Pub Date : 2023-03-15DOI: 10.1109/ICM54990.2023.10101973
Robbert van der Kruk, Arend Jan van Noorden, T. Oomen, R. V. D. Molengraft, H. Bruyninckx
Input shaping can effectively reduce residual vibrations of flexible systems induced by the reference signal. For the control of cranes, the usefulness of input shaping is well known and implemented. A big knowledge gap is noted to apply input shaping to robotic pick and place. For these applications, the shaped reference trajectory could result in a reduced overall settling time. A frequency domain and time domain view is presented for this purpose. The main contribution of this paper is the introduction of a formal proposition to relate the relative overshoot to the ratio of vibration and acceleration time. This enables the selection of the highest possible acceleration value to meet the overshoot specification. An experimental validation, confirms the performance improvement obtained for a cheese product packed in a liquid bag suspended by a vacuum suction cup gripper for a delta robot system.
{"title":"Robotic Control for Vibration Reduction of Swinging Products","authors":"Robbert van der Kruk, Arend Jan van Noorden, T. Oomen, R. V. D. Molengraft, H. Bruyninckx","doi":"10.1109/ICM54990.2023.10101973","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101973","url":null,"abstract":"Input shaping can effectively reduce residual vibrations of flexible systems induced by the reference signal. For the control of cranes, the usefulness of input shaping is well known and implemented. A big knowledge gap is noted to apply input shaping to robotic pick and place. For these applications, the shaped reference trajectory could result in a reduced overall settling time. A frequency domain and time domain view is presented for this purpose. The main contribution of this paper is the introduction of a formal proposition to relate the relative overshoot to the ratio of vibration and acceleration time. This enables the selection of the highest possible acceleration value to meet the overshoot specification. An experimental validation, confirms the performance improvement obtained for a cheese product packed in a liquid bag suspended by a vacuum suction cup gripper for a delta robot system.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129466406","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10102057
Till Fuchs, Matthias Zinser, K. Renatus, B. Bäker
The CASE (Connected, Automated, Services, Electrification) trends are shaping the automotive industry, leading to new disruptive innovations and challenges. Besides level 4/5 automated driving or shared mobility, one major factor for the success of CASE are software over-the-air (SOTA) updates. Even though map updates are common, feature updates throughout the vehicle's life cycle are not yet. This results partially from non-existent virtual respectively hardware free test methods as well as environments for SOTA updates. Therefore, this paper presents a digital twin concept for virtual testing of software updates for mechatronic systems. Firstly, it allows to set up and load Software-in-the-Loop (SiL) test environments including individual vehicle configurations. Secondly, a graph based weighting algorithm enables the use of operational vehicle field data in combination with behaviourbased data from virtual test environments in order to enrich the test quality. Lastly, a traversal algorithm can detect the functions control flow and propagate test cases alongside it.
{"title":"Automotive Digital Twins: A Traversal Algorithm for Virtual Testing of Software over-the-air Updates","authors":"Till Fuchs, Matthias Zinser, K. Renatus, B. Bäker","doi":"10.1109/ICM54990.2023.10102057","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102057","url":null,"abstract":"The CASE (Connected, Automated, Services, Electrification) trends are shaping the automotive industry, leading to new disruptive innovations and challenges. Besides level 4/5 automated driving or shared mobility, one major factor for the success of CASE are software over-the-air (SOTA) updates. Even though map updates are common, feature updates throughout the vehicle's life cycle are not yet. This results partially from non-existent virtual respectively hardware free test methods as well as environments for SOTA updates. Therefore, this paper presents a digital twin concept for virtual testing of software updates for mechatronic systems. Firstly, it allows to set up and load Software-in-the-Loop (SiL) test environments including individual vehicle configurations. Secondly, a graph based weighting algorithm enables the use of operational vehicle field data in combination with behaviourbased data from virtual test environments in order to enrich the test quality. Lastly, a traversal algorithm can detect the functions control flow and propagate test cases alongside it.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"234 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132411829","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10101873
Marco Monte, R. Oboe, Emanuele Siego, Davide Pilastro, Stefano Bizzotto
The use of two-stage positioning systems is becoming widespread in the manufacturing industry, as they allow shortening the completion of tasks while maintaining high positioning accuracy. This paper proposes a path planning algorithm which splits the movements to be executed by the two actuators, in such a way to obtain a beneficial effect on the Macro actuator motion, in terms of smoothness and limited vibration onset. The algorithm takes advantage of the spline properties to generate a smooth geometric path and to easily account for micro actuator limited range of motion. Compared to other methods described in literature, the proposed solution only needs a sequence of end-effector poses (not related by a time law) to generate a proper sequence of poses in the joint space. The proposed solution is carried out by solving a linearly constrained quadratic programming problem.
