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Advanced Motion Control (AMC),2014 IEEE 13th International Workshop on

Date 14-16 March 2014

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Displaying Results 1 - 25 of 134
  • [Front cover]

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  • Welcome

    Page(s): 1 - 2
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  • Workshop program

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  • Social program

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  • Authors index

    Page(s): 1 - 8
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  • System identification in a real world

    Page(s): 1 - 9
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1519 KB) |  | HTML iconHTML  

    In this paper we discuss how to identify a mathematical model for a (non)linear dynamic system starting from experimental data. In the initial step, the frequency response function is measured, together with the properties of the disturbing noise and the nonlinear distortions. This uses nonparametric preprocessing techniques that require very little user interaction. On the basis of this information, the user can decide on an objective basis, in an early phase of the modelling process, to use either a simple linear approximation framework, or to build a more involved nonlinear model. We discuss both options here: i) Identification of linear models in the presence of nonlinear distortions, including the generation of error bounds; and ii) Identification of a nonlinear model. For the latter, a double approach is proposed, using either unstructured nonlinear state space models, or highly structured block oriented nonlinear models. The paper is written from a users perspective. View full abstract»

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  • Haptics for industries

    Page(s): 11 - 12
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    The paradigm of 21st century is clearly different from 20th century. This is shift from mass production based on standardization to small number and wide variety of production. To take the paradigm shift, any production system should have force control providing high adaptability inside. This gives the difficulty to the motion controller where the position control with very high stiffness and the force control with zero stiffness exist at the same time. This paper introduces a solution using coordinate transformation which connects velocity source and force source in the functional space. The simplest case is the function of transmittal of force between slave and master. This is known as the acceleration-based bilateral control in real world haptics. If such functions will be installed, the production system will have more direct and convenient teaching system. Some examples will be introduced. View full abstract»

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  • Dynamic modeling of floating systems: Application to eel-like robot and rowing system

    Page(s): 21 - 30
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1883 KB) |  | HTML iconHTML  

    This paper presents the dynamic modeling of floating systems with application for three-dimensional swimming eel-like robot and rowing-like system. To obtain the Cartesian evolution during the design or control of these systems the dynamic models must be used. Owing to the complexity of such systems efficient and simple tools are needed to obtain their model. For this goal we propose an efficient recursive Newton-Euler approach which is easy to implement. It can be programmed either numerically or using efficient customized symbolic techniques. View full abstract»

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  • On the robustness of disturbance observer

    Page(s): 31 - 36
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (856 KB) |  | HTML iconHTML  

    Disturbance observer (DOB) is one of the most popular robust control tools due to its simplicity and efficiency. The robustness of a DOB based control system changes significantly by the dynamic characteristics of the DOB's low-pass-filter (LPF) and nominal plant. The bandwidth of the LPF of a DOB is desired to set as high as possible to estimate/suppress disturbances in a wide frequency range; however, the practical and robustness constraints limit the bandwidth of the LPF of a DOB. This paper clarifies the robustness constraints of the DOB's bandwidth by using two different robustness analysis methods, i.e., real parametric uncertainty and unstructured uncertainty based analysis methods. It is shown that the bandwidth of a DOB has a lower bound to obtain robust stability, and the stability margin improves as the bandwidth of the DOB is increased when the plant includes real parametric uncertainties and the order of the DOB is one. The robustness analysis is extended into non-minimum phase plants by using unstructured uncertainty based analysis methods. It is shown that the bandwidth of a DOB has upper and lower bounds to obtain a good robustness if the plant has non-minimum phase zero(s) and pole(s), respectively. Besides that the order of a DOB has a design trade-off between the robustness and performance: if a higher order DOB (HODOB) is used, then the bandwidth constraints of a DOB become more severe, yet the performance is improved. As a result, new analysis and design methods are proposed for the DOB based robust control systems. The validity of the proposals are verified by simulation results. View full abstract»

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  • Minimum tracking & focusing trajectory control based on two-dimensional equivalent PTC for optical disk

    Page(s): 37 - 42
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1990 KB) |  | HTML iconHTML  

    Pickup systems for optical disks operate in the horizontal and vertical directions for tracking and focusing, respectively. Control systems for optical disks consist of focusing control and tracking control for each operation direction. Therefore, this paper proposes a new minimum tracking & focusing trajectory control based on two-dimensional feedforward control system. Two-dimensional feedforward control system makes the error vector combined focusing error and tracking error. The error vector is the input variable into the feedforward compensator on the basis of a zero phase error tracking control. Because, it is difficult to perform high-speed sampling in a conventional two-dimensional control system, the proposed two-dimensional feedforward compensator can perform high-speed sampling, which is based on an equivalent-perfect tracking control. The experimental results show the effectiveness of the proposed control system. View full abstract»

