Pub Date : 2009-05-25DOI: 10.1109/ICIEA.2009.5138652
A. Moreno-Muñoz, J. D. L. de la Rosa, V. Pallarés, J. Flores
Today's businesses depend heavily on electrical services for lighting, general power, computer hardware and communications hardware. With the generalized use of sophisticated electronic devices, industries are shifting toward almost entirely electronic IT systems. Power-quality events are of increasing concern for the economy because today's equipment, particularly computers and automated manufacturing devices, is highly sensitive to such imperfections. Metering technologies and communications systems have advanced to enable the development of DSP-based sensors. Power Quality is one area where these real-time sensors can be very valuable. This paper investigates the challenges and possibilities in the development of a DSP power-quality event detection algorithm. This is a critical task, since it must be performed on-line and in hard real time. The paper describes the challenges and lessons learned from this investigation.
{"title":"DSP algorithm for the real-time detection of power quality surge transients","authors":"A. Moreno-Muñoz, J. D. L. de la Rosa, V. Pallarés, J. Flores","doi":"10.1109/ICIEA.2009.5138652","DOIUrl":"https://doi.org/10.1109/ICIEA.2009.5138652","url":null,"abstract":"Today's businesses depend heavily on electrical services for lighting, general power, computer hardware and communications hardware. With the generalized use of sophisticated electronic devices, industries are shifting toward almost entirely electronic IT systems. Power-quality events are of increasing concern for the economy because today's equipment, particularly computers and automated manufacturing devices, is highly sensitive to such imperfections. Metering technologies and communications systems have advanced to enable the development of DSP-based sensors. Power Quality is one area where these real-time sensors can be very valuable. This paper investigates the challenges and possibilities in the development of a DSP power-quality event detection algorithm. This is a critical task, since it must be performed on-line and in hard real time. The paper describes the challenges and lessons learned from this investigation.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"236 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126809506","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 : 2009-04-14DOI: 10.1109/ICMECH.2009.4957120
S. Garrido, D. Blanco, L. Moreno, Fernando Martín
This paper presents a new method to improve the trajectories based in the Voronoi Fast Marching Method (VFM). It can be used to improve the smoothness and the length of the trajectories calculated with probabilistic methods with bad quality trajectories such as RRT or PRM. This way, it is possible to get the good properties of the RRT method as the fact that it can work in many dimensions with the good properties of VFM method. This method is very fast and reliable and the trajectories are similar to the human trajectories: smooth and not very close to obstacles and walls.
{"title":"Improving RRT motion trajectories using VFM","authors":"S. Garrido, D. Blanco, L. Moreno, Fernando Martín","doi":"10.1109/ICMECH.2009.4957120","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957120","url":null,"abstract":"This paper presents a new method to improve the trajectories based in the Voronoi Fast Marching Method (VFM). It can be used to improve the smoothness and the length of the trajectories calculated with probabilistic methods with bad quality trajectories such as RRT or PRM. This way, it is possible to get the good properties of the RRT method as the fact that it can work in many dimensions with the good properties of VFM method. This method is very fast and reliable and the trajectories are similar to the human trajectories: smooth and not very close to obstacles and walls.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115275995","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 : 2009-04-14DOI: 10.1109/ICMECH.2009.4957238
E. Ruffaldi, O. Sandoval-González, Alessandro Filippeschi, P. Tripicchio, A. Frisoli, C. Avizzano, M. Bergamasco
This paper presents the integration of multimodal technologies to measure and transmit different variables and stimuli involved in the human motion analysis, both for the training and for the transfer of users skills achieved by means of a mechatronic rowing platform. Although the mechanical design is the core of this project, this paper describes the integration and interaction of two multimodal systems (the human being and the rowing platform). These systems works together using different sensors and methodologies directly integrated to the human body to obtain detailed information related to the synchronization and correlation among the trajectories, Proximal distance coupling, velocities, muscular activation and muscular force, transversal force in the oars and head position acquired through digital image processing and machine learning techniques. This information is evaluated and used in the rendering section through audio-tactile stimuli for the acceleration learning process
{"title":"Integration of multimodal technologies for a rowing platform","authors":"E. Ruffaldi, O. Sandoval-González, Alessandro Filippeschi, P. Tripicchio, A. Frisoli, C. Avizzano, M. Bergamasco","doi":"10.1109/ICMECH.2009.4957238","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957238","url":null,"abstract":"This paper presents the integration of multimodal technologies to measure and transmit different variables and stimuli involved in the human motion analysis, both for the training and for the transfer of users skills achieved by means of a mechatronic rowing platform. Although the mechanical design is the core of this project, this paper describes the integration and interaction of two multimodal systems (the human being and the rowing platform). These systems works together using different sensors and methodologies directly integrated to the human body to obtain detailed information related to the synchronization and correlation among the trajectories, Proximal distance coupling, velocities, muscular activation and muscular force, transversal force in the oars and head position acquired through digital image processing and machine learning techniques. This information is evaluated and used in the rendering section through audio-tactile stimuli for the acceleration learning process","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117123880","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 : 2009-04-14DOI: 10.1109/ICMECH.2009.4957141
R. González, F. Rodríguez, J. L. Guzmán, M. Berenguel
This paper deals with the localization and trajectory tracking control problems of tracked mobile robots under slip conditions. The proposed control law consists of the modification of a well-known control algorithm based on the feedback linearization technique, in which additional parameters have been included in order to compensate for the slip effects. Furthermore, an Indirect Kalman Filter has been used to improve the localization of the robot. Real tests show promising results.