{"title":"Minimum curvature path planning for a dual stage positioning system*","authors":"Marco Monte, R. Oboe, Emanuele Siego, Davide Pilastro, Stefano Bizzotto","doi":"10.1109/ICM54990.2023.10101873","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101873","url":null,"abstract":"The use of two-stage positioning systems is becoming widespread in the manufacturing industry, as they allow shortening the completion of tasks while maintaining high positioning accuracy. This paper proposes a path planning algorithm which splits the movements to be executed by the two actuators, in such a way to obtain a beneficial effect on the Macro actuator motion, in terms of smoothness and limited vibration onset. The algorithm takes advantage of the spline properties to generate a smooth geometric path and to easily account for micro actuator limited range of motion. Compared to other methods described in literature, the proposed solution only needs a sequence of end-effector poses (not related by a time law) to generate a proper sequence of poses in the joint space. The proposed solution is carried out by solving a linearly constrained quadratic programming problem.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133631186","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10101918
M. A. Khanesar, Minrui Yan, Peter Kendal, Mohammad Isa, S. Piano, David T. Branson
This paper proposes an industrial robot calibration methodology using an artificial bee colony algorithm. Open loop industrial robot positions are usually calculated using joint angle readings and industrial robot forward kinematics, where feedback control systems are then use iteratively to improve performance. This can often be time consuming and risks unstable control, so the preference is to enable as accurate open loop control as possible. Industrial robot forward kinematics include Denavit-Hartenberg (DH) parameters. However, assembly and manufacturing tolerances may result in differences between actual and nominal DH parameters. To improve industrial robot positional accuracies, it is required to better estimate its DH parameters. A highly accurate laser tracker system provides the positional measurement required to perform calibration of the DH parameters. For this purpose, a Leica AT960-MR, a laser tracker which works based on interferometry principles, is used to provide end effector 3D position measurements. An artificial Bee colony algorithm is then used to improve the cost function associated with the forward kinematic error by estimating more accurate industrial robot DH parameters. The implementation results demonstrate that using calibrated industrial robot DH parameters, it is possible to improve the open loop positional accuracies of the robot compared to uncalibrated forward kinematics mean absolute error for test data from 75.4 $mu$m to 60.1 $mu$m (20.3% improvement).
{"title":"Intelligent Static Calibration of Industrial Robots using Artificial Bee Colony Algorithm","authors":"M. A. Khanesar, Minrui Yan, Peter Kendal, Mohammad Isa, S. Piano, David T. Branson","doi":"10.1109/ICM54990.2023.10101918","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101918","url":null,"abstract":"This paper proposes an industrial robot calibration methodology using an artificial bee colony algorithm. Open loop industrial robot positions are usually calculated using joint angle readings and industrial robot forward kinematics, where feedback control systems are then use iteratively to improve performance. This can often be time consuming and risks unstable control, so the preference is to enable as accurate open loop control as possible. Industrial robot forward kinematics include Denavit-Hartenberg (DH) parameters. However, assembly and manufacturing tolerances may result in differences between actual and nominal DH parameters. To improve industrial robot positional accuracies, it is required to better estimate its DH parameters. A highly accurate laser tracker system provides the positional measurement required to perform calibration of the DH parameters. For this purpose, a Leica AT960-MR, a laser tracker which works based on interferometry principles, is used to provide end effector 3D position measurements. An artificial Bee colony algorithm is then used to improve the cost function associated with the forward kinematic error by estimating more accurate industrial robot DH parameters. The implementation results demonstrate that using calibrated industrial robot DH parameters, it is possible to improve the open loop positional accuracies of the robot compared to uncalibrated forward kinematics mean absolute error for test data from 75.4 $mu$m to 60.1 $mu$m (20.3% improvement).","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114730028","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10102047
Reza Hosseinzadeh, F. Martin, M. Hinkkanen
This paper presents a method to minimize the resistive losses in bearingless linear motors. A minimization algorithm is developed for calculating reference currents for a range of reference forces while the effect of spatial harmonics on force production is considered. The results from the algorithm are implemented in the form of lookup tables and artificial neural networks. A comparison between the two implementation methods is presented. Time-domain simulation results are given for motion control of a bearingless linear flux-switching permanent-magnet motor system while using optimal reference currents. Index Terms–Artificial neural networks, bearingless, energy efficiency, linear actuator, magnetic levitation, table lookup.
