IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics最新文献
This paper describes the key components that need to be developed, implemented and integrated in order to make full automation on the nano-scale possible. Multiple nanohandling robots are integrated into a flexible robot cell that can quickly adapt to different manipulation scenarios. An approach for the physical actuation of the employed smart actuators is given. A real-time capable control architecture makes efficient and reliable automation possible. With specialized methods of collision avoidance and path planning, the actual automation sequences can then abstract from the complex task of motion planning for individual robots. Furthermore, the major challanges when performing calibration and adjustment on the nanoscale are highlighted.
{"title":"Towards automated robotic nanomanipulation systems","authors":"Daniel, Christoph, Claas, Mirko, Christian, Sergej","doi":"10.1109/AIM.2009.5230031","DOIUrl":"https://doi.org/10.1109/AIM.2009.5230031","url":null,"abstract":"This paper describes the key components that need to be developed, implemented and integrated in order to make full automation on the nano-scale possible. Multiple nanohandling robots are integrated into a flexible robot cell that can quickly adapt to different manipulation scenarios. An approach for the physical actuation of the employed smart actuators is given. A real-time capable control architecture makes efficient and reliable automation possible. With specialized methods of collision avoidance and path planning, the actual automation sequences can then abstract from the complex task of motion planning for individual robots. Furthermore, the major challanges when performing calibration and adjustment on the nanoscale are highlighted.","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"115 1","pages":"94-99"},"PeriodicalIF":0.0,"publicationDate":"2009-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79072016","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-07-14DOI: 10.1109/AIM.2009.5230013
Jong Gwan Lim, Sang-Youn Kim, D. Kwon
End point detection is proposed for motion detection by acceleration. Apart from the conventional methods based energy feature normalization in automatic speech recognition and heuristic threshold-based algorithms, supervised learning in pattern recognition is proposed to discriminate a motion state and a non-motion state. Before the algorithm developments in earnest, feasibility and feature selection for the research objectives are mainly studied in this paper. As feature candidates for data representation, we have chosen the absolute value of acceleration, its 1st derivatives, and 2nd derivatives respectively based on correlation coefficient first. Using them, we have formed feature vectors and then transformed 2D or 3D feature vectors into variant vectors with Principle component analysis and Fisher's Linear Discriminant (FLD). Also the sequence of the absolute 1st derivatives with incremental order is critically considered as feature vectors. In addition to the various feature vectors, artificial neural network has been designed to investigate and analyze the feasibility of the proposed algorithm. As a result, it is observed that vectors except for the FLD-transformed doesn't show significant difference and the sequence of the absolute 1st derivatives record comparatively reliable and stable recognition rates regardless of subjects.
{"title":"Pattern recognition-based real-time end point detection specialized for accelerometer signal","authors":"Jong Gwan Lim, Sang-Youn Kim, D. Kwon","doi":"10.1109/AIM.2009.5230013","DOIUrl":"https://doi.org/10.1109/AIM.2009.5230013","url":null,"abstract":"End point detection is proposed for motion detection by acceleration. Apart from the conventional methods based energy feature normalization in automatic speech recognition and heuristic threshold-based algorithms, supervised learning in pattern recognition is proposed to discriminate a motion state and a non-motion state. Before the algorithm developments in earnest, feasibility and feature selection for the research objectives are mainly studied in this paper. As feature candidates for data representation, we have chosen the absolute value of acceleration, its 1st derivatives, and 2nd derivatives respectively based on correlation coefficient first. Using them, we have formed feature vectors and then transformed 2D or 3D feature vectors into variant vectors with Principle component analysis and Fisher's Linear Discriminant (FLD). Also the sequence of the absolute 1st derivatives with incremental order is critically considered as feature vectors. In addition to the various feature vectors, artificial neural network has been designed to investigate and analyze the feasibility of the proposed algorithm. As a result, it is observed that vectors except for the FLD-transformed doesn't show significant difference and the sequence of the absolute 1st derivatives record comparatively reliable and stable recognition rates regardless of subjects.","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"20 2 1","pages":"203-208"},"PeriodicalIF":0.0,"publicationDate":"2009-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83870436","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2009-07-14DOI: 10.1109/AIM.2009.5229931
Khalid El Rifai, O. E. Rifai
In this paper, new designs for hybrid PID and lag controllers with state resetting are presented. Lyapunov stable designs are shown for first and second order plants, which in case of integral reset for first order plants reduces to that of a Clegg integrator but differs from the First Order Reset Elements (FORE)'s commonly used in the literature for nonintegral lag controllers. Furthermore, the proposed PID and lag designs utilize different resetting conditions especially for second order plants, which is an important class of systems for motion control. Different solutions to retain a linear integrator's steady-state disturbance rejection capability are presented. Simulations and experiments for motion control of a typical servo motor driven positioning stage show the performance benefits of these hybrid controllers and verify the analysis.
{"title":"Design of hybrid resetting pid and lag controllers with application to motion control","authors":"Khalid El Rifai, O. E. Rifai","doi":"10.1109/AIM.2009.5229931","DOIUrl":"https://doi.org/10.1109/AIM.2009.5229931","url":null,"abstract":"In this paper, new designs for hybrid PID and lag controllers with state resetting are presented. Lyapunov stable designs are shown for first and second order plants, which in case of integral reset for first order plants reduces to that of a Clegg integrator but differs from the First Order Reset Elements (FORE)'s commonly used in the literature for nonintegral lag controllers. Furthermore, the proposed PID and lag designs utilize different resetting conditions especially for second order plants, which is an important class of systems for motion control. Different solutions to retain a linear integrator's steady-state disturbance rejection capability are presented. Simulations and experiments for motion control of a typical servo motor driven positioning stage show the performance benefits of these hybrid controllers and verify the analysis.","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"76 1","pages":"685-692"},"PeriodicalIF":0.0,"publicationDate":"2009-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74146351","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 : 2005-07-24DOI: 10.1109/AIM.2005.1511118
Haiyan Deng, S. Melkote
This paper presents a systematic approach for analyzing the dynamic stability of a fixtured workplace during machining. Insight into the effects of fixture-workpiece system dynamics, material removal, and clamping forces on fixturing stability is obtained. The influence of clamping forces on fixture-workpiece contact stiffness is also investigated. Fixturing stability is checked by monitoring the contact interaction between the workpiece and fixture elements. A dynamic model that predicts workpiece motion subjected to cutting forces and a static model for contact deformation due to clamping are developed to obtain the total contact motion. A simulation example is presented to illustrate the approach
{"title":"Analysis of fixturing dynamic stability in machining","authors":"Haiyan Deng, S. Melkote","doi":"10.1109/AIM.2005.1511118","DOIUrl":"https://doi.org/10.1109/AIM.2005.1511118","url":null,"abstract":"This paper presents a systematic approach for analyzing the dynamic stability of a fixtured workplace during machining. Insight into the effects of fixture-workpiece system dynamics, material removal, and clamping forces on fixturing stability is obtained. The influence of clamping forces on fixture-workpiece contact stiffness is also investigated. Fixturing stability is checked by monitoring the contact interaction between the workpiece and fixture elements. A dynamic model that predicts workpiece motion subjected to cutting forces and a static model for contact deformation due to clamping are developed to obtain the total contact motion. A simulation example is presented to illustrate the approach","PeriodicalId":73326,"journal":{"name":"IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics","volume":"18 1","pages":"869-874"},"PeriodicalIF":0.0,"publicationDate":"2005-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81844345","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}
IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics
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