Pub Date : 2023-03-15DOI: 10.1109/ICM54990.2023.10101891
Shunya Aoki, S. Yokota, A. Matsumoto, D. Chugo, S. Muramatsu, H. Hashimoto
In this study, we aim at development of the cart providing constant steerability. The steerability of a cart is changed by the loading weight and position. Thus, user feels uncomfortable, and usability is decreased. To solve this problem, we have developed an active steering caster being attached on the cart and provides a constant steerability. Two proposed active steering casters and two conventional casters are attached on the cart in diagonal position. The moving direction is determined by controlling the steering angles of the active steering casters. In this paper, we propose an operational interface that measures the force and the moment of force at the handlebar. The direction of the force and the moment of force determine the moving directions of the cart as user intention. In order to measure the force and the moment of force, strain gauges are glued on both handle posts of a cart. Therefore, additional component is not needed. Moreover, this interface is simple structure. The experiment has been conducted to verify the feasibility of measuring force and torque at the handlebar in order to estimate user’s intention for moving direction.
{"title":"Development of cart providing constant steerability regardless of loading weight or position : 2nd Report: Proposal of the operational interface","authors":"Shunya Aoki, S. Yokota, A. Matsumoto, D. Chugo, S. Muramatsu, H. Hashimoto","doi":"10.1109/ICM54990.2023.10101891","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101891","url":null,"abstract":"In this study, we aim at development of the cart providing constant steerability. The steerability of a cart is changed by the loading weight and position. Thus, user feels uncomfortable, and usability is decreased. To solve this problem, we have developed an active steering caster being attached on the cart and provides a constant steerability. Two proposed active steering casters and two conventional casters are attached on the cart in diagonal position. The moving direction is determined by controlling the steering angles of the active steering casters. In this paper, we propose an operational interface that measures the force and the moment of force at the handlebar. The direction of the force and the moment of force determine the moving directions of the cart as user intention. In order to measure the force and the moment of force, strain gauges are glued on both handle posts of a cart. Therefore, additional component is not needed. Moreover, this interface is simple structure. The experiment has been conducted to verify the feasibility of measuring force and torque at the handlebar in order to estimate user’s intention for moving direction.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"67 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132400213","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/ICM54990.2023.10101979
Ben Marshall, J. Knowles, Yunda Yan, Cunjia Liu
In the last decade, UAVs endowed with manipulators have increased in their ability to complete complex tasks such as manipulating doors and drawers. Very recent work also includes tasks with non-constant dynamics such as pushing a cart along a surface with a change in friction coefficient or pulling an electrical plug from a socket. These tasks are hard to design and compare controllers for because their dynamics are complex and they may not behave consistently. This paper proposes a tunable and repeatable mechanism for use in experiments that compare different controller designs. The proposed mechanism, called an overcentre mechanism, can provide a nonlinear resistive force and can be easily modified for different force magnitudes. Additionally, it can be quickly re-oriented to disturb altitude or position channels for vehicles with or without manipulators. This paper experimentally compares three traditional observer designs and a baseline controller in two different operating conditions.