{"title":"Energy-Efficient Control of Bearingless Linear Motors","authors":"Reza Hosseinzadeh, F. Martin, M. Hinkkanen","doi":"10.1109/ICM54990.2023.10102047","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102047","url":null,"abstract":"This paper presents a method to minimize the resistive losses in bearingless linear motors. A minimization algorithm is developed for calculating reference currents for a range of reference forces while the effect of spatial harmonics on force production is considered. The results from the algorithm are implemented in the form of lookup tables and artificial neural networks. A comparison between the two implementation methods is presented. Time-domain simulation results are given for motion control of a bearingless linear flux-switching permanent-magnet motor system while using optimal reference currents. Index Terms–Artificial neural networks, bearingless, energy efficiency, linear actuator, magnetic levitation, table lookup.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129382367","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10101917
T. Dankwort, Minhaz Ahmed, S. Grünzig, Anmol Khare, B. Gojdka
This article reports on the performance and long-term stability of MEMS energy harvesters with wafer-level integrated micromagnets and aluminum scandium nitride (AlScN) as piezoelectric transducer layer. Broadband excitation via magnetic plucking is demonstrated with high power outputs of more than $85 mu mathrm{W}$ RMS. Furthermore, no significant degradation of the performance was observed after 13 million excitation events by magnetic plucking.
本文报道了采用晶圆级集成微磁体和氮化铝钪(AlScN)作为压电换能器层的MEMS能量采集器的性能和长期稳定性。通过磁提取的宽带激励具有超过$85 mu mathm {W}$ RMS的高功率输出。此外，经过1300万次磁拔激后，性能没有明显下降。
{"title":"High-performance Aluminum Scandium Nitride MEMS energy harvester with wafer-level integrated micromagnets for contactless rotational motion harvesting","authors":"T. Dankwort, Minhaz Ahmed, S. Grünzig, Anmol Khare, B. Gojdka","doi":"10.1109/ICM54990.2023.10101917","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101917","url":null,"abstract":"This article reports on the performance and long-term stability of MEMS energy harvesters with wafer-level integrated micromagnets and aluminum scandium nitride (AlScN) as piezoelectric transducer layer. Broadband excitation via magnetic plucking is demonstrated with high power outputs of more than $85 mu mathrm{W}$ RMS. Furthermore, no significant degradation of the performance was observed after 13 million excitation events by magnetic plucking.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133813723","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10102004
Yoshiyuki Hatta, Kazuaki Ito
The paper proposes a magnetic geared screw and two-degree-of-freedom (2-DOF) motors based on the magnetic geared screw. As a 2-DOF motor that generates large thrust force, a magnetic screw 2-DOF motor has been proposed. The magnetic screw 2-DOF motor generates torque around an axis and thrust force along the axis. Additionally, it can amplify the thrust force by the magnetic screw structure. However, the torque generated in the magnetic screw 2-DOF motor is lower in comparison with the thrust force. In order to improve the torque density in the magnetic screw 2-DOF motor, the paper designs a magnetic geared screw. It is a magnetic screw into which a magnetic gear is integrated. Therefore, it converts the input torque into large output torque and thrust force. Moreover, the paper applies Halbach array to the magnetic geared screw 2-DOF motor to significantly improve the output torque and thrust force. The paper indicates the effectiveness of the proposed magnetic geared screw 2-DOF motors with analysis results.
