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Mechatronics, 2009. ICM 2009. IEEE International Conference on

Date 14-17 April 2009

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Displaying Results 1 - 25 of 135
  • [Front matter and conference program]

    Page(s): 1 - 16
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    Freely Available from IEEE
  • Center of gravity estimation and control for a field mobile robot with a heavy manipulator

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (10786 KB) |  | HTML iconHTML  

    This paper reports on the study of the Center of Gravity (COG) for the ALACRANE mobile robot, which consists on a hydraulic tracked vehicle with a customized heavy manipulator. The COG has been experimentally estimated by taking into account different arm positions. These estimations have been used to modify the mass distribution of the robot so that the COG can be appropriately controlled online by using onboard inclinometers. This analysis is necessary because the robot has to move on inclined terrains, where tip-over problems are present. During navigation, only three actuators are available: the two track speeds and the arm base rotation. Thus, the arm base rotation is employed to improve static tip-over stability according to the supporting polygon principle. Experimental results from this work are discussed in the paper. View full abstract»

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  • Optimal sensor placement for fault diagnosis

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2140 KB) |  | HTML iconHTML  

    Ability to detect and to isolate faults which may affect the system depends essentially on instrumentation architecture. This is why, before designing an industrial supervision system, determination of monitoring ability based on technical specifications is important. Used methods in the consulted literature are based on a model given as a set of collected data in different modes (faulty and normal) or under complex differential equations. In the present paper it will be shown how the behavioral, structural and causal properties of the bond graph model can be used for monitoring ability analysis (which part of the system is over, just or under constrained) with no need of calculation. The developed method is applied to the designing a real time monitoring of an electromechanical system. View full abstract»

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  • Visual servoing path tracking for safe human-robot interaction

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (5884 KB) |  | HTML iconHTML  

    When a human is introduced into a robotic cell, the robot controller must be aware of the human location in order to assure her/his physical integrity. This paper presents a pre-collision strategy which maintains a safety distance between a robot and a human who wears a tracking system composed of a motion capture suit and a UWB localization system. The system proposed is able to guide the robot using visual servoing through a previously defined path. The time-independent behaviour of this system enables the robot to completely track the desired trajectory, even in those cases when the robot goes away from the human during the tracking to guarantee her/his safety. View full abstract»

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  • GPC strategies for the lateral control of a networked AGV

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (6041 KB) |  | HTML iconHTML  

    The performance of a networked control system (NCS) is affected directly and indirectly by transmission time delays and data losses in the communications network. Based on the communications network model, this paper presents the validity of two different predictive control strategies and the study of the network effects on the lateral (guidance) control of an autonomous guided vehicle (AGV) in the presence of sensor noise. Simulation results are presented to validate the proposed strategies. View full abstract»

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  • Adaptive method for skin detection in coloured images

    Page(s): 1 - 6
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    In this paper a new approach to detect skin in coloured images is proposed. The new method uses the classification of the three colour components of the RGB system (Red, Green and Blue), with a skin classifier. The proposed approach uses an adaptive methodology embedded in the skin classifier algorithm for pixel classification. The adaptive algorithm varies the image brightness in each one of the RGB colour components, in order to reduce the influence of different illumination environments (lighting conditions). Experimental results show the validity of the proposed methodology. View full abstract»

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  • To avoid unmoving and moving obstacles using MKBC algorithm Path planning

    Page(s): 1 - 6
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    The problem of path planning for the autonomous vehicle in environment with moving and stationary obstacles is considered. An algorithm based on modified Kohonen rule and behavioural cloning (MKBC) is developed. The MKBC algorithm, as improvement of RBF neural network, uses the training values as weighting values, rather then values from the previous time instance. This enables an intelligent system to learn from examples (operator's demonstrations) to control a robot vehicle, in this case, to avoid stationary or moving obstacle. Important characteristic of the MKBC algorithm is polynomial complexity, while most other path planning algorithms are exponential. Experiments determined that it is robust to parameter change and suitable for real time application. View full abstract»

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  • Multi-agent remote control of the RobuTER/ULM mobile manipulator robot

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (7342 KB) |  | HTML iconHTML  

    This paper finds its place in the combined area of multi-agent telerobotics. It describes the work carried out in the development of a multi-agent architecture for remote control of mobile manipulator robot. Decisions are made by the high-level layers of the multi-agent system, installed in the local site, and transmitted to the low-level layers, installed in the remote site, for execution. The implementation of the control architecture is done on the RobuTER/ULM robot. View full abstract»