{"title":"A Novel Disturbance Device for Aerial Manipulation Experiments","authors":"Ben Marshall, J. Knowles, Yunda Yan, Cunjia Liu","doi":"10.1109/ICM54990.2023.10101979","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101979","url":null,"abstract":"In the last decade, UAVs endowed with manipulators have increased in their ability to complete complex tasks such as manipulating doors and drawers. Very recent work also includes tasks with non-constant dynamics such as pushing a cart along a surface with a change in friction coefficient or pulling an electrical plug from a socket. These tasks are hard to design and compare controllers for because their dynamics are complex and they may not behave consistently. This paper proposes a tunable and repeatable mechanism for use in experiments that compare different controller designs. The proposed mechanism, called an overcentre mechanism, can provide a nonlinear resistive force and can be easily modified for different force magnitudes. Additionally, it can be quickly re-oriented to disturb altitude or position channels for vehicles with or without manipulators. This paper experimentally compares three traditional observer designs and a baseline controller in two different operating conditions.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"10 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":"129669123","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/ICM54990.2023.10101900
Davis Os, Koen Laurijssen, H. Vansompel, P. Sergeant, Niels Divens, K. Stockman
Modular drivetrains have recently been introduced in literature as a method to cope with load variations and provide an easily adaptable machine design. Although some research regarding the performance of a modular drivetrain has already been performed, a method to evaluate and compare several modular drivetrain architectures on multiple performance criteria is not yet available. This paper presents an evaluation framework that can be used to compare the different architectures against each other and the traditional benchmark alternative. The benchmark system under consideration is an industrial single motor driven slider crank application with a continuous rotating motion. Three modular variants of the benchmark system are presented. From the evaluation, the modular architectures are found to outperform the benchmark case regarding energy consumption, tracking error and speed variation at the expense of a slight cost increase. An assessment of the additional investment cost compared to the increased performance is possible using this evaluation framework
{"title":"Evaluation Framework for the Comparison of Modular Drivetrain Architectures","authors":"Davis Os, Koen Laurijssen, H. Vansompel, P. Sergeant, Niels Divens, K. Stockman","doi":"10.1109/ICM54990.2023.10101900","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101900","url":null,"abstract":"Modular drivetrains have recently been introduced in literature as a method to cope with load variations and provide an easily adaptable machine design. Although some research regarding the performance of a modular drivetrain has already been performed, a method to evaluate and compare several modular drivetrain architectures on multiple performance criteria is not yet available. This paper presents an evaluation framework that can be used to compare the different architectures against each other and the traditional benchmark alternative. The benchmark system under consideration is an industrial single motor driven slider crank application with a continuous rotating motion. Three modular variants of the benchmark system are presented. From the evaluation, the modular architectures are found to outperform the benchmark case regarding energy consumption, tracking error and speed variation at the expense of a slight cost increase. An assessment of the additional investment cost compared to the increased performance is possible using this evaluation framework","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"18 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":"125314423","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/icm54990.2023.10101966
Yukiyoshi Tanaka, S. Katsura
In recent years, the shortage of professionally skilled people in industrial fields has been a major social problem. To solve this problem, the transfer of skills to robots has been attracting much attention. However, they are not familiar with robot control, and hard to teach robots their skills by numerical commands or program source code. For more user-friendly human-robot interaction, a lot of studies have been conducted. In previous researches, robot task processes are pre-defined and not changed in task execution. We developed a robot system using the motion-copying system and GPT-3, one of the Large Language Models. This system can not only copy the motion but also modify saved motion in execution by using natural language commands. We evaluated the proposed system by applying it to polishing robots and confirmed that the surface of used workpieces was changed following to input commands.
{"title":"A Voice-Controlled Motion Reproduction Using Large Language Models for Polishing Robots","authors":"Yukiyoshi Tanaka, S. Katsura","doi":"10.1109/icm54990.2023.10101966","DOIUrl":"https://doi.org/10.1109/icm54990.2023.10101966","url":null,"abstract":"In recent years, the shortage of professionally skilled people in industrial fields has been a major social problem. To solve this problem, the transfer of skills to robots has been attracting much attention. However, they are not familiar with robot control, and hard to teach robots their skills by numerical commands or program source code. For more user-friendly human-robot interaction, a lot of studies have been conducted. In previous researches, robot task processes are pre-defined and not changed in task execution. We developed a robot system using the motion-copying system and GPT-3, one of the Large Language Models. This system can not only copy the motion but also modify saved motion in execution by using natural language commands. We evaluated the proposed system by applying it to polishing robots and confirmed that the surface of used workpieces was changed following to input commands.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"41 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":"124696565","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/ICM54990.2023.10102087
William J. B. Midgley, James Fleming, Mohammad Otoofi
different machine learning methods (a convolutional neural network, a shallow neural network, a long short-term memory network and an ensemble of bagged decision trees) were trained on simulation data to provide model-free estimates of tyre-road friction properties using readily available sensor signals. The convolutional neural network and shallow neural network had the best performance on a previously unseen ensemble of test data. When typical noise was added to the predictors’ input values, the accuracy of the predictions decreased. To avoid this, the predictors were re-trained on noisy data, making them much more robust to noisy input data and showed marked improvement in root mean square error (RMSE) performance. Again, the convolutional neural network and shallow neural network had the best performance. This shows that building a model-free tyre-road friction predictor is possible and can yield promising results.
