Pub Date : 2009-04-14DOI: 10.1109/ICMECH.2009.4957231
I. Payo, V. Feliu
In this paper the deflection of a single-link flexible beam has been analized when a force of any direction is applied at its tip. This deflection is described by a non-linear model whose solution can be obtained by calculating some elliptic integrals which can be evaluated by using numerical integration methods. This non-linear model is valid for any deflection of the beam but a linear model can be used when the beam experiences small deflections. In this work we analyze the boundary between linear and non-linear behavior of the beam (small and large deflections) and the results obtained are contrasted with experimental tests.
{"title":"Linear and non-linear behavior of highly flexible single-link arms. Theory and experiments","authors":"I. Payo, V. Feliu","doi":"10.1109/ICMECH.2009.4957231","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957231","url":null,"abstract":"In this paper the deflection of a single-link flexible beam has been analized when a force of any direction is applied at its tip. This deflection is described by a non-linear model whose solution can be obtained by calculating some elliptic integrals which can be evaluated by using numerical integration methods. This non-linear model is valid for any deflection of the beam but a linear model can be used when the beam experiences small deflections. In this work we analyze the boundary between linear and non-linear behavior of the beam (small and large deflections) and the results obtained are contrasted with experimental tests.","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":"116498367","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.2009.4957172
Mahsa A. Golkar, Sarah Taghavi Namin, H. Aminaiee
Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular Fuzzy Inference System independently. The fuzzy controllers outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.
{"title":"Fuzzy controller for cooperative object pushing with variable line contact","authors":"Mahsa A. Golkar, Sarah Taghavi Namin, H. Aminaiee","doi":"10.1109/ICMECH.2009.4957172","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957172","url":null,"abstract":"Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular Fuzzy Inference System independently. The fuzzy controllers outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"303 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":"133795303","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.2009.4957147
Mitsuhiro Kamezaki, H. Iwata, S. Sugano
Double-front construction machinery (DFCM), which has been developed for adaptation to complicated work, demands higher operational skills to control double fronts with more multiple joints. To handle DFCM skillfully for performing more complicated works, intelligent functions that can autonomously distinguish between diverse states and also provide informational and operational supports to their operators are inevitably required. In particular, a state identification method strongly requires high reliability and robustness due to the complexity of the construction work environment and the variety of the operator's skill level. However, most of the current construction machinery has unique functions that only reproduce the movements that are originated by the operator. In this study, which focuses on DFCM, we addressed the need for a new conceptual design of an operator support system (OSS) and evaluated it using our newly developed simulator. Our experimental results showed that the OSS improves the work performance, including decreasing the operational time for completing a task, reducing the mental workload on the operators, and the number of error operations.
{"title":"Development of operator support system with primitive static states for intelligent construction machinery","authors":"Mitsuhiro Kamezaki, H. Iwata, S. Sugano","doi":"10.1109/ICMECH.2009.4957147","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957147","url":null,"abstract":"Double-front construction machinery (DFCM), which has been developed for adaptation to complicated work, demands higher operational skills to control double fronts with more multiple joints. To handle DFCM skillfully for performing more complicated works, intelligent functions that can autonomously distinguish between diverse states and also provide informational and operational supports to their operators are inevitably required. In particular, a state identification method strongly requires high reliability and robustness due to the complexity of the construction work environment and the variety of the operator's skill level. However, most of the current construction machinery has unique functions that only reproduce the movements that are originated by the operator. In this study, which focuses on DFCM, we addressed the need for a new conceptual design of an operator support system (OSS) and evaluated it using our newly developed simulator. Our experimental results showed that the OSS improves the work performance, including decreasing the operational time for completing a task, reducing the mental workload on the operators, and the number of error operations.","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":"133853478","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.2009.4957194
S. Takenawa
A novel tactile sensor based on electromagnetic induction that can detect slippage in addition to three-axis force is proposed. The structure of this sensor is simple, and the sensor, which is essentially a displacement gauge, consists of a two-dimensional array of inductors and an elastic body containing a permanent magnet. Formulas to transform the output voltage of the proposed sensor into a force vector are derived, and analyses of both deformation of the proposed structure and magnetic field generated by a cylindrical permanent magnet are carried out to extract transformation parameters. In addition, it is shown that the sensor sensitivity can be designed using the aspect ratio of the cylindrical magnet. A prototype unit-cell of a tactile sensor is developed with four chip inductors, silicone gel as an elastic body and a neodymium magnet, and experiments are undertaken with a six-axis force/torque sensor as a reference. The contributions of inductors to sensor output are observed experimentally to be in agreement with analytical prediction and the reference sensor. Experimental results show that the proposed tactile sensor is useful for three-axis force measurement and slip detection simultaneously.
