Pub Date : 2010-07-15DOI: 10.1109/MESA.2010.5552079
L. Di, Haiyang Chao, Y. Chen
Infrared (IR) sensors are widely used on robotics platforms for measurement purposes. Low-cost small unmanned aerial vehicles (UAVs) have drawn broad interests during recent years for their various uses in many applications. This paper introduces a two-stage IR sensor calibration method for the attitude estimation of low-cost UAVs. The first stage is based on ground and flight tuning procedures, which are concluded from experience; the second stage is to use the calibration algorithm with inertial measurement unit (IMU) as the baseline reference. The implementation and optimization of the proposed algorithm is described and explained in detail. The experimental flight results are compared and discussed in the end.
{"title":"A two-stage calibration method for low-cost UAV attitude estimation using infrared sensor","authors":"L. Di, Haiyang Chao, Y. Chen","doi":"10.1109/MESA.2010.5552079","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552079","url":null,"abstract":"Infrared (IR) sensors are widely used on robotics platforms for measurement purposes. Low-cost small unmanned aerial vehicles (UAVs) have drawn broad interests during recent years for their various uses in many applications. This paper introduces a two-stage IR sensor calibration method for the attitude estimation of low-cost UAVs. The first stage is based on ground and flight tuning procedures, which are concluded from experience; the second stage is to use the calibration algorithm with inertial measurement unit (IMU) as the baseline reference. The implementation and optimization of the proposed algorithm is described and explained in detail. The experimental flight results are compared and discussed in the end.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"39 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":"115291959","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.2010.5552032
C. Chéron, Aaron A. Dennis, Vardan Semerjyan, Y. Chen
Application driven multirotor UAV design becomes an emerging challenge as missions' needs require improved performance. In this paper, a multifunctional identification and control testbed for UAV actuators is introduced. Brushless controllers, motors and propeller pairs need to be chosen precisely to achieve optimal performance. Accurate identification of intrinsic parameters of those actuators and their comparison allow the engineer to decide between choosing existing parts or designing their own. Furthermore, we introduce a real-time MATLAB interface that allows to reduce implementation time when developing brushless motors control algorithms.
{"title":"A multifunctional HIL testbed for multirotor VTOL UAV actuator","authors":"C. Chéron, Aaron A. Dennis, Vardan Semerjyan, Y. Chen","doi":"10.1109/MESA.2010.5552032","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552032","url":null,"abstract":"Application driven multirotor UAV design becomes an emerging challenge as missions' needs require improved performance. In this paper, a multifunctional identification and control testbed for UAV actuators is introduced. Brushless controllers, motors and propeller pairs need to be chosen precisely to achieve optimal performance. Accurate identification of intrinsic parameters of those actuators and their comparison allow the engineer to decide between choosing existing parts or designing their own. Furthermore, we introduce a real-time MATLAB interface that allows to reduce implementation time when developing brushless motors control algorithms.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"36 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":"124263731","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.2010.5552073
B. Courtois
Infrastructures to provide access to custom integrated hardware manufacturing facilities are important because they allow Students and Researchers to access professional facilities at a reasonable cost, and they allow Companies to access small volume production, otherwise difficult to obtain directly from manufacturers. This paper is reviewing the most recent developments at CMP, as well as other services similar to CMP. These services helped the development of microelectronics for the EE&CS communities. The conclusion includes statements on where manufacturing infrastructures like CMP should go, considering technical developments towards More Moore, More than Moore, as well as statements related to globalization.