{"title":"Model-free Road Friction Estimation using Machine Learning","authors":"William J. B. Midgley, James Fleming, Mohammad Otoofi","doi":"10.1109/ICM54990.2023.10102087","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102087","url":null,"abstract":"different machine learning methods (a convolutional neural network, a shallow neural network, a long short-term memory network and an ensemble of bagged decision trees) were trained on simulation data to provide model-free estimates of tyre-road friction properties using readily available sensor signals. The convolutional neural network and shallow neural network had the best performance on a previously unseen ensemble of test data. When typical noise was added to the predictors’ input values, the accuracy of the predictions decreased. To avoid this, the predictors were re-trained on noisy data, making them much more robust to noisy input data and showed marked improvement in root mean square error (RMSE) performance. Again, the convolutional neural network and shallow neural network had the best performance. This shows that building a model-free tyre-road friction predictor is possible and can yield promising results.","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":"129020275","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/ICM54990.2023.10101914
Tianhui Li, Hailing Fu, S. Theodossiades, Sotiris Korossis
Wireless power transfer allows the delivery of energy to locations where electric wires cannot reach; one of the applications of it is powering active medical implants. Ultrasonic power transfer (USPT) has the potential to deliver a promising power density due to higher regulation limit. This method also possesses the possibility of maintaining a relatively small device size due to the short wavelength of mechanical waves in the ultrasonic frequency band. Previous studies have successfully proved the idea of powering a low-power computing device through ultrasonic power link. This paper reports a USPT system with the ability of data transfer and position feedback. The USPT system consists of a wearable transmitter and an implanted receiver in this system both featured a $2 times 2 times 2 mathrm{~mm}^{3}$ cubic piezoelectric transducer: The resonant frequency of the system was determined to be 750 kHz. When the transmitter was driven with $pm 30 mathrm{~V}$, the receiver produced a peak-to-peak output voltage of 120 mV when placed $1 mathrm{~cm}$ away from the transmitter. To test the capability of data transfer and position feedback of this system, the transmitter was driven with a non-return-tozero (NRZ) pulse. The pulse could be detected with a driving voltage as low as $pm 5 mathrm{~V}$.
{"title":"Simultaneous Ultrasonic Power Transfer and Depth Feedback for Active Medical Implants","authors":"Tianhui Li, Hailing Fu, S. Theodossiades, Sotiris Korossis","doi":"10.1109/ICM54990.2023.10101914","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10101914","url":null,"abstract":"Wireless power transfer allows the delivery of energy to locations where electric wires cannot reach; one of the applications of it is powering active medical implants. Ultrasonic power transfer (USPT) has the potential to deliver a promising power density due to higher regulation limit. This method also possesses the possibility of maintaining a relatively small device size due to the short wavelength of mechanical waves in the ultrasonic frequency band. Previous studies have successfully proved the idea of powering a low-power computing device through ultrasonic power link. This paper reports a USPT system with the ability of data transfer and position feedback. The USPT system consists of a wearable transmitter and an implanted receiver in this system both featured a $2 times 2 times 2 mathrm{~mm}^{3}$ cubic piezoelectric transducer: The resonant frequency of the system was determined to be 750 kHz. When the transmitter was driven with $pm 30 mathrm{~V}$, the receiver produced a peak-to-peak output voltage of 120 mV when placed $1 mathrm{~cm}$ away from the transmitter. To test the capability of data transfer and position feedback of this system, the transmitter was driven with a non-return-tozero (NRZ) pulse. The pulse could be detected with a driving voltage as low as $pm 5 mathrm{~V}$.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"2 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":"128110091","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/ICM54990.2023.10102060
Weiyong Si, Tianjian Zhong, Ning Wang, Chenguang Yang
Human-robot collaboration provides an effective approach to combine human intelligence and the autonomy of robots, which can improve the safety and efficiency of the robot. However, developing an intuitive and immersive human-robot interface with multimodal feedback for human-robot interaction and collaboration is still challenging. In this paper, we developed a multimodal-based human-robot interface to involve humans in the loop. The Unity-based virtual reality (VR) environment, including the virtual robot manipulator and its working environment, was developed to simulate the real working environment of robots. We integrated the digital twin mechanism with the VR environment development, which provides a corresponding model with the physical task. The virtual environment could visualize the visual and haptic feedback through the multimodal sensors in the robot, which provides an immersive and friendly teleoperating environment for human operators. We conduct user study experiments based on NASA Task Load Index, through a physical contact scanning task. The result shows that the proposed multimodal interface improved by 31.8% in terms of the cognitive and physical workload, comparing with the commercial teleportation device Touch X.
