Pub Date : 2019-02-01DOI: 10.1109/ICIT.2019.8755121
Yuwa Amma, T. Murakami
Nowadays, a low birthrate and longevity are proceeding in developed countries. Due to the low birthrate and longevity, there is a shortage of caregivers. Therefore, an assistance of nursing care is necessary. Also, according to a multidisciplinary advance of robots, robots increase opportunities for operating in environment in which human intervene. Operating a robot in human presence is a dangerous for human. Therefore, a signal transmission between human and robots is necessary. This paper uses a cuff of sphygmomanometer as an interface of signal transmission. This interface is attached to an arm of user and an air pressure of interface is controlled to constant. An error between pressure command and response caused by a muscle bulge of user is regarded as an intention of user. An integration of error is given to a manipulator as a position command. According to this system, the interface user can operate a position of manipulator based on the user’s intention.
{"title":"An Approach to Air Pressure Interface for Position Control of Manipulator","authors":"Yuwa Amma, T. Murakami","doi":"10.1109/ICIT.2019.8755121","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8755121","url":null,"abstract":"Nowadays, a low birthrate and longevity are proceeding in developed countries. Due to the low birthrate and longevity, there is a shortage of caregivers. Therefore, an assistance of nursing care is necessary. Also, according to a multidisciplinary advance of robots, robots increase opportunities for operating in environment in which human intervene. Operating a robot in human presence is a dangerous for human. Therefore, a signal transmission between human and robots is necessary. This paper uses a cuff of sphygmomanometer as an interface of signal transmission. This interface is attached to an arm of user and an air pressure of interface is controlled to constant. An error between pressure command and response caused by a muscle bulge of user is regarded as an intention of user. An integration of error is given to a manipulator as a position command. According to this system, the interface user can operate a position of manipulator based on the user’s intention.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"104 1 1","pages":"54-59"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78047547","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 : 2019-02-01DOI: 10.1109/ICIT.2019.8755028
A. Ammar, H. Kanaan, N. Moubayed, M. Hamouda, H. Vahedi, K. Al-haddad
This paper proposes a new virtue of two facets: a topological facet portrayed by the indirect matrix converter, and a modulation facet symbolized by the pulse width technique. The latter assimilation completes a full integrated five-phase grid-tie topology implemented using digital signal processing operation. This topology provides a stable system concerning its performance, quality of signals, computation time reduction, & unity power factor feature.
{"title":"The Original DSP Technique Implemented on a Five-Phase Indirect Matrix Converter 5P-IMC","authors":"A. Ammar, H. Kanaan, N. Moubayed, M. Hamouda, H. Vahedi, K. Al-haddad","doi":"10.1109/ICIT.2019.8755028","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8755028","url":null,"abstract":"This paper proposes a new virtue of two facets: a topological facet portrayed by the indirect matrix converter, and a modulation facet symbolized by the pulse width technique. The latter assimilation completes a full integrated five-phase grid-tie topology implemented using digital signal processing operation. This topology provides a stable system concerning its performance, quality of signals, computation time reduction, & unity power factor feature.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"186 1","pages":"1252-1257"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75434589","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 : 2019-02-01DOI: 10.1109/ICIT.2019.8755158
C. H. Li, H. Lau
Maturity model is a popular assessment model in manufacturing industries to conduct a gap analysis in different manufacturing aspects in an organization. Industry 4.0 involves high technology, machineries interaction and human-machinery interface (HMI), organization uses different maturity models to identify the weakest competences either in Information Technologies (IT) or Human Factor in order to effectively implement the Industry 4.0. This paper studies the opportunities of applying the maturity model to identify the current state of organization on Industry 4.0. This paper discusses (i) current maturity model, (ii) current maturity model on Industry 4.0 in IT landscape, (iii) current maturity model on Industry 4.0 in human landscape.