提供定制集成硬件制造设施的基础设施很重要，因为它们允许学生和研究人员以合理的成本使用专业设施，并且它们允许公司进行小批量生产，否则很难直接从制造商那里获得。本文回顾了CMP的最新发展，以及与CMP类似的其他服务。这些服务有助于EE&CS社区微电子技术的发展。结论包括对CMP等制造基础设施应该去哪里的陈述，考虑到向More Moore, More than Moore的技术发展，以及与全球化相关的陈述。
{"title":"Infrastructure for ICs and MEMS manufacturing","authors":"B. Courtois","doi":"10.1109/MESA.2010.5552073","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552073","url":null,"abstract":"Infrastructures to provide access to custom integrated hardware manufacturing facilities are important because they allow Students and Researchers to access professional facilities at a reasonable cost, and they allow Companies to access small volume production, otherwise difficult to obtain directly from manufacturers. This paper is reviewing the most recent developments at CMP, as well as other services similar to CMP. These services helped the development of microelectronics for the EE&CS communities. The conclusion includes statements on where manufacturing infrastructures like CMP should go, considering technical developments towards More Moore, More than Moore, as well as statements related to globalization.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"288 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":"123451169","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.2010.5552086
Y. Qu, Youmin Zhang
A novel fault-tolerant localization method for low-cost UAVs flying at constant altitude is proposed in this paper, which is based on measuring relative ranges from one UAV to other UAVs. Contrast to the traditional navigation methods of single aerial vehicle, like INS/GPS and SINS/GPS, the proposed method is more suitable for low-cost small-size UAVs because of its low requirement to the navigation device. Furthermore, its localization accuracy is higher than other methods for multi-UAV because the sharable information in multi-UAV network is made full of use. Similar to the principle of GPS, the method takes three other UAVs as the reference points of an UAV whose GPS receiver works improperly due to failure. Thus the UAV's location in 2D horizontal plane can be determined by using the relative ranges from the faulty UAV to the other three UAVs at known location in inertial coordinate system. In order to improve the accuracy of estimated location, a Kalman filter is designed, which can calculate the variance of observations in terms of horizontal dilution of positioning (HDOP) adaptively. Meanwhile, option of the reference points is also optimized in the paper. Simulation results in MatlabSimulink show the effectiveness of the proposed approach.
{"title":"Fault-tolerant Localization for multi-UAV cooperative flight","authors":"Y. Qu, Youmin Zhang","doi":"10.1109/MESA.2010.5552086","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552086","url":null,"abstract":"A novel fault-tolerant localization method for low-cost UAVs flying at constant altitude is proposed in this paper, which is based on measuring relative ranges from one UAV to other UAVs. Contrast to the traditional navigation methods of single aerial vehicle, like INS/GPS and SINS/GPS, the proposed method is more suitable for low-cost small-size UAVs because of its low requirement to the navigation device. Furthermore, its localization accuracy is higher than other methods for multi-UAV because the sharable information in multi-UAV network is made full of use. Similar to the principle of GPS, the method takes three other UAVs as the reference points of an UAV whose GPS receiver works improperly due to failure. Thus the UAV's location in 2D horizontal plane can be determined by using the relative ranges from the faulty UAV to the other three UAVs at known location in inertial coordinate system. In order to improve the accuracy of estimated location, a Kalman filter is designed, which can calculate the variance of observations in terms of horizontal dilution of positioning (HDOP) adaptively. Meanwhile, option of the reference points is also optimized in the paper. Simulation results in MatlabSimulink show the effectiveness of the proposed approach.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"69 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":"123475783","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.2010.5552036
Yu Zhang, Zhaoqing Wang, Licheng Xu
The shortage of talents in embedded systems area highlights the need for the revolution of university education in this field. The curriculum design of embedded system is not only limited to several courses, but requires involvements from multiple parties such as universities, students, teachers, IT companies and the society. Therefore, in this paper we propose a global curriculum design framework which has an overall view of the process. The framework forms into a cycling pattern which is able to adapt to the changes of time and society. For some existing problems of traditional teaching, within the framework we propose a new teaching method called -LPCFT (Lecture, Practice, Competition, Feedback, and Tutoring). This method exploits cased-based teaching and provides an interactive platform for teachers and students. Then we present the overall view of courses in embedded system education and illustrate how to stir up students' study motivation. Students can be good motivated by their interests and demands of future jobs in the society. Although we choose the curriculum embedded system as the example to illustrate our teaching framework, the ideas and methods proposed in this paper are also applicable to many other curriculum design tasks.