{"title":"Development of Magnetic Geared Screw Two-Degree-of-Freedom Motor with Halbach Array","authors":"Yoshiyuki Hatta, Kazuaki Ito","doi":"10.1109/ICM54990.2023.10102004","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102004","url":null,"abstract":"The paper proposes a magnetic geared screw and two-degree-of-freedom (2-DOF) motors based on the magnetic geared screw. As a 2-DOF motor that generates large thrust force, a magnetic screw 2-DOF motor has been proposed. The magnetic screw 2-DOF motor generates torque around an axis and thrust force along the axis. Additionally, it can amplify the thrust force by the magnetic screw structure. However, the torque generated in the magnetic screw 2-DOF motor is lower in comparison with the thrust force. In order to improve the torque density in the magnetic screw 2-DOF motor, the paper designs a magnetic geared screw. It is a magnetic screw into which a magnetic gear is integrated. Therefore, it converts the input torque into large output torque and thrust force. Moreover, the paper applies Halbach array to the magnetic geared screw 2-DOF motor to significantly improve the output torque and thrust force. The paper indicates the effectiveness of the proposed magnetic geared screw 2-DOF motors with analysis results.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"165 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123750897","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 : 2023-03-15DOI: 10.1109/ICM54990.2023.10102062
M. Heertjes, S. V. D. Eijnden, B. Sharif
Hybrid integrator-gain systems (HIGS) are non- linear control elements that switch between simple integrator dynamics and gain characteristics. Switching is done in a way that guarantees sign-equivalence of the integrator’s input-output pair, thereby enabling phase advantages over linear integrators as seen through describing function analysis. This paper provides an overview of the state of the art in HIGS controlled systems analysis and design with applications to wafer scanners.
{"title":"An Overview on Hybrid Integrator-Gain Systems with applications to Wafer Scanners","authors":"M. Heertjes, S. V. D. Eijnden, B. Sharif","doi":"10.1109/ICM54990.2023.10102062","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102062","url":null,"abstract":"Hybrid integrator-gain systems (HIGS) are non- linear control elements that switch between simple integrator dynamics and gain characteristics. Switching is done in a way that guarantees sign-equivalence of the integrator’s input-output pair, thereby enabling phase advantages over linear integrators as seen through describing function analysis. This paper provides an overview of the state of the art in HIGS controlled systems analysis and design with applications to wafer scanners.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122353556","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 : 2023-03-15DOI: 10.1109/icm54990.2023.10102073
Akishi Takeyama, Shota Komatsuzaki, T. Ohhira, Hideki Hashimoto
This paper proposes an improved eccentric magnetic absolute encoder (EMAE) based on the adaptive linear neuron (ADALINE). Typically, an EMAE can determine the absolute angle by characterizing signals based on the eccentric rotation of a magnet. However, these signals are often affected by disturbances resulting from non-uniform rotation, DC offsets, amplitude mismatch, phase differences, and low- and high-order harmonics. The proposed encoder adaptively estimates and rejects these disturbances using ADALINE based on the LevenbergMarquardt method. A simple simulation and experiment are used to demonstrate the effectiveness of the proposed method.
{"title":"Levenberg-Marquardt method based Precise Angle Estimation for Eccentric Magnetic Absolute Encoders*","authors":"Akishi Takeyama, Shota Komatsuzaki, T. Ohhira, Hideki Hashimoto","doi":"10.1109/icm54990.2023.10102073","DOIUrl":"https://doi.org/10.1109/icm54990.2023.10102073","url":null,"abstract":"This paper proposes an improved eccentric magnetic absolute encoder (EMAE) based on the adaptive linear neuron (ADALINE). Typically, an EMAE can determine the absolute angle by characterizing signals based on the eccentric rotation of a magnet. However, these signals are often affected by disturbances resulting from non-uniform rotation, DC offsets, amplitude mismatch, phase differences, and low- and high-order harmonics. The proposed encoder adaptively estimates and rejects these disturbances using ADALINE based on the LevenbergMarquardt method. A simple simulation and experiment are used to demonstrate the effectiveness of the proposed method.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115682635","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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