this additional information, metrics for an optimum algorithm partitioning are deduced. In the second part of the paper, a practical example is presented and exemplarily implemented to show its suitability in such a high level design process.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130271733","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552006
Dongfeng Wang, Xiao-yan Wang, P. Han
Derivative order introduced by non-integer differentiation and integration concept constitutes an additional degree of freedom allowing a more accurate modeling of several physical phenomena. At the same time its complexity coming from the character of history dependence and universe mutuality makes the identification process more difficult. According to the dynamic characteristics of some typical thermal processes such as drum water level, main steam temperature and bed temperature of a 450 t/h circulating fluidized bed boiler, a kind of fractional transfer function is designed. Particle Swarm Optimization (PSO) is used to estimate the parameters include the order and the coefficients. The fitness function is the Integral of Squared Errors (ISE) between the output of actual system and the model identified. The data used for the calculations are step response data collected from a power plant. Simulation results show that the proposed scheme offers a higher degree of accuracy, compared with integral models which are obtained with the same method.
{"title":"Identification of thermal process using fractional-order transfer function based on intelligent optimization","authors":"Dongfeng Wang, Xiao-yan Wang, P. Han","doi":"10.1109/MESA.2010.5552006","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552006","url":null,"abstract":"Derivative order introduced by non-integer differentiation and integration concept constitutes an additional degree of freedom allowing a more accurate modeling of several physical phenomena. At the same time its complexity coming from the character of history dependence and universe mutuality makes the identification process more difficult. According to the dynamic characteristics of some typical thermal processes such as drum water level, main steam temperature and bed temperature of a 450 t/h circulating fluidized bed boiler, a kind of fractional transfer function is designed. Particle Swarm Optimization (PSO) is used to estimate the parameters include the order and the coefficients. The fitness function is the Integral of Squared Errors (ISE) between the output of actual system and the model identified. The data used for the calculations are step response data collected from a power plant. Simulation results show that the proposed scheme offers a higher degree of accuracy, compared with integral models which are obtained with the same method.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127273389","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 : 2010-07-15DOI: 10.1109/MESA.2010.5552037
Y. Hadi
Metal cutting fluids change the performance of machining operations because of their cooling, and chip flushing functions. Minimization of cutting fluid leads to economical benefits by way of saving recycling of cutting fluid, corrosion and erosion of machining components and chemical reaction of cutting fluids with work, cutter and the environment. The present work focuses on the study of the effect of coolant on surface roughness for various cutting conditions on a typical work material like aluminum. It has been observed that a small amount of supply of coolant at the point of cutting, largely improves the surface finish. An approach based on the tool work combination method has been performed to identify the ideal testing parameter range. The cutting conditions include feed rate, cutting speed and the coolant flow rate. In the study, the coolant was provided from near dry condition to flooding. During each test, surface roughness, was measured and compared.
{"title":"Study of minimum quantity coolant (MQC) on surface roughness during turning operation on aluminum","authors":"Y. Hadi","doi":"10.1109/MESA.2010.5552037","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552037","url":null,"abstract":"Metal cutting fluids change the performance of machining operations because of their cooling, and chip flushing functions. Minimization of cutting fluid leads to economical benefits by way of saving recycling of cutting fluid, corrosion and erosion of machining components and chemical reaction of cutting fluids with work, cutter and the environment. The present work focuses on the study of the effect of coolant on surface roughness for various cutting conditions on a typical work material like aluminum. It has been observed that a small amount of supply of coolant at the point of cutting, largely improves the surface finish. An approach based on the tool work combination method has been performed to identify the ideal testing parameter range. The cutting conditions include feed rate, cutting speed and the coolant flow rate. In the study, the coolant was provided from near dry condition to flooding. During each test, surface roughness, was measured and compared.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"96 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120865468","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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