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  • Automatic image processing filter generation for visual defects classification system

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (11820 KB) |  | HTML iconHTML  

    The visual inspection system is used in various production systems. The Visual Inspection System is used to maintain the quality of products. But, there are some defects which are not detected with enough reliability on conventional systems. To meet with the problems, the automatic generation system of best image processing filters which extract the proper characteristics of images for that kind of defects has been introduced to improve recognition rate. The system is designed to generate two kinds of filters to detect the defects with vague edge and widely distributed defect images using neural network method and co-occurrence histogram images. Experiments shows the generated filters get better recognition rate. View full abstract»

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  • Improving RRT motion trajectories using VFM

    Page(s): 1 - 6
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    This paper presents a new method to improve the trajectories based in the Voronoi fast marching method (VFM). It can be used to improve the smoothness and the length of the trajectories calculated with probabilistic methods with bad quality trajectories such as RRT or PRM. This way, it is possible to get the good properties of the RRT method as the fact that it can work in many dimensions with the good properties of VFM method. This method is very fast and reliable and the trajectories are similar to the human trajectories: smooth and not very close to obstacles and walls. View full abstract»

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  • Smooth path planning for non-holonomic robots using fast marching

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (8682 KB) |  | HTML iconHTML  

    This paper presents the application to nonholonomic mobile robot path planning of our Voronoi fast marching (VFM) and FM2 methods, which represents our current progress on the design and analysis of these algorithms. The VFM and FM2 methods use the propagation of a wave (fast marching) operating on the world model, to determine a motion plan over a slowness map (similar to the refraction index in Optics) extracted from the updated map model. The computational efficiency of the method let the planner operate at high rate sensor frequencies. This method allow us to simplify the mobile robot or mobile manipulator architecture, while maintaining good response time and smooth and safe planned trajectories. This method can be classified inside the navigation functions (a type of potential fields) and it is complete (it finds the solution path if it exists) and of order n complexity (O(n)). The results presented in the paper show how the proposed method is faster than other existing path planning methods for non-holonomic (car like for example) mobile robots and generates trajectories of better quality . View full abstract»

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  • Decoupled decentral control of electromagnetic actuators for car vibration excitation

    Page(s): 1 - 6
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    Electromagnetic actuators have proven useful for the vibration excitation of components. Their inherent instability can be compensated by adequate feedback control. For realistic car excitation, at least two actuators are necessary that are clamped to the car body. Their interaction is governed by the dynamic behaviour of the jacking points and is especially high at a system resonance frequency. The resulting intense couplings cause problems when two independent decentral SISO (single input single output) controllers are used. Weakening the SISO controller gains to diminish coupling effects is impossible as the control parameters have to be high enough to stabilize each actuator. A solution to these problems is to decouple the two SISO controllers statically by diagonalizing the system at the resonance frequency. Two decoupling approaches are applied, both of them based on system identifications: SVD (singular value decomposition) and DTM (dyadic transfer function matrices). Both strategies are adapted to the specific state-space SISO controllers and decouple only the states that are physically coupled in a direct manner. Since interaction is strong merely at the system's resonance frequency, static decoupling works well and reduces permanent disturbances significantly while enabling increased control parameters at the same time. Due to a reference tracking configuration of the decoupled state-space controllers named tracking error estimation, the achieved bandwidth matches the desired 100 hertz. View full abstract»

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  • State-space modelling and decoupling control of electromagnetic actuators for car vibration excitation

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (6751 KB) |  | HTML iconHTML  

    Unstable electromagnetic actuators are employed for car vibration excitation to perform Squeak and Rattle analyses. Couplings in the dual-shaker system demand for multiple input multiple output (MIMO) control. Unlike most approaches in literature that depend on cumbersome measurements and MIMO system identifications, control design in the present contribution is based on an analytical model. A state-space description of the entire plant with actuators and car is composed, whereof six states refer to the car body and are estimated by a reduced observer. A comparison with measurements verifies the modelling assumptions. Then a multivariable feedback controller is deduced. One main control design goal is an input-output-decoupling of the closed-loop system. To additionally rise bandwidth and adapt the state-space controller for reference tracking purposes, it is enhanced by a tracking error estimator. Fundamental controller criteria are robust stabilization of the unstable actuators and bandwidth and tracking attributes that match the road profiles to be reproduced. The MIMO controller shows convincing performance in all these aspects. The controlled system remains stable even for signals with high energy content and strong car movements due to the incorporated car body states. With the aid of the analytical plant model, controller and observer calculations for prospective use of four shakers on different car types can be carried out easily and without additional measurements. View full abstract»

