Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5552061
Roman Glistvain, M. Aboelaze
The TCP/IP network interface is considered a luxury feature in many embedded devices because it is expensive to implement. It requires additional hardware and complex software to enable the device to be accessible on the local area network or over the Internet. This paper describes a simple way of integrating a simplified TCP/IP stack with the Romantiki operating system. Our approach allows the user to use standard multithreaded approach to write application code, and at the same time use a small memory footprint similar to super loop based applications. This approach paves the way to have complex devices running standard TCP/IP applications on a very inexpensive and energy efficient microcontrollers with a small RAM and Flash memories.
{"title":"Bringing TCP/IP networking to resource limited embedded systems","authors":"Roman Glistvain, M. Aboelaze","doi":"10.1109/MESA.2010.5552061","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552061","url":null,"abstract":"The TCP/IP network interface is considered a luxury feature in many embedded devices because it is expensive to implement. It requires additional hardware and complex software to enable the device to be accessible on the local area network or over the Internet. This paper describes a simple way of integrating a simplified TCP/IP stack with the Romantiki operating system. Our approach allows the user to use standard multithreaded approach to write application code, and at the same time use a small memory footprint similar to super loop based applications. This approach paves the way to have complex devices running standard TCP/IP applications on a very inexpensive and energy efficient microcontrollers with a small RAM and Flash memories.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"3 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":"116972032","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.2010.5552009
Chao Chen, William John Heyne, Daniel Jackson
Force feedback interfaces for virtual reality are required to be “transparent”, which means that the interfaces must be light in weight but strong in stiffness. We introduced a new 6-dof parallel manipulator with such a feature. As compared to all existing 6-dof 3-legged parallel manipulators, this new system has all actuators located on the ground for a very light structure. The system has a considerably simple kinematics relationship. Another feature is that the system's interior singularity is independent on the position of the end-effector. The complete direct and inverse kinematics analysis, and workspace analysis are given in this work.
{"title":"A new 6-dof 3-legged parallel mechanism for force-feedback interface","authors":"Chao Chen, William John Heyne, Daniel Jackson","doi":"10.1109/MESA.2010.5552009","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552009","url":null,"abstract":"Force feedback interfaces for virtual reality are required to be “transparent”, which means that the interfaces must be light in weight but strong in stiffness. We introduced a new 6-dof parallel manipulator with such a feature. As compared to all existing 6-dof 3-legged parallel manipulators, this new system has all actuators located on the ground for a very light structure. The system has a considerably simple kinematics relationship. Another feature is that the system's interior singularity is independent on the position of the end-effector. The complete direct and inverse kinematics analysis, and workspace analysis are given in this work.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"58 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":"121453291","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.2010.5552028
Ping-Ho Chen, Wei-Hsiu Hsu, D. Fong, Ru-Fong Liou
The goal of research is to develop an autonomous unicycle featuring with capabilities of autopilot and stabilization. The autonomous unicycle developed in this paper involves conceptualization, design, simulation, implementation and measurements. Longitudinal control, having coupling of wheel speed and platform pitch, is simulated by a straight-line motion. Lateral control, having coupling of platform roll and heading is simulated by a right turn. This paper features bank-to-turn to the plant, LQR to the controller and linear predictor to moment of inertia.
{"title":"Optimal autopilot of an unicycle","authors":"Ping-Ho Chen, Wei-Hsiu Hsu, D. Fong, Ru-Fong Liou","doi":"10.1109/MESA.2010.5552028","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552028","url":null,"abstract":"The goal of research is to develop an autonomous unicycle featuring with capabilities of autopilot and stabilization. The autonomous unicycle developed in this paper involves conceptualization, design, simulation, implementation and measurements. Longitudinal control, having coupling of wheel speed and platform pitch, is simulated by a straight-line motion. Lateral control, having coupling of platform roll and heading is simulated by a right turn. This paper features bank-to-turn to the plant, LQR to the controller and linear predictor to moment of inertia.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"106 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":"122625842","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.2010.5552081
A. Cesetti, E. Frontoni, A. Mancini, P. Zingaretti
In this paper a vision-based system for safe autonomous landing of a helicopter-based Unmanned Aerial Vehicle (UAV) is presented. The remote user selects target areas from high resolution aerial or satellite images. These areas are tracked by a feature-based image matching algorithm that identifies natural landmarks and gives feedbacks for control purposes.