{"title":"A Critical Review of Maturity Models in Information Technology and Human Landscapes on Industry 4.0","authors":"C. H. Li, H. Lau","doi":"10.1109/ICIT.2019.8755158","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8755158","url":null,"abstract":"Maturity model is a popular assessment model in manufacturing industries to conduct a gap analysis in different manufacturing aspects in an organization. Industry 4.0 involves high technology, machineries interaction and human-machinery interface (HMI), organization uses different maturity models to identify the weakest competences either in Information Technologies (IT) or Human Factor in order to effectively implement the Industry 4.0. This paper studies the opportunities of applying the maturity model to identify the current state of organization on Industry 4.0. This paper discusses (i) current maturity model, (ii) current maturity model on Industry 4.0 in IT landscape, (iii) current maturity model on Industry 4.0 in human landscape.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"56 1","pages":"1575-1579"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75558000","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 : 2019-02-01DOI: 10.1109/ICIT.2019.8755105
K. Hatada, K. Hirata
This paper considers a visual feedback control problem incorporating the gain-scheduling concept. Specifically, we focus on the stabilization of a pendubot with varying moment of inertia under image distortion. In our previous work, we proposed the controller design method for the above situation. In this paper, the effectiveness of our design method is verified through experiments.
{"title":"Experimental Verification of Visual Feedback Control for a Pendubot with Varying Moment of Inertia","authors":"K. Hatada, K. Hirata","doi":"10.1109/ICIT.2019.8755105","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8755105","url":null,"abstract":"This paper considers a visual feedback control problem incorporating the gain-scheduling concept. Specifically, we focus on the stabilization of a pendubot with varying moment of inertia under image distortion. In our previous work, we proposed the controller design method for the above situation. In this paper, the effectiveness of our design method is verified through experiments.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"16 1","pages":"114-119"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78451487","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 : 2019-02-01DOI: 10.1109/ICIT.2019.8754975
Sachin Sen, C. Jayawardena
The Internet of Things (IoT) and Cyber-Physical Systems (CPS), are generating wide spread data. The success of these trio depends on a well performed cyber-communication infrastructure. This necessitates improving the performance of the cyber-communication internetwork; this performance improvement includes optimization of network techniques as well as the security of the cyber-network. Internet infrastructure has been upgraded to higher level ever than before, where we are enjoying technologies like fibre, 10-gig ethernet and even 100-gig ethernet, but there is no guarantee of communication in the cyber space, internet still providing packet delivery on "best effort" basis. On the other side, cyber hackers are targeting big physical infrastructures, industrial hardware in addition to the financial institutions. Therefore, it has become vital to address secure and faster data communications, in order to improve the Performance of the Internetwork.
{"title":"Analysis of Network Techniques and Cybersecurity for Improving Performance of Big Data IoT and Cyber-Physical Communication Internetwork","authors":"Sachin Sen, C. Jayawardena","doi":"10.1109/ICIT.2019.8754975","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8754975","url":null,"abstract":"The Internet of Things (IoT) and Cyber-Physical Systems (CPS), are generating wide spread data. The success of these trio depends on a well performed cyber-communication infrastructure. This necessitates improving the performance of the cyber-communication internetwork; this performance improvement includes optimization of network techniques as well as the security of the cyber-network. Internet infrastructure has been upgraded to higher level ever than before, where we are enjoying technologies like fibre, 10-gig ethernet and even 100-gig ethernet, but there is no guarantee of communication in the cyber space, internet still providing packet delivery on \"best effort\" basis. On the other side, cyber hackers are targeting big physical infrastructures, industrial hardware in addition to the financial institutions. Therefore, it has become vital to address secure and faster data communications, in order to improve the Performance of the Internetwork.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"514 1","pages":"780-787"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75234152","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 : 2019-02-01DOI: 10.1109/ICIT.2019.8755073
Nitin Chafekar, U. Mate, S. Kurode
A DC-DC buck converter has become popular in application to converts a high voltage to a low voltage efficiently. In this paper, a Discrete Sliding Mode Control is devised for buck converter. The proposed controller is robust against system disturbances and parameter uncertainity. MATLAB simulation are performed and simulation results are presented.