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  • Robust vision system with automatic filter calibration

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (7979 KB) |  | HTML iconHTML  

    In this paper we present an adaptive vision system for the AIBO robots which is able to dynamically change the calibration of the colour filters implemented in the robots. This system tries to be robust by using techniques for coping with noise and hard environment characteristics, specially changing lighting conditions. This system has to be run with a processor with low processing resources and therefore it has to be simple and efficient. The vision system uses the 8 colour filters that are hardware already implemented in the robots. These filters can be easily established and they are used to carry out the recognition of the relevant elements in the given scenario. The final goal of the proposed adaptive vision is to improve the performance of well-known self-localization algorithms. View full abstract»

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  • Sensorless automotive engine speed measurement by noise analysis

    Page(s): 1 - 4
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    This work presents a novel solution for automotive RPM measurement without a specific sensor. The measurement instrument is simply connected via a standard jack to the cigarette lighter socket. The engine speed is finally estimated through the noise analysis of acquired tension signals. Successful experimental results are included. View full abstract»

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  • Design, construction, and testing of a new class of mobile robots for cave exploration

    Page(s): 1 - 6
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    This paper introduces a novel mobile robot design concept aimed at exploration of subterranean spaces. The key innovation is the combination of highly maneuverable-body elements with wheel/leg elements (ldquowhegsrdquo). This combination offers performance not possible with conventional ldquomonolithicrdquo wheeled or tracked mobile robots, or with current robot snakes. The paper covers two design iterations of the concept, concentrating on describing the overall design process and results from initial tests. View full abstract»

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  • Model predictive control OF pH IN pharmaceutical process

    Page(s): 1 - 6
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    This work illustrates a new control strategy of model predictive control for pH control of the Cephradine purification process in Continuous stirrer tank reactor (CSTR). The simulation results show that the response of MPC is accurate and nearer to the ideal response when compared to PID. View full abstract»

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  • A hybrid control strategy for vibration damping and precise tip-positioning of a single-link flexible manipulator

    Page(s): 1 - 6
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    In this work, we propose a new control approach for a single-link flexible manipulator, based on the integral resonant control (IRC) scheme. A hybrid control scheme consisting of two nested loops by treating the joint angle and the torque measured at the base of the arm (coupling torque) as the system outputs are formulated. It is shown that the IRC scheme, a high performance controller design methodology for flexible structures with collocated actuator-sensor pairs, can be implemented in a flexible manipulator to achieve precise end-point positioning with effective vibration suppression. Experimental results are presented in order to validate the proposed control scheme. Finally, a brief discussion is included to highlight the contributions of this work in broad area of controlling single-link flexible manipulators. View full abstract»

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  • DSP algorithm for the real-time detection of power quality surge transients

    Page(s): 1 - 5
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    Today's businesses depend heavily on electrical services for lighting, general power, computer hardware and communications hardware. With the generalized use of sophisticated electronic devices, industries are shifting toward almost entirely electronic IT systems. Power-quality events are of increasing concern for the economy because today's equipment, particularly computers and automated manufacturing devices, is highly sensitive to such imperfections. Metering technologies and communications systems have advanced to enable the development of DSP-based sensors. Power Quality is one area where these real-time sensors can be very valuable. This paper investigates the challenges and possibilities in the development of a DSP power-quality event detection algorithm. This is a critical task, since it must be performed on-line and in hard real time. The paper describes the challenges and lessons learned from this investigation. View full abstract»

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  • Gravity measurement from moving platform by second order Kalman Filter and position and velocity corrections

    Page(s): 1 - 6
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    Gravity measurement is an effective tool for oil and gas exploring. It is particularly important for gravity observation from moving platforms, especially for remote areas and offshore fields by aircraft, boat, ship, submarine, satellite, vehicle, etc. The measurement is complicated by difficulty to discern gravity from platform accelerations, nonlinearity, drift and dynamic angular movement. Presented solution is second order Kalman Filter, a recursive estimator that is applied to highly nonlinear measurement problems. The filter optimally combines data of three-axis gyros, accelerometers and platform position and velocity signals to provide accurate attitude and gravity measurement. Extensive simulations verified accuracy and robustness of proposed method for measurement form different vehicles in various dynamic environments. View full abstract»