{"title":"Autonomous safe landing of a vision guided helicopter","authors":"A. Cesetti, E. Frontoni, A. Mancini, P. Zingaretti","doi":"10.1109/MESA.2010.5552081","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552081","url":null,"abstract":"In this paper a vision-based system for safe autonomous landing of a helicopter-based Unmanned Aerial Vehicle (UAV) is presented. The remote user selects target areas from high resolution aerial or satellite images. These areas are tracked by a feature-based image matching algorithm that identifies natural landmarks and gives feedbacks for control purposes.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"41 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":"125092966","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.2010.5552082
H. Zheng, K. Tnay, N. Alami, A. Hu
This paper presents the design and implementation of contactless power couplers for transferring power to heat up the breathing tube and sensors of respiratory devices produced by Fisher & Paykel Healthcare Ltd, NZ. The respiratory device supplies humidified air to the patient through an air delivery tube. The air needs to be heated along the tube to prevent condensation and a sensor has to be placed at the mask to measure the temperature. The tube heating power, or the temperature of the air, should be adjustable according to user preferences while the 5V/250mW sensor has to be operating all the time. Medical devices have to be frequently cleaned, any direct metal contacts pose safety and reliability issues so that their presence is undesirable. Inductive and capacitive power transfer technologies were proposed and successfully developed in this research as a contactless power transfer solution. The prototype can successfully supply a constant power of 250mW to the sensor while enabling heating control in the specified range.
{"title":"Contactless power couplers for respiratory devices","authors":"H. Zheng, K. Tnay, N. Alami, A. Hu","doi":"10.1109/MESA.2010.5552082","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552082","url":null,"abstract":"This paper presents the design and implementation of contactless power couplers for transferring power to heat up the breathing tube and sensors of respiratory devices produced by Fisher & Paykel Healthcare Ltd, NZ. The respiratory device supplies humidified air to the patient through an air delivery tube. The air needs to be heated along the tube to prevent condensation and a sensor has to be placed at the mask to measure the temperature. The tube heating power, or the temperature of the air, should be adjustable according to user preferences while the 5V/250mW sensor has to be operating all the time. Medical devices have to be frequently cleaned, any direct metal contacts pose safety and reliability issues so that their presence is undesirable. Inductive and capacitive power transfer technologies were proposed and successfully developed in this research as a contactless power transfer solution. The prototype can successfully supply a constant power of 250mW to the sensor while enabling heating control in the specified range.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"164 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":"121218246","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.2010.5551991
A. Ghanbari, S. Mahboubi, M. M. S. Fakhrabadi
In this paper, we offer a new design for a spherical mobile robot with much ability in maneuvering, which can be used for discovery and patrolling applications. Our proposed design consists of two essential parts: the inside drive unit which is called IDU and the outer spherical shell that can be made of glass, plastics or any other similar material. The IDU of our presented model is mounted inside the spherical shell and has four motors (two servo and two linear motors). The servo motors, which connect pendulums and outer shell, generate the driving torque. Linear motors are used to displace the center of mass that causes the robot to tilt. Therefore, the motion of the robot can be on a curve. Firstly, the dynamic model of a simplified version of this kind of spherical robots is obtained. Having dynamic modeling, we can obtain proper moment of two servo motors and proper displacement of two linear motors to drive robot along straight and circular trajectories. By using a dynamic simulation in MSC.ADAMS package, we can verify the accuracy of the obtained dynamic model to track a circular trajectory.
{"title":"Design, dynamic modeling and simulation of a spherical mobile robot with a novel motion mechanism","authors":"A. Ghanbari, S. Mahboubi, M. M. S. Fakhrabadi","doi":"10.1109/MESA.2010.5551991","DOIUrl":"https://doi.org/10.1109/MESA.2010.5551991","url":null,"abstract":"In this paper, we offer a new design for a spherical mobile robot with much ability in maneuvering, which can be used for discovery and patrolling applications. Our proposed design consists of two essential parts: the inside drive unit which is called IDU and the outer spherical shell that can be made of glass, plastics or any other similar material. The IDU of our presented model is mounted inside the spherical shell and has four motors (two servo and two linear motors). The servo motors, which connect pendulums and outer shell, generate the driving torque. Linear motors are used to displace the center of mass that causes the robot to tilt. Therefore, the motion of the robot can be on a curve. Firstly, the dynamic model of a simplified version of this kind of spherical robots is obtained. Having dynamic modeling, we can obtain proper moment of two servo motors and proper displacement of two linear motors to drive robot along straight and circular trajectories. By using a dynamic simulation in MSC.ADAMS package, we can verify the accuracy of the obtained dynamic model to track a circular trajectory.","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":"125863905","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.2010.5551990
P. Jamwal, S. Xie, K. Aw
This paper describes the kinematics and the dynamics of a 3-DOF pneumatic muscle driven wearable parallel robot designed for ankle rehabilitation treatments. Several important performance indices are identified to accomplish the requirements of the ankle rehabilitation treatment and the wearable robot design. It is found that some of these indices are conflicting and hence in order to obtain an optimal robot design, these indices are required to be simultaneously optimized. Consequently, a multi-objective optimization scheme based on evolutionary algorithms is proposed in this paper to find a design which has optimum performance. The proposed design analysis can be generalized with modest efforts for the development of all the classes of parallel robots.
