Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957136
H. Chow, N. Cheung
A high precision displacement sensor is proposed in this paper. This sensor based on 3×3 optical coupler and analog circuits is linear incremental encoder type. Outputs of optical coupler are processed by analog circuits and generate displacement information. Low cost and high precision are main advantages of this sensor and analog circuits could enhance the maximum measurable velocity compared with digital signal processor (DSP) [1]. The resolution of this proposed sensor depends on wavelength of laser λ and the resolution is λ/16 = 95.5nm. The error deviation is 1µm, which is measured during experiment.
{"title":"Low cost displacement sensor at sub-micron precision based on 3×3 optical coupler for vibrating surface","authors":"H. Chow, N. Cheung","doi":"10.1109/ICMECH.2009.4957136","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957136","url":null,"abstract":"A high precision displacement sensor is proposed in this paper. This sensor based on 3×3 optical coupler and analog circuits is linear incremental encoder type. Outputs of optical coupler are processed by analog circuits and generate displacement information. Low cost and high precision are main advantages of this sensor and analog circuits could enhance the maximum measurable velocity compared with digital signal processor (DSP) [1]. The resolution of this proposed sensor depends on wavelength of laser λ and the resolution is λ/16 = 95.5nm. The error deviation is 1µm, which is measured during experiment.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"107 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":"116781609","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.2009.4957239
Julio Garrido Campos, R. Martin, J. Armesto, Juan Sáez López
This paper proposes a CAD/CAM/CNC architecture to automate saw blade stone cutting machines (disc stone cutting machines). The architecture is designed to give the controller the capacity of decision making as well as control of the machine tool, with the objective of being able to react to changes in the machining conditions, which is common in this kind technology. Adopting a similar paradigm as the new approaches for CNC manufacturing, especially the new ISO standard for CNC programming (STEP-NC), the proposed system is based on the definition of product features to be communicated to the controller. The controller has the objective of machining the features, and it is able to replan, on the fly, the work to get them, despite changing conditions in the stone or in the disc.
{"title":"Stone cutting automation technology based on features","authors":"Julio Garrido Campos, R. Martin, J. Armesto, Juan Sáez López","doi":"10.1109/ICMECH.2009.4957239","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957239","url":null,"abstract":"This paper proposes a CAD/CAM/CNC architecture to automate saw blade stone cutting machines (disc stone cutting machines). The architecture is designed to give the controller the capacity of decision making as well as control of the machine tool, with the objective of being able to react to changes in the machining conditions, which is common in this kind technology. Adopting a similar paradigm as the new approaches for CNC manufacturing, especially the new ISO standard for CNC programming (STEP-NC), the proposed system is based on the definition of product features to be communicated to the controller. The controller has the objective of machining the features, and it is able to replan, on the fly, the work to get them, despite changing conditions in the stone or in the disc.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"66 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":"127595146","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.2009.4957171
T. Kikuchi, K. Oda, Y. Ohyama, Shiro Isozumi, J. Furusho
Strengthening muscle force by training, e.g., an isokinetic exercise is widely used in rehabilitative activities or sports rehabilitations. However, many conventional isokinetic exercise machines cost expensive depending on its actuation device and safety system (hardware and software). In this study, we have developed highly safe isokinetic exercise systems using only brakes with functional fluids (ER fluid or MR fluid). Because of rapid response of these fluids, such a machine has good responsibility and controllability. In this paper, we describe basic concept and characteristics of Isokinetic Exercise system using MR fluid brake and its experimental results. In particular, high-speed (900deg/s at an elbow joint) control was realized with this system. Additionally, we suggest new training mode which we call iso-contractile exercise in this paper.
