Pub Date : 2015-05-20DOI: 10.1109/ICCAR.2015.7166023
Chen Wu
Sliding mode observer (SMO) plays an important role in system states or faults estimation, where mostly additive faults are considered. Few papers consider multiplicative faults. The paper proposed an approach for multiplicative fault estimation based on SMO, where linear matrix inequality technique is used to calculate the observer gain. A wind turbine fault detection example shows the design procedure of proposed SMO and its usefulness.
{"title":"Multiplicative fault estimation using sliding mode observer with application","authors":"Chen Wu","doi":"10.1109/ICCAR.2015.7166023","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166023","url":null,"abstract":"Sliding mode observer (SMO) plays an important role in system states or faults estimation, where mostly additive faults are considered. Few papers consider multiplicative faults. The paper proposed an approach for multiplicative fault estimation based on SMO, where linear matrix inequality technique is used to calculate the observer gain. A wind turbine fault detection example shows the design procedure of proposed SMO and its usefulness.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123883960","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7165852
Christoph Krofitsch, W. Lepuschitz, M. Klein, G. Koppensteiner
Robotics is considered to be a powerful tool for teaching STEM especially when employing white-box platforms to build and program robots. In this context, programming environments should be simple and understandable for increasing the learning success and for easing the entry for teachers with non-informatics background. Furthermore, many robotics applications can also benefit from flexibility in the program deployment in contrast to the usual code-compile-download paradigm. To address these issues, this paper presents a flexible programming environment based on a layered robot control architecture, which involves the usage of mobile devices. Source code created on a smartphone or tablet can be downloaded to the robot controller, which organizes the programs having on-board compilation and execution environments. Besides, a versioning system adds to the comfort. The presented approach enables students to intuitively handle their robots, but can also be applied in more sophisticated scenarios where module-based flexible programming is required.
{"title":"Flexible development environment for educational robotics","authors":"Christoph Krofitsch, W. Lepuschitz, M. Klein, G. Koppensteiner","doi":"10.1109/ICCAR.2015.7165852","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7165852","url":null,"abstract":"Robotics is considered to be a powerful tool for teaching STEM especially when employing white-box platforms to build and program robots. In this context, programming environments should be simple and understandable for increasing the learning success and for easing the entry for teachers with non-informatics background. Furthermore, many robotics applications can also benefit from flexibility in the program deployment in contrast to the usual code-compile-download paradigm. To address these issues, this paper presents a flexible programming environment based on a layered robot control architecture, which involves the usage of mobile devices. Source code created on a smartphone or tablet can be downloaded to the robot controller, which organizes the programs having on-board compilation and execution environments. Besides, a versioning system adds to the comfort. The presented approach enables students to intuitively handle their robots, but can also be applied in more sophisticated scenarios where module-based flexible programming is required.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133416826","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7165999
Kai Wu, Jan Brueninghaus, B. Johnen, B. Kuhlenkoetter
Industrial robots are widely used in industrial area. Requirements for more accuracy and stable performance are raised in the applications. Especially when the robot executes machining task, the dynamic performance in the machining process has influence on the work piece quality. This article utilizes a high speed camera measuring system to analyze the robot motion for the sake of process improvement. Linear paths with different accelerations are programmed. The position distributions in 3D space are presented and the path linearity is discussed. In addition, the path velocity and acceleration are obtained. The differences of the running velocity to programmed velocity are given. Changes of the accelerations are also described. According to this application, Characteristics of the measuring system are introduced. Evaluation is made based on the experiment results.