{"title":"Design analysis of a pneumatic muscle driven wearable parallel robot for ankle joint rehabilitation","authors":"P. Jamwal, S. Xie, K. Aw","doi":"10.1109/MESA.2010.5551990","DOIUrl":"https://doi.org/10.1109/MESA.2010.5551990","url":null,"abstract":"This paper describes the kinematics and the dynamics of a 3-DOF pneumatic muscle driven wearable parallel robot designed for ankle rehabilitation treatments. Several important performance indices are identified to accomplish the requirements of the ankle rehabilitation treatment and the wearable robot design. It is found that some of these indices are conflicting and hence in order to obtain an optimal robot design, these indices are required to be simultaneously optimized. Consequently, a multi-objective optimization scheme based on evolutionary algorithms is proposed in this paper to find a design which has optimum performance. The proposed design analysis can be generalized with modest efforts for the development of all the classes of parallel robots.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"55 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":"128538993","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.2010.5552004
Li Meng, Dingyu Xue
This paper proposes a new approximation scheme which is an extension of the well-established Charef's approximation method. The method relaxes the constraints on the locations of pole-zero pairs of the approximation system, which provides more flexibility and space for approximation system to approach the approximated system as possible. The approximation system based on a optimization process perform not only a good gain fit but a good phase fit. The benefits from using the proposed scheme are illustrated by numerical examples in frequency domains.
{"title":"An approximation algorithm of fractional order pole models based on an optimization process","authors":"Li Meng, Dingyu Xue","doi":"10.1109/MESA.2010.5552004","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552004","url":null,"abstract":"This paper proposes a new approximation scheme which is an extension of the well-established Charef's approximation method. The method relaxes the constraints on the locations of pole-zero pairs of the approximation system, which provides more flexibility and space for approximation system to approach the approximated system as possible. The approximation system based on a optimization process perform not only a good gain fit but a good phase fit. The benefits from using the proposed scheme are illustrated by numerical examples in frequency domains.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"49 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":"127326441","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.2010.5552012
Tuan-Jie Li, Gao-Wei Yuan, Qingjuan Duan
To realize the navigation of the autonomous mobile robots in an unknown environment, the control architectonics with the integration of deliberative and reactive paradigm should be set up. This paper uses the cloud model to processing the uncertain sonar sensor data, and establishes the multi-rules reasoning generator to realize the reaction avoiding collision. And the finding sub-target method by searching the tangent point is presented to realize the efficient deliberative planning. We use the Player / Stage which is developed by USC Robotics Research Laboratory to simulate the motion of mobile robot. The simulation result shows the navigation method presented in the paper can effectively control the robots to reach the target and avoiding collision.
{"title":"Navigation technology of autonomous mobile robots in unknown environments","authors":"Tuan-Jie Li, Gao-Wei Yuan, Qingjuan Duan","doi":"10.1109/MESA.2010.5552012","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552012","url":null,"abstract":"To realize the navigation of the autonomous mobile robots in an unknown environment, the control architectonics with the integration of deliberative and reactive paradigm should be set up. This paper uses the cloud model to processing the uncertain sonar sensor data, and establishes the multi-rules reasoning generator to realize the reaction avoiding collision. And the finding sub-target method by searching the tangent point is presented to realize the efficient deliberative planning. We use the Player / Stage which is developed by USC Robotics Research Laboratory to simulate the motion of mobile robot. The simulation result shows the navigation method presented in the paper can effectively control the robots to reach the target and avoiding collision.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"51 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":"131499339","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.2010.5552000
P. Lanusse, J. Sabatier, A. Oustaloup
Fractional complex order integrator is used since 1991 for the design of robust control-systems. In the CRONE control methodology, it permits the parameterization of open loop transfer function which is optimized in a robustness context. Sets of fractional order integrators that lead to a given closed loop damping ratio have also been used to build iso-damping contours on the Nichols plane. The objective of this paper is to present how these contours can be used to design robust controllers, not only CRONE controllers but also PD and QFT controllers.
{"title":"Design of controllers using damping contours defined from closed loop systems based on fractional complex order integrators","authors":"P. Lanusse, J. Sabatier, A. Oustaloup","doi":"10.1109/MESA.2010.5552000","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552000","url":null,"abstract":"Fractional complex order integrator is used since 1991 for the design of robust control-systems. In the CRONE control methodology, it permits the parameterization of open loop transfer function which is optimized in a robustness context. Sets of fractional order integrators that lead to a given closed loop damping ratio have also been used to build iso-damping contours on the Nichols plane. The objective of this paper is to present how these contours can be used to design robust controllers, not only CRONE controllers but also PD and QFT controllers.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"193 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":"132506251","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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