Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957241
Ó. Oballe-Peinado, J. Castellanos-Ramos, J.A. Hidalgo, F. Vidal-Verdú, H. Macicior, E. Ochoteco
Tactile sensors are applied to different areas like robotics, medicine or virtual reality. Many of these sensors are based on piezoresistive films that cover an array of electrodes. This approach is simple and cheap and seems to be able to fit the requirements of applications like manipulation with robotic hands or grippers. Local preprocessing is a must in these systems to reduce errors and interferences and cope with the large amount of data from the sensor. This paper presents a circuitry based on a FPGA to implement the interface to the tactile sensor. The approach consists in a direct connection and can save area and get a more compact solution than other proposals that need more integrated circuits. Results from a first implementation based on a development board are shown to illustrate the feasibility of this strategy.
{"title":"Interface for tactile sensors based on direct connection to a FPGA","authors":"Ó. Oballe-Peinado, J. Castellanos-Ramos, J.A. Hidalgo, F. Vidal-Verdú, H. Macicior, E. Ochoteco","doi":"10.1109/ICMECH.2009.4957241","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957241","url":null,"abstract":"Tactile sensors are applied to different areas like robotics, medicine or virtual reality. Many of these sensors are based on piezoresistive films that cover an array of electrodes. This approach is simple and cheap and seems to be able to fit the requirements of applications like manipulation with robotic hands or grippers. Local preprocessing is a must in these systems to reduce errors and interferences and cope with the large amount of data from the sensor. This paper presents a circuitry based on a FPGA to implement the interface to the tactile sensor. The approach consists in a direct connection and can save area and get a more compact solution than other proposals that need more integrated circuits. Results from a first implementation based on a development board are shown to illustrate the feasibility of this strategy.","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":"123477180","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.2009.4957190
S. Zaidi, F. Lamarque, J. Favergeon, O. Carton, C. Prelle
In this article a method for wireless micro-actuation based on shape memory alloy (SMA) is investigated. First of all, a numerical model is presented having conduction and convection heat transfer modules and the effect of phase transformation is taken into account during heating and cooling of SMA. The numerical simulation is performed using Cast3M code and the physical properties of Nitinol (which is an alloy of nickel and titanium) irradiated by a continuous mode laser diode of wavelength 785 nm and optical power equal to 102 mW. An experimental work is carried out to validate the numerical modelling. For this purpose a square sample of Nitinol (2mm × 2mm × 100µm thick) is irradiated with the laser source and the temperature rise within the sample is measured using miniature thermocouples. A good agreement is found between the experimental and numerical results. At the end, the chromatic response of Nitinol thin foils using Bragg reflector structure is presented.
{"title":"Nitinol thin foil irradiated by continuous mode laser diode for wireless chromatic micro-actuation","authors":"S. Zaidi, F. Lamarque, J. Favergeon, O. Carton, C. Prelle","doi":"10.1109/ICMECH.2009.4957190","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957190","url":null,"abstract":"In this article a method for wireless micro-actuation based on shape memory alloy (SMA) is investigated. First of all, a numerical model is presented having conduction and convection heat transfer modules and the effect of phase transformation is taken into account during heating and cooling of SMA. The numerical simulation is performed using Cast3M code and the physical properties of Nitinol (which is an alloy of nickel and titanium) irradiated by a continuous mode laser diode of wavelength 785 nm and optical power equal to 102 mW. An experimental work is carried out to validate the numerical modelling. For this purpose a square sample of Nitinol (2mm × 2mm × 100µm thick) is irradiated with the laser source and the temperature rise within the sample is measured using miniature thermocouples. A good agreement is found between the experimental and numerical results. At the end, the chromatic response of Nitinol thin foils using Bragg reflector structure is presented.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"113 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":"129376324","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.2009.4957122
U. Koch, D. Wiedemann, H. Ulbrich
Electromagnetic actuators have proven useful for the vibration excitation of components. Their inherent instability can be compensated by adequate feedback control. For realistic car excitation, at least two actuators are necessary that are clamped to the car body. Their interaction is governed by the dynamic behaviour of the jacking points and is especially high at a system resonance frequency. The resulting intense couplings cause problems when two independent decentral SISO (single input single output) controllers are used. Weakening the SISO controller gains to diminish coupling effects is impossible as the control parameters have to be high enough to stabilize each actuator. A solution to these problems is to decouple the two SISO controllers statically by diagonalizing the system at the resonance frequency. Two decoupling approaches are applied, both of them based on system identifications: SVD (singular value decomposition) and DTM (dyadic transfer function matrices). Both strategies are adapted to the specific state-space SISO controllers and decouple only the states that are physically coupled in a direct manner. Since interaction is strong merely at the system's resonance frequency, static decoupling works well and reduces permanent disturbances significantly while enabling increased control parameters at the same time. Due to a reference tracking configuration of the decoupled state-space controllers named tracking error estimation, the achieved bandwidth matches the desired 100 hertz.