{"title":"Design and Simulations of Discrete Sliding Mode Controller for DC-DC Buck Converter","authors":"Nitin Chafekar, U. Mate, S. Kurode","doi":"10.1109/ICIT.2019.8755073","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8755073","url":null,"abstract":"A DC-DC buck converter has become popular in application to converts a high voltage to a low voltage efficiently. In this paper, a Discrete Sliding Mode Control is devised for buck converter. The proposed controller is robust against system disturbances and parameter uncertainity. MATLAB simulation are performed and simulation results are presented.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"2 1","pages":"1503-1508"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74497627","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 : 2019-02-01DOI: 10.1109/ICIT.2019.8755129
Siamak Pedrammehr, Mohammad Reza Chalak Qazani, Houshyar Asadi, S. Nahavandi
Hexarot is a popular member of the axisymmetric parallel mechanisms family. One of the challenges in hexarot manipulators is to analyze their manipulability. In this paper, the kinematics of hexarot mechanisms is addressed. The manipulating ability of hexarot mechanism in positioning and orienting of the end effector is investigated. The manipulability of hexarot mechanism is formulated and illustrated within the different sections of the mechanism workspace using the kinematic formulation and manipulability index relations.
{"title":"Kinematic Manipulability Analysis of Hexarot Simulators","authors":"Siamak Pedrammehr, Mohammad Reza Chalak Qazani, Houshyar Asadi, S. Nahavandi","doi":"10.1109/ICIT.2019.8755129","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8755129","url":null,"abstract":"Hexarot is a popular member of the axisymmetric parallel mechanisms family. One of the challenges in hexarot manipulators is to analyze their manipulability. In this paper, the kinematics of hexarot mechanisms is addressed. The manipulating ability of hexarot mechanism in positioning and orienting of the end effector is investigated. The manipulability of hexarot mechanism is formulated and illustrated within the different sections of the mechanism workspace using the kinematic formulation and manipulability index relations.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"72 1","pages":"133-138"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84593448","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 : 2019-02-01DOI: 10.1109/ICIT.2019.8755020
Xiangjing Su, Jining Liu, Yang Fu, Yang Mi, Farhad Shahnia
The growing number of intermittent distributed generations units has increased the voltage regulation challenges in distribution networks. This paper proposes a joint voltage regulation in medium voltage and low voltage distribution feeders by employing and coordinating both traditional and emerging approaches. The proposed technique is a three-stage control strategy that suits well the integrated and unbalanced radial distribution networks. In this technique, the reactive power support of delta-connected switched capacitors, installed at the medium voltage feeders, are coordinated with that of the PV inverters, available at low voltage feeders. Factors such as the network’s power loss, as well as the voltage magnitude and balance profiles, are aimed to be improved. The effectiveness and superiority of the proposed volt-var optimization model is evaluated by numerical analyses on a real typical distribution network over a 24-hour period.
{"title":"An Efficient Joint Coordination of Volt-Var Support in Medium and Low Voltage Distribution Feeders","authors":"Xiangjing Su, Jining Liu, Yang Fu, Yang Mi, Farhad Shahnia","doi":"10.1109/ICIT.2019.8755020","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8755020","url":null,"abstract":"The growing number of intermittent distributed generations units has increased the voltage regulation challenges in distribution networks. This paper proposes a joint voltage regulation in medium voltage and low voltage distribution feeders by employing and coordinating both traditional and emerging approaches. The proposed technique is a three-stage control strategy that suits well the integrated and unbalanced radial distribution networks. In this technique, the reactive power support of delta-connected switched capacitors, installed at the medium voltage feeders, are coordinated with that of the PV inverters, available at low voltage feeders. Factors such as the network’s power loss, as well as the voltage magnitude and balance profiles, are aimed to be improved. The effectiveness and superiority of the proposed volt-var optimization model is evaluated by numerical analyses on a real typical distribution network over a 24-hour period.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"6 1","pages":"1668-1672"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84162096","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 : 2019-02-01DOI: 10.1109/ICIT.2019.8754973
Ryusei Mori, T. Murakami
Accidents caused by a collision between an environment and a robot become a problem, so safety strategies of robots are indispensable. Since the impact force sharply increases at the time of a collision, position-based impedance control which has low responsiveness to the collision can not sufficiently reduce the damage. This paper proposes the manipulator with passive and flexible base for collision force suppression. The proposed flexible base has a rotating structure and it is possible to suppress the collision from any direction when an environment contacts the working manipulator. When a large external force is applied, the variable impedance control according to the strain amount of the base spring in order to avoid the strain limit of flexible base is proposed. Also, when the external force is estimated with force sensorless, the estimation error increases due to the friction model error of the motor, and the position followability deteriorates. Therefore, the contact state is judged by the strain amount of the flexible base, and correction is added to the estimated reaction force, thereby improving the position followability of the impedance control in non-contact.