{"title":"Localization and control of tracked mobile robots under slip conditions","authors":"R. González, F. Rodríguez, J. L. Guzmán, M. Berenguel","doi":"10.1109/ICMECH.2009.4957141","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957141","url":null,"abstract":"This paper deals with the localization and trajectory tracking control problems of tracked mobile robots under slip conditions. The proposed control law consists of the modification of a well-known control algorithm based on the feedback linearization technique, in which additional parameters have been included in order to compensate for the slip effects. Furthermore, an Indirect Kalman Filter has been used to improve the localization of the robot. Real tests show promising results.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125907692","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 : 2009-04-14DOI: 10.1109/ICMECH.2009.4957234
J. Ferruz, V. Vega, A. Ollero, V. Blanco
This paper describes the design and implementation of the HERO helicopter, a low-cost UAV platform for research in control and perception, with autonomous flight and on-board image processing capabilities. First, general system goals and requirements are presented, along with a functional description. Then, system design and implementation issues are analysed, including airframe, hardware and software architectures. The paper focuses specially on the low-level controller and its implementation, including its flexible, modular runtime support system and off-line simulation tools. System modularity allows for easy system upgrade and reconfiguration. Finally, real flight experimental results are presented, including the tracking of a complex waypoint path.
{"title":"Embedded control and development system for the HERO autonomous helicopter","authors":"J. Ferruz, V. Vega, A. Ollero, V. Blanco","doi":"10.1109/ICMECH.2009.4957234","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957234","url":null,"abstract":"This paper describes the design and implementation of the HERO helicopter, a low-cost UAV platform for research in control and perception, with autonomous flight and on-board image processing capabilities. First, general system goals and requirements are presented, along with a functional description. Then, system design and implementation issues are analysed, including airframe, hardware and software architectures. The paper focuses specially on the low-level controller and its implementation, including its flexible, modular runtime support system and off-line simulation tools. System modularity allows for easy system upgrade and reconfiguration. Finally, real flight experimental results are presented, including the tracking of a complex waypoint path.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122199144","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 : 2009-04-14DOI: 10.1109/ICMECH.2009.4957154
H. Voos
Four-rotor micro aerial robots, so called quadrotor UAVs, are one of the most preferred type of unmanned aerial vehicles for near-area surveillance and exploration both in military and commercial in- and outdoor applications. The reason is the very easy construction and steering principle using four rotors in a cross configuration. However, stabilizing control and guidance of these vehicles is a difficult task because of the nonlinear dynamic behavior. In addition, the small payload and the reduced processing power of the onboard electronics are further limitations for any control system implementation. This paper describes the development of a nonlinear vehicle control system based on a decomposition into a nested structure and feedback linearization which can be implemented on an embedded microcontroller. Some first simulation results underline the performance of this new control approach for the current realization.
{"title":"Nonlinear control of a quadrotor micro-UAV using feedback-linearization","authors":"H. Voos","doi":"10.1109/ICMECH.2009.4957154","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957154","url":null,"abstract":"Four-rotor micro aerial robots, so called quadrotor UAVs, are one of the most preferred type of unmanned aerial vehicles for near-area surveillance and exploration both in military and commercial in- and outdoor applications. The reason is the very easy construction and steering principle using four rotors in a cross configuration. However, stabilizing control and guidance of these vehicles is a difficult task because of the nonlinear dynamic behavior. In addition, the small payload and the reduced processing power of the onboard electronics are further limitations for any control system implementation. This paper describes the development of a nonlinear vehicle control system based on a decomposition into a nested structure and feedback linearization which can be implemented on an embedded microcontroller. Some first simulation results underline the performance of this new control approach for the current realization.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116726374","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 : 2009-04-14DOI: 10.1109/ICMECH.2009.4957148
T. Villgrattner, Roland Zandery, H. Ulbrich
A camera orientation system has been developed to be used as an artificial eye e.g. in the head of humanoid robots or as a head-mounted gaze-driven camera orientation device. In this paper simulation experiments with natural eye movements, such as fixations, smooth pursuit and saccadic eye movements are carried out. The derived models are primary used to prove that the selected piezo-actuators are able to satisfy the high dynamic requirements of the human eye movements. Additionally these models can be integrated in the device as well as in the controller design phase.