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  • Robust sensorless pressure control of electric injection molding machine using friction-free force observer

    Page(s): 43 - 48
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2162 KB) |  | HTML iconHTML  

    Injection molding is a common method for producing various resin products. The quality of the product significantly depends on the injection force. The accurate detection of the force is therefore very important to achieving in stable high-quality molding. The force control system of a typical injection molding machine obtains information about the force from the environment of the machine via a force sensor. However, because a force sensor often has disadvantages such as signal noise, high cost, and narrow bandwidth, a reaction force observer has been developed for electric injection molding machines. The high-order reaction force observer (HORFO) includes a friction compensation element and uses the dither signal insertion method. Although it neither affects the inserted dither signal nor the nonlinear friction phenomenon, steady-state errors remain in the pressure holding process because the torque transmission losses in the mechanical structures are not considered. In this paper, we propose a new Friction-Free Observer. We experimentally confirm the estimation performance of the proposed Friction-Free Observer using different driving points. View full abstract»

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  • Integrated servo-mechanical design of robust mechatronics based on low-order moments and support

    Page(s): 49 - 54
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    Integrated servo-mechanical design for achieving control specifications and robust stabilization of high-performance mechatronics is generally a nonlinear and nonconvex optimization problem. In this paper, a convex separable parametrization is proposed for simultaneous finite frequency redesign of the mechanical plant and controller considering performance specifications and plant parameter distributions of known mean, variance, and support. The robust stability criterion is satisfied using several convex constraints under the conditional-value-at-risk measure. Our simulation results using the proposed algorithm achieve a high-bandwidth control system with guaranteed disturbance attenuation capabilities at the phase-stabilized resonant modes, and is robustly stable under distributional changes in plant parameters. View full abstract»

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  • Simultaneous estimation of sample surface topography and elasticity utilizing contact-mode AFM

    Page(s): 55 - 60
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1680 KB) |  | HTML iconHTML  

    Atomic Force Microscope (AFM) is the device which can be applied to measure the surface topography of samples in nano-scale. Because the cantilever holds its physical contact with samples, it is also possible to measure elasticity of samples in principle. However, compared with the implovement of scanning performance, the technologies for viscosity and elasticity measurements are still underdeveloped. The proposal method measures the surface topography in forward scan (FWS) and the elasticity in backward scan (BWS). Furthermore, this paper introduces Surface Topography Observer (STO) and Perfect Tracking Control (PTC) in order to improve accuracy of the measurement. View full abstract»

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  • Force-sensorless bilateral control using piezoelectric cantilever with Nonlinearity Compensation

    Page(s): 61 - 66
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    In the research about force sensorless bilateral control using piezoelectric cantilever, nonlinearities of piezoelectric constant and creep phenomenon has not been considered in reaction force observer (RFOB). Therefore, there are room for improvement of the performance of force estimation. In this paper, piezoelectric constant and creep phenomenon are modeled based on experimental results and built into RFOB to improve the performance of reaction force estimation. The validity of proposed method is confirmed through experiments of micro-macro bilateral control between linear motor and piezoelectric cantilever. View full abstract»

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  • Integrated design method of force and current control systems

    Page(s): 67 - 72
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    This paper studies an integrated design method of sensorless force control and current control systems. The force control gain, the estimation bandwidth and quality factor of a 1st-order disturbance observer, the proportional and integral gain of an I-P current controllers are determined analytically and numerically by Pole assignment method and Coefficient diagram method(CDM). In the case of Pole assignment and CDM, the force responses converge with the force command without any oscillations and overshoot. By the simulations and experiment, the validity of the integrated design method proposed in this paper is verified. Furthermore, this paper presents that not only the parameters of the force control system but also the gain of the I-P current controllers have to be varied depending on the environmental stiffness. View full abstract»

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  • An analysis on bilateral control system with quantization by multi-level delta-sigma modulation

    Page(s): 73 - 78
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (499 KB) |  | HTML iconHTML  

    In this paper, we treat bilateral control system with quantization. Quantization can compress the amount of information, used for communication between master and slave systems.. However in many cases, the performance of the system is deteriorated by quantization error. Therefore, this paper proposes the utilization of multi-level delta-sigma modulator for control system. Multi-level delta-sigma modulator contains fedback structure. The previous step quantization error is fedback and it is summed to quantized value. By the operation of the quantization, low-frequency quantization error is noise-shaped to the high frequency band. Hence, quantization error in low-frequency is suppressed by multi-level delta-sigma modulator. In order to confirm the effectiveness of proposed method, this paper employs hybrid parameters. By performing analysis on the hybrid parameter, we can confirm that adverse effect of quantization error on reproducibility and operationality can be suppressed by using delta-sigma modulator. In addition, the amount of information of quantized value by the delta-sigma modulator is identical to general quantizer. View full abstract»