{"title":"A soft three-axis tactile sensor based on electromagnetic induction","authors":"S. Takenawa","doi":"10.1109/ICMECH.2009.4957194","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957194","url":null,"abstract":"A novel tactile sensor based on electromagnetic induction that can detect slippage in addition to three-axis force is proposed. The structure of this sensor is simple, and the sensor, which is essentially a displacement gauge, consists of a two-dimensional array of inductors and an elastic body containing a permanent magnet. Formulas to transform the output voltage of the proposed sensor into a force vector are derived, and analyses of both deformation of the proposed structure and magnetic field generated by a cylindrical permanent magnet are carried out to extract transformation parameters. In addition, it is shown that the sensor sensitivity can be designed using the aspect ratio of the cylindrical magnet. A prototype unit-cell of a tactile sensor is developed with four chip inductors, silicone gel as an elastic body and a neodymium magnet, and experiments are undertaken with a six-axis force/torque sensor as a reference. The contributions of inductors to sensor output are observed experimentally to be in agreement with analytical prediction and the reference sensor. Experimental results show that the proposed tactile sensor is useful for three-axis force measurement and slip detection simultaneously.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"AES-3 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132722725","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.2009.4957193
Kee-Ho Yu, Myoung-Jong Yoon, G. Jeong
In walking guide system for a blind pedestrian, it is needed to detect an obstacle distribution in walking space not only 2D but space including pendent and/or protruded obstacles, and feedback to the blind for safe walking. The obstacle information is transferred to a blind pedestrian by a tactile stimulation. Based on the obstacle information a user plans walking route, and controls the walking guide system. In this paper, the methods for a 3D obstacle detection using ultrasonic sensors and mapping to an array type tactile stimulator are proposed. The experiment for the 3D detection of an obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors and control system. In the experiment, the detection of obstacles on the ground and the detection of down step are performed. The performance for the 3D detection of obstacle distribution and mapping for tactile stimulation are verified through the experiment.
{"title":"3D detection of obstacle distribution and mapping for tactile stimulation","authors":"Kee-Ho Yu, Myoung-Jong Yoon, G. Jeong","doi":"10.1109/ICMECH.2009.4957193","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957193","url":null,"abstract":"In walking guide system for a blind pedestrian, it is needed to detect an obstacle distribution in walking space not only 2D but space including pendent and/or protruded obstacles, and feedback to the blind for safe walking. The obstacle information is transferred to a blind pedestrian by a tactile stimulation. Based on the obstacle information a user plans walking route, and controls the walking guide system. In this paper, the methods for a 3D obstacle detection using ultrasonic sensors and mapping to an array type tactile stimulator are proposed. The experiment for the 3D detection of an obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors and control system. In the experiment, the detection of obstacles on the ground and the detection of down step are performed. The performance for the 3D detection of obstacle distribution and mapping for tactile stimulation are verified through the experiment.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"18 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":"134475503","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.2009.4957166
R. Dahiya, G. Metta, M. Valle
This paper presents the development of tactile sensing chips, for the fingertips of humanoid robots. In the first phase of development, piezoelectric polymer-MEA (microelectrode array) based test chips have been realized. Each chip comprises of 32 microelectrodes, epoxy-adhered with a thin piezoelectric polymer (PVDF-TrFE) film. The diameter of each microelectrode or ‘taxel’ (tactile element) is 500 µm and the center to center distance between taxels is 1 mm. The tactile sensing chips have been experimentally evaluated over a wide range (0.02 – 4N or ∼ 2 gmf- 400 gmf) of dynamic normal forces and frequencies (2 Hz – 5 KHz) by applying variable force with constant frequency in the first case and constant force with variable frequency in latter. The cross-talk, among adjacent taxels on the chips, is found to be approximately 20%. Finally, the ability of the chips to identify object material on the basis of their hardness is also demonstrated.
{"title":"Development of fingertip tactile sensing chips for humanoid robots","authors":"R. Dahiya, G. Metta, M. Valle","doi":"10.1109/ICMECH.2009.4957166","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957166","url":null,"abstract":"This paper presents the development of tactile sensing chips, for the fingertips of humanoid robots. In the first phase of development, piezoelectric polymer-MEA (microelectrode array) based test chips have been realized. Each chip comprises of 32 microelectrodes, epoxy-adhered with a thin piezoelectric polymer (PVDF-TrFE) film. The diameter of each microelectrode or ‘taxel’ (tactile element) is 500 µm and the center to center distance between taxels is 1 mm. The tactile sensing chips have been experimentally evaluated over a wide range (0.02 – 4N or ∼ 2 gmf- 400 gmf) of dynamic normal forces and frequencies (2 Hz – 5 KHz) by applying variable force with constant frequency in the first case and constant force with variable frequency in latter. The cross-talk, among adjacent taxels on the chips, is found to be approximately 20%. Finally, the ability of the chips to identify object material on the basis of their hardness is also demonstrated.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"48 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":"132222453","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.2009.4957132
A. Pujana-Arrese, A. Mendizabal, J. Arenas, S. Riaño, J. Landaluze
A one-degree-of-freedom set-up driven by pneumatic muscles was designed and built in order to research the applicability of pneumatic artificial muscles in industrial applications, especially in wearable robots such as exoskeletons. The experimental set-up is very non-linear and very difficult to control properly. As a reference, an enhanced PID controller was designed. At the same time, a robust controller H∞ and a sliding-mode controller based on an observer were designed and implemented. After that, a new position controller based on an internal pressure loop for each pneumatic muscle was tuned up. Firstly, this paper presents the experimental set-up and the system's linear models. After that, it summarizes the enhanced PID controller, H∞ controller and the sliding-mode controller that have been designed. Then, it focuses on the position controller based on the internal pressure loops. Finally, the controllers are compared by means of experimental results.