{"title":"Development of isokinetic exercise system using high performance MR fluid brake","authors":"T. Kikuchi, K. Oda, Y. Ohyama, Shiro Isozumi, J. Furusho","doi":"10.1109/ICMECH.2009.4957171","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957171","url":null,"abstract":"Strengthening muscle force by training, e.g., an isokinetic exercise is widely used in rehabilitative activities or sports rehabilitations. However, many conventional isokinetic exercise machines cost expensive depending on its actuation device and safety system (hardware and software). In this study, we have developed highly safe isokinetic exercise systems using only brakes with functional fluids (ER fluid or MR fluid). Because of rapid response of these fluids, such a machine has good responsibility and controllability. In this paper, we describe basic concept and characteristics of Isokinetic Exercise system using MR fluid brake and its experimental results. In particular, high-speed (900deg/s at an elbow joint) control was realized with this system. Additionally, we suggest new training mode which we call iso-contractile exercise in this paper.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"171 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":"114192095","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.2009.4957162
T. Tsuji
This study deals with impedance control based on a shell-shaped force sensor. Impedance control is accomplished at any points on the whole body of the robot due to the whole-body force sensing mechanism. Furthermore, it is possible to realize variable impedance different by location. Experimental results verify the validity of the study.
{"title":"Impedance control of mobile robot with shell-shaped force sensor","authors":"T. Tsuji","doi":"10.1109/ICMECH.2009.4957162","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957162","url":null,"abstract":"This study deals with impedance control based on a shell-shaped force sensor. Impedance control is accomplished at any points on the whole body of the robot due to the whole-body force sensing mechanism. Furthermore, it is possible to realize variable impedance different by location. Experimental results verify the validity of the study.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"28 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":"133246358","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.2009.4957139
K. Seki, M. Iwasaki, M. Kawafuku, H. Hirai, K. Yasuda
This paper presents an adaptive control methodology of shaking table systems for earthquake simulators. In the system, reaction force generated by a specimen on the shaking table generally deteriorates the table motion performance, resulting in the lower control accuracy of seismic tests. In order to compensate for the reaction force and to provide the precise table motion, therefore, an adaptive identifier is introduced, where dynamic characteristics of a nonlinear specimen are adaptively identified and can compensate for the deterioration in the motion performance. The proposed control approach has been verified by numerical simulations and experiments using a prototype of shaking table system.
{"title":"Adaptive feedforward compensation for reaction force with nonlinear specimen in shaking tables","authors":"K. Seki, M. Iwasaki, M. Kawafuku, H. Hirai, K. Yasuda","doi":"10.1109/ICMECH.2009.4957139","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957139","url":null,"abstract":"This paper presents an adaptive control methodology of shaking table systems for earthquake simulators. In the system, reaction force generated by a specimen on the shaking table generally deteriorates the table motion performance, resulting in the lower control accuracy of seismic tests. In order to compensate for the reaction force and to provide the precise table motion, therefore, an adaptive identifier is introduced, where dynamic characteristics of a nonlinear specimen are adaptively identified and can compensate for the deterioration in the motion performance. The proposed control approach has been verified by numerical simulations and experiments using a prototype of shaking table system.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"34 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":"130572934","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.2009.4957207
A. G. Gonzalez-Rodriguez, A. González-Rodríguez, Antonio J. Nieto, R. Morales
This paper presents a novel design for an articulated leg for mobile robots. The key idea is to develop the mechanism with a synthesis process directed to make the walking operation in an easy-control manner. To achieve this, the synthesis process has been done to decouple vertical and horizontal movement of the leg. Other advantage of this scheme is that driving motors can be better chosen for each task. A motor with high torque but low speed for vertical movement and a faster one with a lower output torque for horizontal movement. This scheme allows obtaining a high speed and loading capacity for the robot, with a relatively low power of the motors. The resulting mechanism also have a big workspace in order to allow working in any kind of terrains such highly unstructured terrains.