{"title":"Decoupled decentral control of electromagnetic actuators for car vibration excitation","authors":"U. Koch, D. Wiedemann, H. Ulbrich","doi":"10.1109/ICMECH.2009.4957122","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957122","url":null,"abstract":"Electromagnetic actuators have proven useful for the vibration excitation of components. Their inherent instability can be compensated by adequate feedback control. For realistic car excitation, at least two actuators are necessary that are clamped to the car body. Their interaction is governed by the dynamic behaviour of the jacking points and is especially high at a system resonance frequency. The resulting intense couplings cause problems when two independent decentral SISO (single input single output) controllers are used. Weakening the SISO controller gains to diminish coupling effects is impossible as the control parameters have to be high enough to stabilize each actuator. A solution to these problems is to decouple the two SISO controllers statically by diagonalizing the system at the resonance frequency. Two decoupling approaches are applied, both of them based on system identifications: SVD (singular value decomposition) and DTM (dyadic transfer function matrices). Both strategies are adapted to the specific state-space SISO controllers and decouple only the states that are physically coupled in a direct manner. Since interaction is strong merely at the system's resonance frequency, static decoupling works well and reduces permanent disturbances significantly while enabling increased control parameters at the same time. Due to a reference tracking configuration of the decoupled state-space controllers named tracking error estimation, the achieved bandwidth matches the desired 100 hertz.","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":"130569124","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.2009.4957206
L. Pabon, C. P. Martinez, J. Villagrá, C. Balaguer
This article presents the mechanical design, hardware architecture and control scheme for critic joints in biped robots. A dynamic simulator was developed in order to quantify torque and currents motor requirements for different gait trajectories. The particular characteristics of biped robots has led to an important design effort in transmission systems, which is deeply discussed before presenting our choice. A specific electronic architecture has been proposed in order to provide the maximum accuracy in trajectory tracking for critic joints. Thus, an absolute encoder located at the output shaft will provide, through the CAN bus, the necessary information to properly correct the joint reference from the global stabilizer. A model-free approach and a Smith predictor on the loop are combined to deal with the transmission uncertainty and the network delays, respectively.
{"title":"Mechatronic design and control of a critical biped robot joint","authors":"L. Pabon, C. P. Martinez, J. Villagrá, C. Balaguer","doi":"10.1109/ICMECH.2009.4957206","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957206","url":null,"abstract":"This article presents the mechanical design, hardware architecture and control scheme for critic joints in biped robots. A dynamic simulator was developed in order to quantify torque and currents motor requirements for different gait trajectories. The particular characteristics of biped robots has led to an important design effort in transmission systems, which is deeply discussed before presenting our choice. A specific electronic architecture has been proposed in order to provide the maximum accuracy in trajectory tracking for critic joints. Thus, an absolute encoder located at the output shaft will provide, through the CAN bus, the necessary information to properly correct the joint reference from the global stabilizer. A model-free approach and a Smith predictor on the loop are combined to deal with the transmission uncertainty and the network delays, respectively.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"26 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":"130155321","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.2009.4957203
R. Zeichfussl, B. Gottlieb, C. Wallenhauer, S. Herzig, A. Kappel, T. Luth
Piezoelectric Actuator Drives (PADs) introduce a new kind of rotary motors, combining high dynamics, torque, and positioning accuracy. The working principle is based on a micro-toothed pair of ring and shaft, which guarantee form-fit and continuous force transmission. Due to miniaturization constant speed and absolute positioning accuracy depend on precise adjustment and therefore demand control to overcome mounting tolerances and thermal influence. In this paper a method for adjusting the PAD is presented, which makes use of the smart sensing function of the piezoelectric elements. In a simplified model the expected feedback will be calculated and an appropriate closed-loop controller will be proposed.
