Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957211
T. Cerdena, Y. Callero, D. Perea, P. Betancor, D. Lutzardo, J. Toledo, L. Acosta
A decimeter-scale humanoid robot is proposed and realized in this paper. The humanoid robot is fully autonomous in terms of sensing, processing and power supply. In addition, the robot has a low cost design. Sensing capabilities are provided by a camera and computer vision algorithms. Processing power is provided by a PC/104. Robot gait generation is based in sinusoid wave parameterization. The physical structure was built using a KHR-1 model as a base. With this equipment, the robot can manage itself in a controlled environment with obstacles, and find a route among them. The software components developed to manage the system are fully modular and layered, and all of them run in the PC/104. The robot can be monitored remotely by wireless radio link.
{"title":"Design and development of a fully autonomous decimeter-scale humanoid robot","authors":"T. Cerdena, Y. Callero, D. Perea, P. Betancor, D. Lutzardo, J. Toledo, L. Acosta","doi":"10.1109/ICMECH.2009.4957211","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957211","url":null,"abstract":"A decimeter-scale humanoid robot is proposed and realized in this paper. The humanoid robot is fully autonomous in terms of sensing, processing and power supply. In addition, the robot has a low cost design. Sensing capabilities are provided by a camera and computer vision algorithms. Processing power is provided by a PC/104. Robot gait generation is based in sinusoid wave parameterization. The physical structure was built using a KHR-1 model as a base. With this equipment, the robot can manage itself in a controlled environment with obstacles, and find a route among them. The software components developed to manage the system are fully modular and layered, and all of them run in the PC/104. The robot can be monitored remotely by wireless radio link.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"30 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":"133392545","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.2009.4957218
Á. Tar, M. Koller, G. Cserey
In this paper, we propose a novel Large Infrared Proximity Array (LIPA), which is capable of reproducing 3D images of the target object. An IPA uses infrared sensors and infrared emitters to accurately measure distance and thus, creates 3D monographic geometry of the sensed objects in real time. In the current setup infrared emitters (LEDs) and photo transistors are used, placed in one package. In many applications determining an obstacle's height, orientation, or distance with a very high resolution is not needed (less than 1–2mm is enough) but the sensor often should have a big sensing area. Contrary to nowadays techniques we tried to form a rather large but sparse sensor array to cover as big part of the surrounding area as possible. In addition it has the detection range of 1cm to 15cm (it can be increased depending on the application requirements). 64 LED and photo transistor pairs were used and placed in an 8 × 8 matrix order creating a 9cm × 9cm sensor array. We also demonstrate how the resolution of these kind of systems can be increased. The concept of the proposed sensor array spans a wide range of potential applications, i.e. in robotics.
{"title":"3D geometry reconstruction using Large Infrared Proximity Array for robotic applications","authors":"Á. Tar, M. Koller, G. Cserey","doi":"10.1109/ICMECH.2009.4957218","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957218","url":null,"abstract":"In this paper, we propose a novel Large Infrared Proximity Array (LIPA), which is capable of reproducing 3D images of the target object. An IPA uses infrared sensors and infrared emitters to accurately measure distance and thus, creates 3D monographic geometry of the sensed objects in real time. In the current setup infrared emitters (LEDs) and photo transistors are used, placed in one package. In many applications determining an obstacle's height, orientation, or distance with a very high resolution is not needed (less than 1–2mm is enough) but the sensor often should have a big sensing area. Contrary to nowadays techniques we tried to form a rather large but sparse sensor array to cover as big part of the surrounding area as possible. In addition it has the detection range of 1cm to 15cm (it can be increased depending on the application requirements). 64 LED and photo transistor pairs were used and placed in an 8 × 8 matrix order creating a 9cm × 9cm sensor array. We also demonstrate how the resolution of these kind of systems can be increased. The concept of the proposed sensor array spans a wide range of potential applications, i.e. in robotics.","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":"124332419","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.2009.4957214
Victor Hugo Jaramillo Velasquez, V. F. Batlle, Fernando Jose Castillo Garcia
This paper introduces an approach to a new criterion in gearbox ratio selection for one-link flexible robots. Unlike the rigid arm criterion, the new criterion is related to the tip trajectory, giving a rather “dynamic criterion”. Meanwhile, the rigid case can be defined as a “static criterion” due to its independence from the trajectory topology and flexible dynamics. Then, based on the use of (at least) four times differentiable trajectories, the criterion is stated; therefore mechanical and electrical restrictions allow for the criterion to be set. Finally, a set of examples based on real platforms is exposed and results of the new criterion are compared with those of the rigid case.