{"title":"Applicability of stereo high speed camera systems for robot dynamics analysis","authors":"Kai Wu, Jan Brueninghaus, B. Johnen, B. Kuhlenkoetter","doi":"10.1109/ICCAR.2015.7165999","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7165999","url":null,"abstract":"Industrial robots are widely used in industrial area. Requirements for more accuracy and stable performance are raised in the applications. Especially when the robot executes machining task, the dynamic performance in the machining process has influence on the work piece quality. This article utilizes a high speed camera measuring system to analyze the robot motion for the sake of process improvement. Linear paths with different accelerations are programmed. The position distributions in 3D space are presented and the path linearity is discussed. In addition, the path velocity and acceleration are obtained. The differences of the running velocity to programmed velocity are given. Changes of the accelerations are also described. According to this application, Characteristics of the measuring system are introduced. Evaluation is made based on the experiment results.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134364858","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166002
Meteb M. Altaf, Eball H. Ahmad, Abdulmohsin Jarwali, F. Alateeq, Faisal Alturki
In many experiments, it is frequently necessary to be able to perform several types of applications using simple manipulators for pick and place as in the case of sample preparation for different types of experiments. This paper describes a simple small and smart manipulator prototype using 3D printer which overcomes the need for small manipulations and handling applications. This manipulator will use pizo electric materials to perform the required operation. This manipulator will have only two links with small gripper and limited motion. The design will describe the motion and the required parts to get this small simple smart manipulator working.
{"title":"Prototyping a simple small smart robotic arm — Manipulator","authors":"Meteb M. Altaf, Eball H. Ahmad, Abdulmohsin Jarwali, F. Alateeq, Faisal Alturki","doi":"10.1109/ICCAR.2015.7166002","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166002","url":null,"abstract":"In many experiments, it is frequently necessary to be able to perform several types of applications using simple manipulators for pick and place as in the case of sample preparation for different types of experiments. This paper describes a simple small and smart manipulator prototype using 3D printer which overcomes the need for small manipulations and handling applications. This manipulator will use pizo electric materials to perform the required operation. This manipulator will have only two links with small gripper and limited motion. The design will describe the motion and the required parts to get this small simple smart manipulator working.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129401794","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166008
Amin A. Mohammed, M. Sunar
This work presents the kinematics model of an RA-02 (a 4 DOF) robotic arm. The direct kinematic problem is addressed using both the Denavit-Hartenberg (DH) convention and the product of exponential formula, which is based on the screw theory. By comparing the results of both approaches, it turns out that they provide identical solutions for the manipulator kinematics. Furthermore, an algebraic solution of the inverse kinematics problem based on trigonometric formulas is also provided. Finally, simulation results for the kinematics model using the Matlab program based on the DH convention are presented. Since the two approaches are identical, the product of exponential formula is supposed to produce same simulation results on the robotic arm studied.
{"title":"Kinematics modeling of a 4-DOF robotic arm","authors":"Amin A. Mohammed, M. Sunar","doi":"10.1109/ICCAR.2015.7166008","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166008","url":null,"abstract":"This work presents the kinematics model of an RA-02 (a 4 DOF) robotic arm. The direct kinematic problem is addressed using both the Denavit-Hartenberg (DH) convention and the product of exponential formula, which is based on the screw theory. By comparing the results of both approaches, it turns out that they provide identical solutions for the manipulator kinematics. Furthermore, an algebraic solution of the inverse kinematics problem based on trigonometric formulas is also provided. Finally, simulation results for the kinematics model using the Matlab program based on the DH convention are presented. Since the two approaches are identical, the product of exponential formula is supposed to produce same simulation results on the robotic arm studied.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121814566","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}
This paper focus on the ecological optimization operation problem of the Three Gorges reservoir in flood recession. In this season, the primary goal of the reservoir is impounding to get the maximum economic benefit. As people increasing concern about their environment, impact of the reservoir operation to the aquatic habitat at the downstream area becomes an increasing important factor. The conflict between economic benefit and habitat conservation makes the dispatch a multi-objective problem. In this paper, stored energy at the end of dispatch period is proposed to be the economic objective and the weighted usable area (WUA) of the habitat is used to represent the environmental demand. The multi-objective differential evolution (MODE) and a particular constraint handling strategy proposed in this paper are used to solve this problem. Simulation results show that the proposed constraint handling strategy improves the performance of MODE in solving this problem. More importantly, the Pareto optimal front of different operating condition shows that the conflict between economic benefit and environmental benefit is sharp, especially in low flow years. The degree of conflict relates to the value of average inflow. So it is necessary to consider the habitat conservation while operating. And this work provides a support to aquatic organism protection and ecological operation of the Three Gorges reservoir.