{"title":"Modeling and simulation of a piezo-driven camera orientation system","authors":"T. Villgrattner, Roland Zandery, H. Ulbrich","doi":"10.1109/ICMECH.2009.4957148","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957148","url":null,"abstract":"A camera orientation system has been developed to be used as an artificial eye e.g. in the head of humanoid robots or as a head-mounted gaze-driven camera orientation device. In this paper simulation experiments with natural eye movements, such as fixations, smooth pursuit and saccadic eye movements are carried out. The derived models are primary used to prove that the selected piezo-actuators are able to satisfy the high dynamic requirements of the human eye movements. Additionally these models can be integrated in the device as well as in the controller design phase.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129007166","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 : 2009-04-14DOI: 10.1109/ICMECH.2009.4957134
M. Deghat, A. Khayatian, M. Eghtesad
In this paper, a robust-adaptive controller is developed for trajectory tracking of two rigid-link electrically-driven (RLED) robot manipulators carrying a rigid object. First, the dynamic model of the cooperative robots is derived. This model is written in a combined form such that the forces exerted by the object on the manipulators are not explicitly appeared in the dynamic model. A robust-adaptive controller is then applied to the cooperative robotic system in the voltage input level in order to asymptotically stabilize the tracking error. The robust-adaptive controller has the advantage that it does not require an exact knowledge of the dynamical equation of the system as well as its parameters. Furthermore, the controller does not need the measurement of the forces and moments at the contact points. Finally, simulation and experimental results are provided to illustrate the performance of the control algorithm.
{"title":"Experimental study of a robust-adaptive controller design for two cooperating RLED robot manipulators carrying a rigid payload","authors":"M. Deghat, A. Khayatian, M. Eghtesad","doi":"10.1109/ICMECH.2009.4957134","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957134","url":null,"abstract":"In this paper, a robust-adaptive controller is developed for trajectory tracking of two rigid-link electrically-driven (RLED) robot manipulators carrying a rigid object. First, the dynamic model of the cooperative robots is derived. This model is written in a combined form such that the forces exerted by the object on the manipulators are not explicitly appeared in the dynamic model. A robust-adaptive controller is then applied to the cooperative robotic system in the voltage input level in order to asymptotically stabilize the tracking error. The robust-adaptive controller has the advantage that it does not require an exact knowledge of the dynamical equation of the system as well as its parameters. Furthermore, the controller does not need the measurement of the forces and moments at the contact points. Finally, simulation and experimental results are provided to illustrate the performance of the control algorithm.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121384904","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 : 2009-04-14DOI: 10.1109/ICMECH.2009.4957217
Z. Wang, A. Peer, M. Buss
In this paper a fast online estimation method of impedance parameters is proposed based on the forgetting factor recursive least squares identification method. The performance of the proposed method is accessed by simulation and robotic experiments. Comparing with existing methods, the proposed method shows fast tracking performance to parameter changes while achieving robustness to noise. The algorithm has been implemented to online robot control and can be generalized to meet other needs.
{"title":"Fast online impedance estimation for robot control","authors":"Z. Wang, A. Peer, M. Buss","doi":"10.1109/ICMECH.2009.4957217","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957217","url":null,"abstract":"In this paper a fast online estimation method of impedance parameters is proposed based on the forgetting factor recursive least squares identification method. The performance of the proposed method is accessed by simulation and robotic experiments. Comparing with existing methods, the proposed method shows fast tracking performance to parameter changes while achieving robustness to noise. The algorithm has been implemented to online robot control and can be generalized to meet other needs.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134565457","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 : 2009-04-14DOI: 10.1109/ICMECH.2009.4957119
S. Hata, J. Hayashi
The visual inspection system is used in various production systems. The Visual Inspection System is used to maintain the quality of products. But, there are some defects which are not detected with enough reliability on conventional systems. To meet with the problems, the automatic generation system of best image processing filters which extract the proper characteristics of images for that kind of defects has been introduced to improve recognition rate. The system is designed to generate two kinds of filters to detect the defects with vague edge and widely distributed defect images using neural network method and co-occurrence histogram images. Experiments shows the generated filters get better recognition rate.
{"title":"Automatic image processing filter generation for visual defects classification system","authors":"S. Hata, J. Hayashi","doi":"10.1109/ICMECH.2009.4957119","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957119","url":null,"abstract":"The visual inspection system is used in various production systems. The Visual Inspection System is used to maintain the quality of products. But, there are some defects which are not detected with enough reliability on conventional systems. To meet with the problems, the automatic generation system of best image processing filters which extract the proper characteristics of images for that kind of defects has been introduced to improve recognition rate. The system is designed to generate two kinds of filters to detect the defects with vague edge and widely distributed defect images using neural network method and co-occurrence histogram images. Experiments shows the generated filters get better recognition rate.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132582172","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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