{"title":"A multimodal teleoperation interface for human-robot collaboration","authors":"Weiyong Si, Tianjian Zhong, Ning Wang, Chenguang Yang","doi":"10.1109/ICM54990.2023.10102060","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102060","url":null,"abstract":"Human-robot collaboration provides an effective approach to combine human intelligence and the autonomy of robots, which can improve the safety and efficiency of the robot. However, developing an intuitive and immersive human-robot interface with multimodal feedback for human-robot interaction and collaboration is still challenging. In this paper, we developed a multimodal-based human-robot interface to involve humans in the loop. The Unity-based virtual reality (VR) environment, including the virtual robot manipulator and its working environment, was developed to simulate the real working environment of robots. We integrated the digital twin mechanism with the VR environment development, which provides a corresponding model with the physical task. The virtual environment could visualize the visual and haptic feedback through the multimodal sensors in the robot, which provides an immersive and friendly teleoperating environment for human operators. We conduct user study experiments based on NASA Task Load Index, through a physical contact scanning task. The result shows that the proposed multimodal interface improved by 31.8% in terms of the cognitive and physical workload, comparing with the commercial teleportation device Touch X.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"172 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":"121218189","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/ICM54990.2023.10102026
F. Bana, Martin Stefanec, Jirí Ulrich, Erhan E. Keyvan, Tomáš Rouček, G. Broughton, Bilal Y. Gündeǧer, Ömer Sahin, A. E. Turgut, E. Sahin, T. Krajník, T. Schmickl, F. Arvin
This paper presents the concept of a robotic system collaborating with a swarm of social insects inside their hive. This robot consists of a micro-and macro-manipulator and a tracking system. The micro-manipulator uses bio-mimetic agents to interact with an individual specimen. The macromanipulator positions and keeps the micro-manipulator’s base around the given individual while moving in the hive. This individual is tracked by a fiducial marker-based visual detection and localisation system, which also provides positions of the biomimetic agents. The base of the system was experimentally verified in a honeybee observation hive, where it flawlessly tracked the honeybee queen for several hours, gathering sufficient data to extract the behaviours of honeybee workers in the queen’s vicinity. These data were then used in simulation to verify if the micro-manipulator’s bio-mimetic agents could mimic some of the honeybee workers’ behaviours.