{"title":"An approach to flexible link robots gearbox design","authors":"Victor Hugo Jaramillo Velasquez, V. F. Batlle, Fernando Jose Castillo Garcia","doi":"10.1109/ICMECH.2009.4957214","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957214","url":null,"abstract":"This paper introduces an approach to a new criterion in gearbox ratio selection for one-link flexible robots. Unlike the rigid arm criterion, the new criterion is related to the tip trajectory, giving a rather “dynamic criterion”. Meanwhile, the rigid case can be defined as a “static criterion” due to its independence from the trajectory topology and flexible dynamics. Then, based on the use of (at least) four times differentiable trajectories, the criterion is stated; therefore mechanical and electrical restrictions allow for the criterion to be set. Finally, a set of examples based on real platforms is exposed and results of the new criterion are compared with those of the rigid case.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"17 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":"115388226","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.2009.4957215
C. Ciufudean, C. Filote, A. Larionescu, A. Cozgarea, D. Amarandei
Considering that in a discrete manufacturing system the production rates of machines are stochastic and not equal, we focus on transient analysis of Markov models. The system is decomposed resulting in reduced computation burden into several base-elements, which determine the event occurrence such as: a machine fails, a machine is repaired, a buffer fills up, a buffer empties. The global properties of machines are determined with the computation of distribution of time to absorption in Markov models of manufacturing systems with deadlocks of failures. It is shown that a discrete-event system formulation and state partition into basic cells and fast and slow varying section, lead to a reduced computation cost.
{"title":"Formalisms for modelling the discrete manufacturing systems","authors":"C. Ciufudean, C. Filote, A. Larionescu, A. Cozgarea, D. Amarandei","doi":"10.1109/ICMECH.2009.4957215","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957215","url":null,"abstract":"Considering that in a discrete manufacturing system the production rates of machines are stochastic and not equal, we focus on transient analysis of Markov models. The system is decomposed resulting in reduced computation burden into several base-elements, which determine the event occurrence such as: a machine fails, a machine is repaired, a buffer fills up, a buffer empties. The global properties of machines are determined with the computation of distribution of time to absorption in Markov models of manufacturing systems with deadlocks of failures. It is shown that a discrete-event system formulation and state partition into basic cells and fast and slow varying section, lead to a reduced computation cost.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"502 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":"127151368","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.2009.4957142
Esam H. Abd-Elhameed, M. Iwasaki
AC machines with PM (permanent magnet) are used with preference for applications in high performance positioning systems. The actuated servo drive of ball-screw-driven system which has been used in many industrial applications for fast and precise positioning in the microscopic displacement range is an AC PM motor. This servo drive generates parasitic pulsating torque caused by the power supply and the machine construction resulting speed oscillations which, although small in magnitude, affect the performance of the mechanism. Pulsating torque effects are analyzed and modeled using a mathematical approach and then used for compensation. The experimental results after pulsating torque compensation demonstrate the effectiveness of pulsating torque compensation to accomplish high precision positioning performance of the ball-screw-driven system in the microscopic displacement range.