{"title":"A Fusion Control of Impedance and Vibration Suppression for a Manipulator with Flexible Base","authors":"Ryusei Mori, T. Murakami","doi":"10.1109/ICIT.2019.8754973","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8754973","url":null,"abstract":"Accidents caused by a collision between an environment and a robot become a problem, so safety strategies of robots are indispensable. Since the impact force sharply increases at the time of a collision, position-based impedance control which has low responsiveness to the collision can not sufficiently reduce the damage. This paper proposes the manipulator with passive and flexible base for collision force suppression. The proposed flexible base has a rotating structure and it is possible to suppress the collision from any direction when an environment contacts the working manipulator. When a large external force is applied, the variable impedance control according to the strain amount of the base spring in order to avoid the strain limit of flexible base is proposed. Also, when the external force is estimated with force sensorless, the estimation error increases due to the friction model error of the motor, and the position followability deteriorates. Therefore, the contact state is judged by the strain amount of the flexible base, and correction is added to the estimated reaction force, thereby improving the position followability of the impedance control in non-contact.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"23 1","pages":"42-47"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83968483","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 : 2019-02-01DOI: 10.1109/ICIT.2019.8754978
Yuji Kimura, Hiroki Kurumatani, S. Katsura
The paper presents experimental validations of noise power in system under hardware constraints. A system performance is limited by the noises penetrates into the system and the noises power highly depends on hardware configuration. Therefore, appropriate hardware configuration is important to realizes a required specification with minimizing hardware resources. Then, to validate the noise power in the existing hardware setup is significant for the control design. In the control system, a noise power density has relation to an expression of power of numbers and the sampling time of the controller, namely a spatiotemporal resolution. The paper firstly derives a theoretical relation between the noise power and the spatiotemporal resolution and then validates the theory by experiments. The experimental validations show the practical perspective for the controller design and indicates a design guideline of the hardware configuration.
{"title":"Experimental Validation of Noise Power in System Under Hardware Constraints","authors":"Yuji Kimura, Hiroki Kurumatani, S. Katsura","doi":"10.1109/ICIT.2019.8754978","DOIUrl":"https://doi.org/10.1109/ICIT.2019.8754978","url":null,"abstract":"The paper presents experimental validations of noise power in system under hardware constraints. A system performance is limited by the noises penetrates into the system and the noises power highly depends on hardware configuration. Therefore, appropriate hardware configuration is important to realizes a required specification with minimizing hardware resources. Then, to validate the noise power in the existing hardware setup is significant for the control design. In the control system, a noise power density has relation to an expression of power of numbers and the sampling time of the controller, namely a spatiotemporal resolution. The paper firstly derives a theoretical relation between the noise power and the spatiotemporal resolution and then validates the theory by experiments. The experimental validations show the practical perspective for the controller design and indicates a design guideline of the hardware configuration.","PeriodicalId":6701,"journal":{"name":"2019 IEEE International Conference on Industrial Technology (ICIT)","volume":"58 1","pages":"732-737"},"PeriodicalIF":0.0,"publicationDate":"2019-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80240690","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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