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IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics最新文献

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Towards automated robotic nanomanipulation systems 迈向自动化机器人纳米操作系统
Daniel, Christoph, Claas, Mirko, Christian, Sergej
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.
本文描述了为了在纳米尺度上实现完全自动化,需要开发、实施和集成的关键组件。多个纳米处理机器人被集成到一个灵活的机器人单元中,可以快速适应不同的操作场景。给出了所采用的智能执行器的物理驱动方法。实时控制体系结构使高效可靠的自动化成为可能。通过专门的避碰和路径规划方法,实际的自动化序列可以从单个机器人的复杂运动规划任务中抽象出来。此外,还强调了在纳米尺度上进行校准和调整时面临的主要挑战。
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引用次数: 8
Pattern recognition-based real-time end point detection specialized for accelerometer signal 基于模式识别的加速度计信号实时端点检测
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.
提出了一种基于加速度的运动检测终点检测方法。除了传统的基于能量特征归一化的自动语音识别方法和启发式阈值算法外,还提出了基于监督学习的模式识别方法来区分运动状态和非运动状态。在该算法正式开发之前,本文主要研究了研究目标的可行性和特征选择。作为数据表示的特征候选者,我们首先根据相关系数分别选择了加速度的绝对值、加速度的一阶导数和加速度的二阶导数。利用它们形成特征向量,然后利用主成分分析和Fisher线性判别(FLD)将二维或三维特征向量变换为变异向量。此外,增量阶绝对一阶导数的序列被严格地视为特征向量。除了各种特征向量外,还设计了人工神经网络来调查和分析所提出算法的可行性。结果发现,除了fld变换后的向量外,其他向量没有明显的差异,而且无论受试者的绝对一阶导数序列都记录了相对可靠稳定的识别率。
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引用次数: 19
Design of hybrid resetting pid and lag controllers with application to motion control pid与滞后混合复位控制器的设计及其在运动控制中的应用
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.
本文提出了一种具有状态复位的混合PID和滞后控制器的新设计。Lyapunov稳定设计显示了一阶和二阶对象,在一阶对象的积分复位的情况下,它减少到克莱格积分,但不同于一阶复位单元(FORE),通常在非积分滞后控制器的文献中使用。此外,所提出的PID和滞后设计利用了不同的复位条件,特别是对于二阶对象,这是一类重要的运动控制系统。提出了保持线性积分器稳态抗扰能力的不同解。通过典型伺服电机驱动定位台的运动控制仿真和实验,验证了混合控制器的性能优势。
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引用次数: 3
Analysis of fixturing dynamic stability in machining 加工中夹具动态稳定性分析
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
本文提出了一种系统的方法来分析加工过程中夹具工作场所的动态稳定性。深入了解夹具-工件系统动力学,材料去除和夹紧力对夹具稳定性的影响。研究了夹紧力对夹具-工件接触刚度的影响。夹具的稳定性是通过监测工件和夹具元件之间的接触相互作用来检查的。建立了预测受切削力作用下工件运动的动态模型和由于夹紧引起的接触变形的静态模型,以获得总接触运动。给出了一个仿真实例来说明该方法
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引用次数: 0
期刊
IEEE/ASME International Conference on Advanced Intelligent Mechatronics : [proceedings]. IEEE/ASME International Conference on Advanced Intelligent Mechatronics
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