{"title":"Pulsating torque modeling and compensation for high precision positioning control","authors":"Esam H. Abd-Elhameed, M. Iwasaki","doi":"10.1109/ICMECH.2009.4957142","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957142","url":null,"abstract":"AC machines with PM (permanent magnet) are used with preference for applications in high performance positioning systems. The actuated servo drive of ball-screw-driven system which has been used in many industrial applications for fast and precise positioning in the microscopic displacement range is an AC PM motor. This servo drive generates parasitic pulsating torque caused by the power supply and the machine construction resulting speed oscillations which, although small in magnitude, affect the performance of the mechanism. Pulsating torque effects are analyzed and modeled using a mathematical approach and then used for compensation. The experimental results after pulsating torque compensation demonstrate the effectiveness of pulsating torque compensation to accomplish high precision positioning performance of the ball-screw-driven system in the microscopic displacement range.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"74 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":"127380850","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.2009.4957144
A. Rahideh, M. Shaheed
This paper presents the development and implementation of a real time hybrid fuzzy-PID control paradigm for an aerodynamic test rig, a twin rotor multi-input-multi-output system (TRMS) which resembles the dynamics of a helicopter in certain aspects. The TRMS can be perceived as a challenging control problem due to its high nonlinearity, the coupling effects between its two axes and the inaccessibility of some of its states and outputs for measurements. The objective of the controller is to move the beam of the TRMS to the desired positions accurately addressing these demanding attributes. The controllers are based on the accurate dynamic models for both vertical and horizontal movements of the system. A fuzzy controller is firstly designed according to the characteristics of the process and then improved with an integrator, in order to reduce the steady state error compared to a conventional fuzzy controller. The responses of the controllers are validated using various reference inputs. A comparative performance study between the developed hybrid fuzzy-PID control approach and the single PID based approach is also made in this investigation.
{"title":"Real time hybrid fuzzy-PID control of a twin rotor system","authors":"A. Rahideh, M. Shaheed","doi":"10.1109/ICMECH.2009.4957144","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957144","url":null,"abstract":"This paper presents the development and implementation of a real time hybrid fuzzy-PID control paradigm for an aerodynamic test rig, a twin rotor multi-input-multi-output system (TRMS) which resembles the dynamics of a helicopter in certain aspects. The TRMS can be perceived as a challenging control problem due to its high nonlinearity, the coupling effects between its two axes and the inaccessibility of some of its states and outputs for measurements. The objective of the controller is to move the beam of the TRMS to the desired positions accurately addressing these demanding attributes. The controllers are based on the accurate dynamic models for both vertical and horizontal movements of the system. A fuzzy controller is firstly designed according to the characteristics of the process and then improved with an integrator, in order to reduce the steady state error compared to a conventional fuzzy controller. The responses of the controllers are validated using various reference inputs. A comparative performance study between the developed hybrid fuzzy-PID control approach and the single PID based approach is also made in this investigation.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"62 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":"126840569","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.2009.4957222
Sunhong Park, S. Hashimoto
In this paper, we describe an autonomous navigation system for a mobile robot using randomly distributed passive RFID tags. Furthermore, in order to acquire the robot's location and orientation precisely, we developed the Read-time model. According to the conventional approaches, more than two readers are required to estimate the orientation of the robot when using a passive RFID system. With our proposed method, a mobile robot is able to estimate its location and orientation accurately with a randomly distributed arrangement of RFID tags. The experimental results illustrate that the proposed method can successfully do both.
{"title":"An approach for mobile robot navigation under randomly distributed passive RFID environment","authors":"Sunhong Park, S. Hashimoto","doi":"10.1109/ICMECH.2009.4957222","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957222","url":null,"abstract":"In this paper, we describe an autonomous navigation system for a mobile robot using randomly distributed passive RFID tags. Furthermore, in order to acquire the robot's location and orientation precisely, we developed the Read-time model. According to the conventional approaches, more than two readers are required to estimate the orientation of the robot when using a passive RFID system. With our proposed method, a mobile robot is able to estimate its location and orientation accurately with a randomly distributed arrangement of RFID tags. The experimental results illustrate that the proposed method can successfully do both.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"9 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":"121937407","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.2009.4957198
Dimitris Aristos, S. Tzafestas
Object recognition techniques are well known in the field of machine vision, and aim at the classification of certain observed rigid objects based on the information acquired by a specific sensor. These techniques can either be performed in the 2D image space by simply applying suitable image processing algorithms, or in the real world 3D space by performing surface reconstruction of the object's surface and comparing it with a database of known CAD data. This paper presents a combination of techniques which not only recognize and categorize the observed rigid objects but also compute their 3D pose (position and orientation) with respect an industrial robot's workspace frame. This task is very useful in the field of robotics as it allows an industrial robot to simultaneously recognize and follow the displacements of a specific rigid object, among other objects that may co-exist in the same environment.