嵌入式系统领域人才的紧缺凸显了高校教育改革的必要性。嵌入式系统的课程设计不仅仅局限于几门课程，而是需要大学、学生、教师、IT公司、社会等多方的参与。因此，在本文中，我们提出了一个整体的课程设计框架。该框架形成了一种能够适应时代和社会变化的循环模式。针对传统教学中存在的一些问题，我们在此框架下提出了一种新的教学方法——lpcft (Lecture, Practice, Competition, Feedback, and Tutoring)。该方法利用案例教学法，为师生提供了一个互动的平台。然后介绍了嵌入式系统教育课程的总体概况，并阐述了如何激发学生的学习动机。学生可以很好地受到他们的兴趣和未来社会工作需求的激励。虽然我们选择课程嵌入式系统作为例子来说明我们的教学框架，但本文提出的思想和方法也适用于许多其他课程设计任务。
{"title":"A global curriculum design framework for embedded system education","authors":"Yu Zhang, Zhaoqing Wang, Licheng Xu","doi":"10.1109/MESA.2010.5552036","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552036","url":null,"abstract":"The shortage of talents in embedded systems area highlights the need for the revolution of university education in this field. The curriculum design of embedded system is not only limited to several courses, but requires involvements from multiple parties such as universities, students, teachers, IT companies and the society. Therefore, in this paper we propose a global curriculum design framework which has an overall view of the process. The framework forms into a cycling pattern which is able to adapt to the changes of time and society. For some existing problems of traditional teaching, within the framework we propose a new teaching method called -LPCFT (Lecture, Practice, Competition, Feedback, and Tutoring). This method exploits cased-based teaching and provides an interactive platform for teachers and students. Then we present the overall view of courses in embedded system education and illustrate how to stir up students' study motivation. Students can be good motivated by their interests and demands of future jobs in the society. Although we choose the curriculum embedded system as the example to illustrate our teaching framework, the ideas and methods proposed in this paper are also applicable to many other curriculum design tasks.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"12 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":"122831801","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.2010.5552029
Taekyung Lee, H. Ahn
In this paper, consensus of nonlinear systems is suggested with the linear consensus algorithm and feedback linearization. If the nonlinear system satisfies the controllable and involutive conditions, then there exist diffeomorphism. The nonlinear system can be transformed into the form of high order integrator by feedback linearization. Therefore the high order linear consensus algorithm can be applied to achieve consensus of the nonlinear systems that is feedback linearized. By satisfying the conditions that is related with network structure and gains of the consensus algorithm, the consensus of nonlinear systems is achieved through feedback linearziation and the linear consensus algorithm. Moreover this result is verified through the simulation for consensus of robot manipulators with nonlinear dynamics.
{"title":"Consensus of nonlinear system using feedback linearization","authors":"Taekyung Lee, H. Ahn","doi":"10.1109/MESA.2010.5552029","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552029","url":null,"abstract":"In this paper, consensus of nonlinear systems is suggested with the linear consensus algorithm and feedback linearization. If the nonlinear system satisfies the controllable and involutive conditions, then there exist diffeomorphism. The nonlinear system can be transformed into the form of high order integrator by feedback linearization. Therefore the high order linear consensus algorithm can be applied to achieve consensus of the nonlinear systems that is feedback linearized. By satisfying the conditions that is related with network structure and gains of the consensus algorithm, the consensus of nonlinear systems is achieved through feedback linearziation and the linear consensus algorithm. Moreover this result is verified through the simulation for consensus of robot manipulators with nonlinear dynamics.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"102 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":"128606386","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.2010.5552069
Hongbo Wang, Zhengyan Qi, Guiling Xu, Xing-Wei Hu
Based on the concept of reconfigurable robot, the implementation of a quadruped/biped reconfigurable walking robot with parallel leg mechanism is analyzed. According to the different layout ways of upper platforms and the different combined approaches of the lower platforms, the various leg mechanisms with six branches can be obtained. Reconfiguration plan of a quadruped/biped reconfigurable walking robot is presented. Several combined approaches are compared. A 6-SPU mechanism with the better kinematics performances is selected as leg mechanism and its kinematics analyzed.