{"title":"Mechatronic Design for Multi Robots-Insect Swarms Interactions","authors":"F. Bana, Martin Stefanec, Jirí Ulrich, Erhan E. Keyvan, Tomáš Rouček, G. Broughton, Bilal Y. Gündeǧer, Ömer Sahin, A. E. Turgut, E. Sahin, T. Krajník, T. Schmickl, F. Arvin","doi":"10.1109/ICM54990.2023.10102026","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102026","url":null,"abstract":"This paper presents the concept of a robotic system collaborating with a swarm of social insects inside their hive. This robot consists of a micro-and macro-manipulator and a tracking system. The micro-manipulator uses bio-mimetic agents to interact with an individual specimen. The macromanipulator positions and keeps the micro-manipulator’s base around the given individual while moving in the hive. This individual is tracked by a fiducial marker-based visual detection and localisation system, which also provides positions of the biomimetic agents. The base of the system was experimentally verified in a honeybee observation hive, where it flawlessly tracked the honeybee queen for several hours, gathering sufficient data to extract the behaviours of honeybee workers in the queen’s vicinity. These data were then used in simulation to verify if the micro-manipulator’s bio-mimetic agents could mimic some of the honeybee workers’ behaviours.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"9 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":"121507352","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/ICM54990.2023.10102084
Abdallah Farrage, Hideki Takahashi, Kenichi Terauchi, Shintaro Sasai, H. Sakurai, Masaki Okubo, N. Uchiyama
This paper presents an optimal trajectory generation method to achieve smooth and fast motion of rotary cranes in the presence of obstacles. The proposed trajectory is generated by a combination of the A* algorithm and a time-optimal scheme. The first approach is obtained by modifying the A* algorithm based on joint coordinate frames to improve the motion-time of the two rotational boom angles and rope motion with obstacle avoidance. Different weight values are assigned to provide varied priorities for each joint motion in the crane system. Next, the time-optimal approach is applied to the path generated by the proposed A* under crane dynamics and loadsway constraints. The proposed trajectory is represented by a polynomial function to provide practical and smooth motion. Simulation results illustrate the effectiveness of the time-optimal trajectory with load-sway suppression and obstacle avoidance.
{"title":"Modified A* Algorithm for Optimal Motion Trajectory Generation of Rotary Cranes","authors":"Abdallah Farrage, Hideki Takahashi, Kenichi Terauchi, Shintaro Sasai, H. Sakurai, Masaki Okubo, N. Uchiyama","doi":"10.1109/ICM54990.2023.10102084","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102084","url":null,"abstract":"This paper presents an optimal trajectory generation method to achieve smooth and fast motion of rotary cranes in the presence of obstacles. The proposed trajectory is generated by a combination of the A* algorithm and a time-optimal scheme. The first approach is obtained by modifying the A* algorithm based on joint coordinate frames to improve the motion-time of the two rotational boom angles and rope motion with obstacle avoidance. Different weight values are assigned to provide varied priorities for each joint motion in the crane system. Next, the time-optimal approach is applied to the path generated by the proposed A* under crane dynamics and loadsway constraints. The proposed trajectory is represented by a polynomial function to provide practical and smooth motion. Simulation results illustrate the effectiveness of the time-optimal trajectory with load-sway suppression and obstacle avoidance.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"33 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":"131550363","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/ICM54990.2023.10102033
Julian Staiger, L. Mazzanti, F. Naets
Optimal sensor selection and placement are of paramount importance in estimation and control applications. In this article, we exploit observability metrics based on the observability Gramian to effectively determine sensor locations that contribute significantly to the individual observability of a limited number of states of importance. In particular, the ellipsoid representation of the observability Gramian is utilized to ensure optimal sensor placement in conjunction with a state-based observability evaluation. The method is demonstrated on a numerical example of a mechanical linear time-invariant system. The results show that the method can highlight states with particularly good observability and place a set of sensors in such a way that the observability is maximised for an arbitrary set of interested states.
{"title":"State-oriented evaluation of observability and sensor placement for mechanical estimation applications","authors":"Julian Staiger, L. Mazzanti, F. Naets","doi":"10.1109/ICM54990.2023.10102033","DOIUrl":"https://doi.org/10.1109/ICM54990.2023.10102033","url":null,"abstract":"Optimal sensor selection and placement are of paramount importance in estimation and control applications. In this article, we exploit observability metrics based on the observability Gramian to effectively determine sensor locations that contribute significantly to the individual observability of a limited number of states of importance. In particular, the ellipsoid representation of the observability Gramian is utilized to ensure optimal sensor placement in conjunction with a state-based observability evaluation. The method is demonstrated on a numerical example of a mechanical linear time-invariant system. The results show that the method can highlight states with particularly good observability and place a set of sensors in such a way that the observability is maximised for an arbitrary set of interested states.","PeriodicalId":416176,"journal":{"name":"2023 IEEE International Conference on Mechatronics (ICM)","volume":"15 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":"128226027","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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