{"title":"The ecological optimization dispatch of the Three Gorges reservoir considering aquatic organism protection","authors":"Chao Wang, Jianzhong Zhou, Xuemin Wang, Cheng Zhang","doi":"10.1109/ICCAR.2015.7166032","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166032","url":null,"abstract":"This paper focus on the ecological optimization operation problem of the Three Gorges reservoir in flood recession. In this season, the primary goal of the reservoir is impounding to get the maximum economic benefit. As people increasing concern about their environment, impact of the reservoir operation to the aquatic habitat at the downstream area becomes an increasing important factor. The conflict between economic benefit and habitat conservation makes the dispatch a multi-objective problem. In this paper, stored energy at the end of dispatch period is proposed to be the economic objective and the weighted usable area (WUA) of the habitat is used to represent the environmental demand. The multi-objective differential evolution (MODE) and a particular constraint handling strategy proposed in this paper are used to solve this problem. Simulation results show that the proposed constraint handling strategy improves the performance of MODE in solving this problem. More importantly, the Pareto optimal front of different operating condition shows that the conflict between economic benefit and environmental benefit is sharp, especially in low flow years. The degree of conflict relates to the value of average inflow. So it is necessary to consider the habitat conservation while operating. And this work provides a support to aquatic organism protection and ecological operation of the Three Gorges reservoir.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126609486","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166007
Wenqi Hou, Honglei An, Taihui Zhang, Jian Wang, Hongxu Ma
The variable spring-loaded inverted pendulum (V-SLIP) model captures characteristic properties of the hip or COM motion in human locomotion. A control strategy consists of a leg stiffness controller and a foot placement controller is proposed for a biped walker. Some restrictions are considered in the control strategy, e.g. the friction and the ability of the actuator. A novel trajectory function is designed for stance phase control. The function not only can approximate the nominal trajectory with error in the order of sub-millimeter, but also can preserve the restriction on vertical velocity in spite of the horizontal velocity. To validate the control strategy and the trajectory function, simulations are implemented on a virtual ideal biped walker. The walker starts walking with a low velocity, by taking a few steps it comes to the desired walking cycle. With the proposed control strategy the walker is able to recover from a disturbance up to 20 N*m.
{"title":"Robust walking control of a planar spring mass biped robot","authors":"Wenqi Hou, Honglei An, Taihui Zhang, Jian Wang, Hongxu Ma","doi":"10.1109/ICCAR.2015.7166007","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166007","url":null,"abstract":"The variable spring-loaded inverted pendulum (V-SLIP) model captures characteristic properties of the hip or COM motion in human locomotion. A control strategy consists of a leg stiffness controller and a foot placement controller is proposed for a biped walker. Some restrictions are considered in the control strategy, e.g. the friction and the ability of the actuator. A novel trajectory function is designed for stance phase control. The function not only can approximate the nominal trajectory with error in the order of sub-millimeter, but also can preserve the restriction on vertical velocity in spite of the horizontal velocity. To validate the control strategy and the trajectory function, simulations are implemented on a virtual ideal biped walker. The walker starts walking with a low velocity, by taking a few steps it comes to the desired walking cycle. With the proposed control strategy the walker is able to recover from a disturbance up to 20 N*m.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126062200","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166001
Lei Zhang, Junqiu Zuo, Xingguo Zhang, Xingtian Yao, Liguo Shuai
Conventional D-H model based inverse kinematic solution algorithms have to hypothesize that d6 =0 at the end of the robot hand, or the joint variables of D-H based kinematic equations can hardly be isolated to be solved. In practical application, d6 ≠ 0 usually occurs, hence it is required for supplemental transformation between the last frame of the D-H models and real operation frame, which decreases the efficiency. In this paper, a new inverse kinematic solution without the hypothesis of d6 =0 is proposed. We found that the joint variables of the partially decoupled robot can be separated without great difficulty even though d6 ≠ 0. The new approach uses a new multiplication sequence of the inverse matrix for solving the variables of the kinematic equation of the robot. The inverse solution process is straightforward and computationally cheap. Last, some exemplifications are given to valid the accuracy of the proposed approach.