{"title":"Reconfiguration plan analysis of quadruped/biped walking robot with parallel leg mechanism","authors":"Hongbo Wang, Zhengyan Qi, Guiling Xu, Xing-Wei Hu","doi":"10.1109/MESA.2010.5552069","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552069","url":null,"abstract":"Based on the concept of reconfigurable robot, the implementation of a quadruped/biped reconfigurable walking robot with parallel leg mechanism is analyzed. According to the different layout ways of upper platforms and the different combined approaches of the lower platforms, the various leg mechanisms with six branches can be obtained. Reconfiguration plan of a quadruped/biped reconfigurable walking robot is presented. Several combined approaches are compared. A 6-SPU mechanism with the better kinematics performances is selected as leg mechanism and its kinematics analyzed.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"15 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":"125399200","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.2010.5552041
Dong-mei Jiao, B. Lv
In order to improve the traditional injection technology and equipment, the totally electrical screw-rotated injection equipment and method are proposed. This paper points out structure of this new equipment, working principle, and key problems need to be solved when using screw-rotated injection. This new equipment makes several breakthroughs and expands the application space for injection technology.
{"title":"Research on totally electrical screw-rotated injection equipment and method","authors":"Dong-mei Jiao, B. Lv","doi":"10.1109/MESA.2010.5552041","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552041","url":null,"abstract":"In order to improve the traditional injection technology and equipment, the totally electrical screw-rotated injection equipment and method are proposed. This paper points out structure of this new equipment, working principle, and key problems need to be solved when using screw-rotated injection. This new equipment makes several breakthroughs and expands the application space for injection technology.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"98 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":"125859786","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.2010.5552030
G. N. Marichal, A. Hernandez, M. Olivares-Méndez, L. Acosta, P. Campoy
In this paper, an intelligent control approach based on Neuro-Fuzzy systems is presented. A model of a low-cost vision platform for an unmanned aerial system is taken in the study. A simulation platform including this low-cost vision system and the influence of the helicopter vibrations over this system is shown. The intelligent control approach has been inserted in this simulation platform. Several trials taking these Neuro-Fuzzy systems as a fundamental part of the control strategy have been carried out. Satisfactory results have been achieved in comparison with the results provided by classical techniques.
{"title":"An intelligent control strategy based on ANFIS techniques in order to improve the performance of a low-cost unmanned aerial vehicle vision system","authors":"G. N. Marichal, A. Hernandez, M. Olivares-Méndez, L. Acosta, P. Campoy","doi":"10.1109/MESA.2010.5552030","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552030","url":null,"abstract":"In this paper, an intelligent control approach based on Neuro-Fuzzy systems is presented. A model of a low-cost vision platform for an unmanned aerial system is taken in the study. A simulation platform including this low-cost vision system and the influence of the helicopter vibrations over this system is shown. The intelligent control approach has been inserted in this simulation platform. Several trials taking these Neuro-Fuzzy systems as a fundamental part of the control strategy have been carried out. Satisfactory results have been achieved in comparison with the results provided by classical techniques.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"2 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":"116858520","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.2010.5552078
K. Oppermann, B. R. Arminger, B. Zagar
In this paper a hysteresis model based upon an extended classical scalar Preisach hysteresis model is introduced. It is extended by the consideration of an offset of the hysteresis, because the Preisach function is a symmetric function and the consideration of an offset is one way to include a means to be able to model unsymmetric hysteresis.
{"title":"A contribution to the classical scalar Preisach hysteresis model for magneto—elastic materials","authors":"K. Oppermann, B. R. Arminger, B. Zagar","doi":"10.1109/MESA.2010.5552078","DOIUrl":"https://doi.org/10.1109/MESA.2010.5552078","url":null,"abstract":"In this paper a hysteresis model based upon an extended classical scalar Preisach hysteresis model is introduced. It is extended by the consideration of an offset of the hysteresis, because the Preisach function is a symmetric function and the consideration of an offset is one way to include a means to be able to model unsymmetric hysteresis.","PeriodicalId":406358,"journal":{"name":"Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications","volume":"23 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":"126884375","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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