{"title":"A method for auto-adjustment of a new Piezoelectric drive","authors":"R. Zeichfussl, B. Gottlieb, C. Wallenhauer, S. Herzig, A. Kappel, T. Luth","doi":"10.1109/ICMECH.2009.4957203","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957203","url":null,"abstract":"Piezoelectric Actuator Drives (PADs) introduce a new kind of rotary motors, combining high dynamics, torque, and positioning accuracy. The working principle is based on a micro-toothed pair of ring and shaft, which guarantee form-fit and continuous force transmission. Due to miniaturization constant speed and absolute positioning accuracy depend on precise adjustment and therefore demand control to overcome mounting tolerances and thermal influence. In this paper a method for adjusting the PAD is presented, which makes use of the smart sensing function of the piezoelectric elements. In a simplified model the expected feedback will be calculated and an appropriate closed-loop controller will be proposed.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"44 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":"121599582","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.2009.4957124
J. Martínez-Gómez, J. A. Gamez, I. García-Varea
In this paper we present an adaptive vision system for the AIBO robots which is able to dynamically change the calibration of the colour filters implemented in the robots. This system tries to be robust by using techniques for coping with noise and hard environment characteristics, specially changing lighting conditions. This system has to be run with a processor with low processing resources and therefore it has to be simple and efficient. The vision system uses the 8 colour filters that are hardware already implemented in the robots. These filters can be easily established and they are used to carry out the recognition of the relevant elements in the given scenario. The final goal of the proposed adaptive vision is to improve the performance of well-known self-localization algorithms.
{"title":"Robust vision system with automatic filter calibration","authors":"J. Martínez-Gómez, J. A. Gamez, I. García-Varea","doi":"10.1109/ICMECH.2009.4957124","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957124","url":null,"abstract":"In this paper we present an adaptive vision system for the AIBO robots which is able to dynamically change the calibration of the colour filters implemented in the robots. This system tries to be robust by using techniques for coping with noise and hard environment characteristics, specially changing lighting conditions. This system has to be run with a processor with low processing resources and therefore it has to be simple and efficient. The vision system uses the 8 colour filters that are hardware already implemented in the robots. These filters can be easily established and they are used to carry out the recognition of the relevant elements in the given scenario. The final goal of the proposed adaptive vision is to improve the performance of well-known self-localization algorithms.","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":"116288951","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.2009.4957146
Gyung-Hwan Yuk, Woonghee Cho, Hyunseok Yang
Various static and dynamic stability criteria have been defined in many researches. To estimate these stability margins, many sensors are required. Therefore, implementation on a real vehicle is an important factor for stability margins. In this paper, a modified dynamic energy stability margin measured with only a few sensors is suggested to facilitate implementation. The performance of the modified stability margin is demonstrated through dynamic simulations. The experiment results and an implementation of the stability margin estimation system on a real vehicle are presented.
{"title":"Velocity-based energy stability margin for practical implementation in wheeled vehicles","authors":"Gyung-Hwan Yuk, Woonghee Cho, Hyunseok Yang","doi":"10.1109/ICMECH.2009.4957146","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957146","url":null,"abstract":"Various static and dynamic stability criteria have been defined in many researches. To estimate these stability margins, many sensors are required. Therefore, implementation on a real vehicle is an important factor for stability margins. In this paper, a modified dynamic energy stability margin measured with only a few sensors is suggested to facilitate implementation. The performance of the modified stability margin is demonstrated through dynamic simulations. The experiment results and an implementation of the stability margin estimation system on a real vehicle are presented.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"38 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":"116414884","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.2009.4957221
J. Cortés-Romero, A. Luviano‐Juárez, H. Sira-Ramírez
In this article, we propose a field oriented control scheme of two stages. The first stage keeps the tracking of the angular velocity and simultaneously, regulates the flux modulus by means of the stator currents. These designed current signals are used as reference trajectories for the second stage. Both stages use observer based controllers of Generalized Proportional Integral (GPI) nature. The trajectory tracking task is defined on the angular velocity of a complete model of an induction motor subject to a completely unknown, but bounded, load torque perturbation input. The robustness is tested under deviation of system parameter, additive unknown perturbations and high frequency measurement noises in the closed loop system. A numerical simulation verifies the effectiveness of the proposed scheme.