{"title":"A new approach to inverse kinematic solution for a partially decoupled robot","authors":"Lei Zhang, Junqiu Zuo, Xingguo Zhang, Xingtian Yao, Liguo Shuai","doi":"10.1109/ICCAR.2015.7166001","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166001","url":null,"abstract":"Conventional D-H model based inverse kinematic solution algorithms have to hypothesize that d6 =0 at the end of the robot hand, or the joint variables of D-H based kinematic equations can hardly be isolated to be solved. In practical application, d6 ≠ 0 usually occurs, hence it is required for supplemental transformation between the last frame of the D-H models and real operation frame, which decreases the efficiency. In this paper, a new inverse kinematic solution without the hypothesis of d6 =0 is proposed. We found that the joint variables of the partially decoupled robot can be separated without great difficulty even though d6 ≠ 0. The new approach uses a new multiplication sequence of the inverse matrix for solving the variables of the kinematic equation of the robot. The inverse solution process is straightforward and computationally cheap. Last, some exemplifications are given to valid the accuracy of the proposed approach.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126369033","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166040
Zuochang Yang, Hongxiang Ren
The river boundary of the electronic river chart need change over the actual water level. The remote sensing technology is applied to exact the river boundary data. The data is used to generate the river level of the rough gradient. The generated river level is saved in the data base of the electronic river chart. The current river level boundary is calculated by the unit circle rolling iterative algorithm. Experiment results show that the raised method processes calculates quickly, and its display effect is good.
{"title":"Dynamic display of river boundary on electronic river chart","authors":"Zuochang Yang, Hongxiang Ren","doi":"10.1109/ICCAR.2015.7166040","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166040","url":null,"abstract":"The river boundary of the electronic river chart need change over the actual water level. The remote sensing technology is applied to exact the river boundary data. The data is used to generate the river level of the rough gradient. The generated river level is saved in the data base of the electronic river chart. The current river level boundary is calculated by the unit circle rolling iterative algorithm. Experiment results show that the raised method processes calculates quickly, and its display effect is good.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130433585","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166020
Qingxiang Zhou, Ye Fu, Guangkai Li, Dong Cai, Cheng Zou, Zhenguo Sun
Hollow axle has replaced the traditional solid axle in high-speed trains due to the increased operational speed. The ultrasonic inspection on hollow axles must be conducted to ensure the safe operation of high-speed trains. The hollow axle can be artificially divided into different segment based on the shape and size of different axle segments including the transition arc section. Different inspection results from these axle segments can be obtained due to the different sound path and the different dimension of the transition arc. Simulation models about different axle segments were established by means of COMSOL Multiphysics. The difference of the simulation results, from different axle segments tested by probes with different angles and directions, are discussed, which may provide guidance for the setup of gate and selection of probes while carrying out actual ultrasonic inspection on hollow axle.
{"title":"Simulation analysis of ultrasonic inspection of hollow axle with different segments","authors":"Qingxiang Zhou, Ye Fu, Guangkai Li, Dong Cai, Cheng Zou, Zhenguo Sun","doi":"10.1109/ICCAR.2015.7166020","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166020","url":null,"abstract":"Hollow axle has replaced the traditional solid axle in high-speed trains due to the increased operational speed. The ultrasonic inspection on hollow axles must be conducted to ensure the safe operation of high-speed trains. The hollow axle can be artificially divided into different segment based on the shape and size of different axle segments including the transition arc section. Different inspection results from these axle segments can be obtained due to the different sound path and the different dimension of the transition arc. Simulation models about different axle segments were established by means of COMSOL Multiphysics. The difference of the simulation results, from different axle segments tested by probes with different angles and directions, are discussed, which may provide guidance for the setup of gate and selection of probes while carrying out actual ultrasonic inspection on hollow axle.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116918451","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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