{"title":"Simultaneous object recognition and position tracking for robotic applications","authors":"Dimitris Aristos, S. Tzafestas","doi":"10.1109/ICMECH.2009.4957198","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957198","url":null,"abstract":"Object recognition techniques are well known in the field of machine vision, and aim at the classification of certain observed rigid objects based on the information acquired by a specific sensor. These techniques can either be performed in the 2D image space by simply applying suitable image processing algorithms, or in the real world 3D space by performing surface reconstruction of the object's surface and comparing it with a database of known CAD data. This paper presents a combination of techniques which not only recognize and categorize the observed rigid objects but also compute their 3D pose (position and orientation) with respect an industrial robot's workspace frame. This task is very useful in the field of robotics as it allows an industrial robot to simultaneously recognize and follow the displacements of a specific rigid object, among other objects that may co-exist in the same environment.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"292 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":"131494818","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.2009.4957159
Shu-guo Wei, Shengdun Zhao, Jian-ming Zheng
For motion controlling switched reluctant motor (SRM) directly-drivn hydraulic system, a self-tuning dead-zone compensation fuzzy controller is put forward to compensate the dead-zone characteristics of SRM in the paper. The proposed controller is simulated and experimental Study on the proposed controller is carried out on the directly-driven hydraulic system. The results show that the SRM directly-driven hydraulic system under the proposed controller has good performance.
{"title":"Experiment and simulation on control of a new type of electro hydraulic servosystem","authors":"Shu-guo Wei, Shengdun Zhao, Jian-ming Zheng","doi":"10.1109/ICMECH.2009.4957159","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957159","url":null,"abstract":"For motion controlling switched reluctant motor (SRM) directly-drivn hydraulic system, a self-tuning dead-zone compensation fuzzy controller is put forward to compensate the dead-zone characteristics of SRM in the paper. The proposed controller is simulated and experimental Study on the proposed controller is carried out on the directly-driven hydraulic system. The results show that the SRM directly-driven hydraulic system under the proposed controller has good performance.","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":"125279395","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.2009.4957113
M. Djeziri, B. O. Bouamama, R. Merzouki, G. Dauphin-Tanguy
Ability to detect and to isolate faults which may affect the system depends essentially on instrumentation architecture. This is why, before designing an industrial supervision system, determination of monitoring ability based on technical specifications is important. Used methods in the consulted literature are based on a model given as a set of collected data in different modes (faulty and normal) or under complex differential equations. In the present paper it will be shown how the behavioral, structural and causal properties of the bond graph model can be used for monitoring ability analysis (which part of the system is over, just or under constrained) with no need of calculation. The developed method is applied to the designing a real time monitoring of an electromechanical system.
{"title":"Optimal sensor placement for fault diagnosis","authors":"M. Djeziri, B. O. Bouamama, R. Merzouki, G. Dauphin-Tanguy","doi":"10.1109/ICMECH.2009.4957113","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957113","url":null,"abstract":"Ability to detect and to isolate faults which may affect the system depends essentially on instrumentation architecture. This is why, before designing an industrial supervision system, determination of monitoring ability based on technical specifications is important. Used methods in the consulted literature are based on a model given as a set of collected data in different modes (faulty and normal) or under complex differential equations. In the present paper it will be shown how the behavioral, structural and causal properties of the bond graph model can be used for monitoring ability analysis (which part of the system is over, just or under constrained) with no need of calculation. The developed method is applied to the designing a real time monitoring of an electromechanical system.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"35 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":"121094313","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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