{"title":"Design and simulation of an easy operating leg for walking robots","authors":"A. G. Gonzalez-Rodriguez, A. González-Rodríguez, Antonio J. Nieto, R. Morales","doi":"10.1109/ICMECH.2009.4957207","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957207","url":null,"abstract":"This paper presents a novel design for an articulated leg for mobile robots. The key idea is to develop the mechanism with a synthesis process directed to make the walking operation in an easy-control manner. To achieve this, the synthesis process has been done to decouple vertical and horizontal movement of the leg. Other advantage of this scheme is that driving motors can be better chosen for each task. A motor with high torque but low speed for vertical movement and a faster one with a lower output torque for horizontal movement. This scheme allows obtaining a high speed and loading capacity for the robot, with a relatively low power of the motors. The resulting mechanism also have a big workspace in order to allow working in any kind of terrains such highly unstructured terrains.","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":"129507700","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.2009.4957199
B. Balle, Enric Ventura, J. Fuertes
Maximal-length binary shift register sequences have been known for a long time. They have many interesting properties, one of them is that when taken in blocks of n consecutive positions they form 2n - 1 different codes in a closed circular sequence. This property can be used for measuring absolute angular positions as the circle can be divided in as many parts as different codes can be retrieved. This paper describes how a closed binary sequence with arbitrary length can be effectively designed with the minimal possible block-length, using linear feedback shift registers (LFSR). Such sequences can be used for measuring a specified exact number of angular positions, using the minimal possible number of detectors allowed by linear methods.
{"title":"An algorithm to design prescribed length codes for single-tracked shaft encoders","authors":"B. Balle, Enric Ventura, J. Fuertes","doi":"10.1109/ICMECH.2009.4957199","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957199","url":null,"abstract":"Maximal-length binary shift register sequences have been known for a long time. They have many interesting properties, one of them is that when taken in blocks of n consecutive positions they form 2n - 1 different codes in a closed circular sequence. This property can be used for measuring absolute angular positions as the circle can be divided in as many parts as different codes can be retrieved. This paper describes how a closed binary sequence with arbitrary length can be effectively designed with the minimal possible block-length, using linear feedback shift registers (LFSR). Such sequences can be used for measuring a specified exact number of angular positions, using the minimal possible number of detectors allowed by linear methods.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"12 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":"129602379","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.2009.4957161
C. Stockmans-Daou, A. Cruz-Martín, J. Fernández-Madrigal
Mechatronics is emerging as a leading trend in the current engineering scene. Hence, educational platforms are needed in order to train engineers for this new job market demand. At present time, the existing educational systems that deal with mechatronic aspects, like robotic, control or automation systems, lack of a systematic methodology of development. This deficiency translates into closed training platforms, where it is difficult to plug in new components at convenience. Extending any system with different high- and low-level components that allow the student to understand mechatronics from different perspectives is complicated within such approaches. This paper presents a development system that provides a basic model, framework and automated tools for building mechatronic platforms. Our system, that can be applied to different fields (like mobile and industrial robotics, automation systems, real-time systems, etc.), is also scalable, producing from simple mechatronics systems to complex ones. We describe a case of use where our development system has been used for educational robotics, combining LEGO Mindstorms with research-level robotic platforms.