{"title":"Robust GPI controller for trajectory tracking for induction motors","authors":"J. Cortés-Romero, A. Luviano‐Juárez, H. Sira-Ramírez","doi":"10.1109/ICMECH.2009.4957221","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957221","url":null,"abstract":"In this article, we propose a field oriented control scheme of two stages. The first stage keeps the tracking of the angular velocity and simultaneously, regulates the flux modulus by means of the stator currents. These designed current signals are used as reference trajectories for the second stage. Both stages use observer based controllers of Generalized Proportional Integral (GPI) nature. The trajectory tracking task is defined on the angular velocity of a complete model of an induction motor subject to a completely unknown, but bounded, load torque perturbation input. The robustness is tested under deviation of system parameter, additive unknown perturbations and high frequency measurement noises in the closed loop system. A numerical simulation verifies the effectiveness of the proposed scheme.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"47 2 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":"126049964","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.2009.4957157
A. Almasi
When a rotor comes a part, it results in flying fragments. The fragments are impacted and penetrated in electric machine casing. Containing failed parts in high speed electric machines can be a real safety concern. This paper presents an advanced method for dynamic analysis of high speed failed part penetration in machine housing, based on plastic deformation theory with dynamic corrections. A comprehensive dynamic plastic deformation model is introduced which can simulate plastic high rate distortion of failed part and electric machine casing. Governing equations are formulated and solved to obtain crater geometry in casing and penetration value. Analytical results show good agreement with experimental data.
{"title":"Containing analysis of high speed failed part impacted and penetrated in electric machine casing","authors":"A. Almasi","doi":"10.1109/ICMECH.2009.4957157","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957157","url":null,"abstract":"When a rotor comes a part, it results in flying fragments. The fragments are impacted and penetrated in electric machine casing. Containing failed parts in high speed electric machines can be a real safety concern. This paper presents an advanced method for dynamic analysis of high speed failed part penetration in machine housing, based on plastic deformation theory with dynamic corrections. A comprehensive dynamic plastic deformation model is introduced which can simulate plastic high rate distortion of failed part and electric machine casing. Governing equations are formulated and solved to obtain crater geometry in casing and penetration value. Analytical results show good agreement with experimental data.","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":"127724770","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.2009.4957232
Ioan G. Pop, V. Maties
The paper presents a transdisciplinary perspective on mechatronical knowledge achievement. Starting from the beginnings of the mechatronics, are presented the five stages of the way the mechatronics emerged as an educational paradigm, as a reflexive logic-creative way of communication and a socio-interactive system of thinking, living and acting in a transdisciplinary context. Very important is the explanation of the transdisciplinary way the mechatronical disciplines, as optomechatronics, robotics, biomechatronics are generated by a transdialog process between disciplines, through predisciplinary, codisciplinary, pluridisciplinary and crossdisciplinary stages.
{"title":"Considerations about the mechatronical transdisciplinary knowledge paradigm","authors":"Ioan G. Pop, V. Maties","doi":"10.1109/ICMECH.2009.4957232","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957232","url":null,"abstract":"The paper presents a transdisciplinary perspective on mechatronical knowledge achievement. Starting from the beginnings of the mechatronics, are presented the five stages of the way the mechatronics emerged as an educational paradigm, as a reflexive logic-creative way of communication and a socio-interactive system of thinking, living and acting in a transdisciplinary context. Very important is the explanation of the transdisciplinary way the mechatronical disciplines, as optomechatronics, robotics, biomechatronics are generated by a transdialog process between disciplines, through predisciplinary, codisciplinary, pluridisciplinary and crossdisciplinary stages.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"40 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":"128772323","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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