{"title":"Research on the position control of a 1-DoF set-up powered by pneumatic muscles","authors":"A. Pujana-Arrese, A. Mendizabal, J. Arenas, S. Riaño, J. Landaluze","doi":"10.1109/ICMECH.2009.4957132","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957132","url":null,"abstract":"A one-degree-of-freedom set-up driven by pneumatic muscles was designed and built in order to research the applicability of pneumatic artificial muscles in industrial applications, especially in wearable robots such as exoskeletons. The experimental set-up is very non-linear and very difficult to control properly. As a reference, an enhanced PID controller was designed. At the same time, a robust controller H∞ and a sliding-mode controller based on an observer were designed and implemented. After that, a new position controller based on an internal pressure loop for each pneumatic muscle was tuned up. Firstly, this paper presents the experimental set-up and the system's linear models. After that, it summarizes the enhanced PID controller, H∞ controller and the sliding-mode controller that have been designed. Then, it focuses on the position controller based on the internal pressure loops. Finally, the controllers are compared by means of experimental results.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"462 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":"116177736","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.2009.4957164
P. García-Robledo, Patricia García-Borrás, Jorge Barrio, M. Ferre, R. Aracil
This paper describes the design strategy of an experimental platform which works as a test bed for teleoperation. It studies the performance of the executed tasks with different configurations and settings. The two key elements of a teleoperation interface are haptics and video perception. They inform the operator about the status of the remote or virtual environment. Specific hardware has been developed for both interactions as explained in the paper. These specific hardware components allow studying different control scheme for haptic devices and visual stereoscopic images on a computer screen. Results of the tests to this date are shown at the end and up-coming experiments are proposed.
{"title":"Teleoperation platform for multimodal experimentation","authors":"P. García-Robledo, Patricia García-Borrás, Jorge Barrio, M. Ferre, R. Aracil","doi":"10.1109/ICMECH.2009.4957164","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957164","url":null,"abstract":"This paper describes the design strategy of an experimental platform which works as a test bed for teleoperation. It studies the performance of the executed tasks with different configurations and settings. The two key elements of a teleoperation interface are haptics and video perception. They inform the operator about the status of the remote or virtual environment. Specific hardware has been developed for both interactions as explained in the paper. These specific hardware components allow studying different control scheme for haptic devices and visual stereoscopic images on a computer screen. Results of the tests to this date are shown at the end and up-coming experiments are proposed.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"102 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":"129348418","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.2009.4957227
K. Chen Chih Peng, W. Singhose
The payload oscillation inherent to all cranes makes it challenging for human operators to manipulate payloads quickly, accurately, and safely. A new type of crane control system that allows an operator to drive a crane by moving a hand-held wand has been implemented on an industrial bridge crane at the Georgia Institute of Technology. An image processing system tracks the movement of the wand and its position is used to drive the crane. The crane was used to study the performance of human operators as they drove the crane through obstacle courses. The experimental results show that operators performed maneuvering tasks faster, safer, and more effectively when using the wand controller instead of the traditional push-button pendent controller.
{"title":"Crane control using machine vision and wand following","authors":"K. Chen Chih Peng, W. Singhose","doi":"10.1109/ICMECH.2009.4957227","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957227","url":null,"abstract":"The payload oscillation inherent to all cranes makes it challenging for human operators to manipulate payloads quickly, accurately, and safely. A new type of crane control system that allows an operator to drive a crane by moving a hand-held wand has been implemented on an industrial bridge crane at the Georgia Institute of Technology. An image processing system tracks the movement of the wand and its position is used to drive the crane. The crane was used to study the performance of human operators as they drove the crane through obstacle courses. The experimental results show that operators performed maneuvering tasks faster, safer, and more effectively when using the wand controller instead of the traditional push-button pendent controller.","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":"129380967","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.2009.4957237
R. Plateaux, J. Choley, O. Penas, Alain Riviere
In this study, we propose to integrate the entire downward side of the design V-cycle in order to achieve to a modelling continuity through the different levels of design approach (requirements, functional, components and structural). For this, we propose a hybrid methodology based on several tools, languages and methodologies such as SADT, SysML, Modelica, in a single environment: Dymola.
{"title":"Towards an integrated mechatronic design process","authors":"R. Plateaux, J. Choley, O. Penas, Alain Riviere","doi":"10.1109/ICMECH.2009.4957237","DOIUrl":"https://doi.org/10.1109/ICMECH.2009.4957237","url":null,"abstract":"In this study, we propose to integrate the entire downward side of the design V-cycle in order to achieve to a modelling continuity through the different levels of design approach (requirements, functional, components and structural). For this, we propose a hybrid methodology based on several tools, languages and methodologies such as SADT, SysML, Modelica, in a single environment: Dymola.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"204 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":"122317466","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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