{"title":"A heterogeneity-enabled development system for educational mechatronics","authors":"C. Stockmans-Daou, A. Cruz-Martín, J. Fernández-Madrigal","doi":"10.1109/ICMECH.2009.4957161","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957161","url":null,"abstract":"Mechatronics is emerging as a leading trend in the current engineering scene. Hence, educational platforms are needed in order to train engineers for this new job market demand. At present time, the existing educational systems that deal with mechatronic aspects, like robotic, control or automation systems, lack of a systematic methodology of development. This deficiency translates into closed training platforms, where it is difficult to plug in new components at convenience. Extending any system with different high- and low-level components that allow the student to understand mechatronics from different perspectives is complicated within such approaches. This paper presents a development system that provides a basic model, framework and automated tools for building mechatronic platforms. Our system, that can be applied to different fields (like mobile and industrial robotics, automation systems, real-time systems, etc.), is also scalable, producing from simple mechatronics systems to complex ones. We describe a case of use where our development system has been used for educational robotics, combining LEGO Mindstorms with research-level robotic platforms.","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":"123851955","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.2009.4957163
Y. Maeda, M. Iwasaki, M. Kawafuku, H. Hirai
This paper presents a nonlinear friction modeling and its evaluation for rolling friction behaviors in ball screw-driven table systems. The rolling friction behaves as a nonlinear component in the table drive mechanism, especially in the micro-displacement region, deteriorating the control performance in the fine positioning. The friction characteristic, therefore, should be clarified to provide the precise mathematical simulator and to design the effective compensators. In the friction modeling, the characteristics of rolling friction, which are depending on the displacement region, are especially paid attention: In “starting rolling displacement region”, the friction force dynamically varies for the displacement after velocity reversal. In “rolling region”, on the other hand, the friction force statically indicates the Coulomb friction. Based on the nonlinear behaviors, the rolling friction can be mathematically modeled, and the rolling friction model can express both the dynamic and static characteristics of friction after the reversal. The proposed nonlinear modeling of the rolling friction has been evaluated in both frequency and time domains using a prototype for industrial positioning devices.
{"title":"Nonlinear modeling and evaluation of rolling friction","authors":"Y. Maeda, M. Iwasaki, M. Kawafuku, H. Hirai","doi":"10.1109/ICMECH.2009.4957163","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957163","url":null,"abstract":"This paper presents a nonlinear friction modeling and its evaluation for rolling friction behaviors in ball screw-driven table systems. The rolling friction behaves as a nonlinear component in the table drive mechanism, especially in the micro-displacement region, deteriorating the control performance in the fine positioning. The friction characteristic, therefore, should be clarified to provide the precise mathematical simulator and to design the effective compensators. In the friction modeling, the characteristics of rolling friction, which are depending on the displacement region, are especially paid attention: In “starting rolling displacement region”, the friction force dynamically varies for the displacement after velocity reversal. In “rolling region”, on the other hand, the friction force statically indicates the Coulomb friction. Based on the nonlinear behaviors, the rolling friction can be mathematically modeled, and the rolling friction model can express both the dynamic and static characteristics of friction after the reversal. The proposed nonlinear modeling of the rolling friction has been evaluated in both frequency and time domains using a prototype for industrial positioning devices.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"65 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":"123899757","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.2009.4957153
S. Md Salleh, M. Tokhi, M. Mohamad
The present study considers the application of recursive least squares (RLS) method with variable forgetting factor (VF) and directional forgetting factor (DF) in dynamic modelling of a flexible plate structure. Recursive least squares with fixed forgetting factor is used to update parameter changes suitable for stationary environments. However for dynamic environments, VF is needed to include fast tracking capability. The performance of the algorithm is compared with that of standard RLS using operations based on one-step-ahead prediction. The performance of each algorithm is assessed in terms of mean square of output error and frequency domain response of the model in characterizing the plate system. Correlation tests are also carried out to validate the model. Simulation results show that the new algorithm can outperform the fixed forgetting factor algorithm in parametric modelling of the flexible structure.
{"title":"Modelling of a flexible plate using RLS with variable and directional forgetting factor","authors":"S. Md Salleh, M. Tokhi, M. Mohamad","doi":"10.1109/ICMECH.2009.4957153","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957153","url":null,"abstract":"The present study considers the application of recursive least squares (RLS) method with variable forgetting factor (VF) and directional forgetting factor (DF) in dynamic modelling of a flexible plate structure. Recursive least squares with fixed forgetting factor is used to update parameter changes suitable for stationary environments. However for dynamic environments, VF is needed to include fast tracking capability. The performance of the algorithm is compared with that of standard RLS using operations based on one-step-ahead prediction. The performance of each algorithm is assessed in terms of mean square of output error and frequency domain response of the model in characterizing the plate system. Correlation tests are also carried out to validate the model. Simulation results show that the new algorithm can outperform the fixed forgetting factor algorithm in parametric modelling of the flexible structure.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"27 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":"123565169","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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