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  • A high level language approach to matrix converter modelling and FPGA controller design

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (4365 KB) |  | HTML iconHTML  

    The research work presented in this paper is focused on the modelling of matrix converter systems, targeting field programmable gate arrays (FPGA) for the rapid prototyping of the associated digital electronic controllers. The novel approach is based on a high level description language, Handel-C, used within a modelling environment created by Celoxica Ltd., called DK5. The matrix converter system considered consists of nine bi-directional switches. The model was successfully developed in Handel-C, following the new method, which allows the holistic functional simulation and optimisation of a system to be performed in the same environment as its controller hardware implementation and timing analysis/verification. The controller design is being physically implemented in hardware onto a RC10 development board, fitted with a 1.5 million-gate Spartan 3 FPGA. The experimental testing is currently being carried out. View full abstract»

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  • Research on the position control of a 1-DoF set-up powered by pneumatic muscles

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (7141 KB) |  | HTML iconHTML  

    A one-degree-of-freedom set-up driven by pneumatic muscles was designed and built in order to research the applicability of pneumatic artificial muscles in industrial applications, especially in wearable robots such as exoskeletons. The experimental set-up is very non-linear and very difficult to control properly. As a reference, an enhanced PID controller was designed. At the same time, a robust controller Hinfin and a sliding-mode controller based on an observer were designed and implemented. After that, a new position controller based on an internal pressure loop for each pneumatic muscle was tuned up. Firstly, this paper presents the experimental set-up and the system's linear models. After that, it summarizes the enhanced PID controller, Hinfin controller and the sliding-mode controller that have been designed. Then, it focuses on the position controller based on the internal pressure loops. Finally, the controllers are compared by means of experimental results. View full abstract»

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  • Analysis of Bowden cable Transmission performance for orthosis applications

    Page(s): 1 - 6
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    A Bowden cable performance analysis, based on a design of experiments (DoE) is presented for orthosis applications. The need for analysing these cables is based on the construction of IKO (IKerlan's Orthosis) with five actuated degrees of freedom (DoF) to help the human arm. The aim is for an individual to be capable of lifting weight without any great effort using this exoskeleton, which should be portable and readily dressed (and, therefore, lightweight). In order to transmit the power from the actuators to the joints, Bowden cables are used due to their flexibility and light weight. Transmission performance has been analysed in terms of load loss and cable deformation in order to estimate actuator requirements and positioning accuracy. A test bench has been built to measure the cable deformation and load loss occurring between the two ends of the cable in different situations. This has been applied to cables with two different diameters and at different loads. The variables for which the effect has been analysed are weight, the angle formed by the cable at the point where it leaves the sheath, the cable flexion angle, cable length, cable flexion curvature radius and cable type. View full abstract»

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  • Experimental study of a robust-adaptive controller design for two cooperating RLED robot manipulators carrying a rigid payload

    Page(s): 1 - 6
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (7179 KB) |  | HTML iconHTML  

    In this paper, a robust-adaptive controller is developed for trajectory tracking of two rigid-link electrically-driven (RLED) robot manipulators carrying a rigid object. First, the dynamic model of the cooperative robots is derived. This model is written in a combined form such that the forces exerted by the object on the manipulators are not explicitly appeared in the dynamic model. A robust-adaptive controller is then applied to the cooperative robotic system in the voltage input level in order to asymptotically stabilize the tracking error. The robust-adaptive controller has the advantage that it does not require an exact knowledge of the dynamical equation of the system as well as its parameters. Furthermore, the controller does not need the measurement of the forces and moments at the contact points. Finally, simulation and experimental results are provided to illustrate the performance of the control algorithm. View full abstract»

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  • Designing of heavy duty handling robot (HEDURI-I robot design)

    Page(s): 1 - 6
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    Currently, one of the expanded applications of robot system is a heavy duty handling of huge and heavy parts.. In this paper, we introduce the design process of heavy duty industrial robot especially on the analysis technology that we adopted to build the native model of KIMM. In design process of articulated robot, with the payload over 300 Kgf or more, it requires static and dynamic analysis for manipulator that enables the selection of core components such as motor and decelerator. For these purpose, we used the self developed S/W dasiaRODANpsila that is specialized for inverse dynamics analysis. Using the dasiaRODANpsila, we successfully developed the HEDURI-I, the native model of heavy duty handling robot with 600 kgf payload in Korea. View full abstract»

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