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  • Multi-sensor fusion observer based multilatral control of haptic devices without force sensor

    Page(s): 79 - 84
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1138 KB) |  | HTML iconHTML  

    Among all the sensor fusion approaches, Kalman filter is the most widely used technique for system state estimation. The Kalman filter has many uses, including applications in tracking objects, navigation, economics, computer vision and robot controlling. As an example application, it is suitable method for compensating noise measurements from sensor data input and also for sensor fusion. In this paper, a novel multilateral control based on observer technique has been proposed by using disturbance observer with Kalman filter, named Kalman-Filter based Disturbance Observer (KFDOB). Kalman-filter is designed to estimate velocity response and disturbance observer is used to estimate the action/reaction force of haptic devices. The design of multilateral control based on the Hadamard matrix is also presented. With such a robust sensorless force control scheme, high bandwidth of force sensing in multi-robot system may be achieved since acceleration sensor and optical encoder are used to estimate the external force information. Moreover, its measured noise is also significantly reduced. The experimental results are provided to illustrate the performance of the proposed algorithms. View full abstract»

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  • Bilateral control for different-sized master and slave devices using position and force scaling

    Page(s): 85 - 91
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1139 KB) |  | HTML iconHTML  

    This paper proposes a method for designing a bilateral control system for different-sized master and slave devices with varying position and force scales. In the proposed system, the position scale that is the ratio of the slave displacement to the master one is set to be the inverse of the force scale that is the ratio of the slave force to the master one. Experimental results showed that in the case of hard environment, the environmental mechanical impedance in the slave device side can be recreated in the master device side up to approximately 1 Hz, also in the case of soft environment, up to approximately 3 Hz. View full abstract»

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  • Experimental evaluation of motion reproduction system with selected information

    Page(s): 92 - 97
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    Programming by demonstration methods are known as useful methods for non-expert programming. In general, these methods are conducted by motion capture or manual teaching. These methods do not include human force information nor is the natural way human does tasks. On this context, utilization of motion data acquired in bilateral control was considered. This system utilizes motion data as command with the control gains as same as in the bilateral control. However, this method often results in different reproduced results with the saved data because motion reproduction with these gains results in inadequate control compliance. In this paper, compliance adjustment method in motion reproduction was proposed. And its performance in motion reproduction was examined experimentally. View full abstract»

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  • Filter design of multilateral control under time delay for tele-teaching by hand

    Page(s): 98 - 103
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1788 KB) |  | HTML iconHTML  

    This study discusses a design of compensation filter for multilateral control under time delay. Multilateral control is considered to be effective for tele-teaching by hand. However, time delay for communication among the systems can cause several adverse effects such as destabilization and unstable overshoot in position tracking. Among them, this study considers the overshoot in free motion and designs specialized compensator based on analyses on transfer functions. The proposed filter can improve the performance of free motion while keeping the other performances same, and it is expected to work especially for remote trajectory teaching using multilateral control. Applicability of the proposal is tested by simulations and experiments. View full abstract»

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  • Stabilization of systems with time-varying delay based on complete quadratic Lyapunov-Krasovskii functional

    Page(s): 110 - 115
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    This paper describes a stabilizing condition based on the complete quadratic Lyapunov-Krasovskii functional for systems with time-varying delay. In the conventional method for deriving the stabilizing condition based on the complete quadratic Lyapunov-Krasovskii functional, only time-invariant delay has been considered. In contrast, the stabilizing condition of the proposed method depends on the maximum value of the time-varying delay, as well as the upper limit of the rate of change of the time-varying delay. Consequently, we can design a controller that considers time-varying delay. View full abstract»

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  • Model following output feedback controller synthesis for discrete-valued input systems

    Page(s): 104 - 109
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    This paper considers an output feedback control for discrete-valued input systems. Our controller achieves model following control for networked control systems and embedded devices with low-resolution AD/DA converters. The synthesis problem we address is the simultaneous synthesis of the nominal controller and the delta-sigma modulator (where the modulators are called the dynamic quantizers). Our approach is based on the invariant set analysis and the LMI technique. First, this paper considers a controller structure for model following control. Second, this paper proposes a controller analysis condition for quantized feedback systems. Third, we provide a simultaneous synthesis condition that is recast as a set of matrix inequalities. View full abstract»

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  • Optimal quantization feedback control with variable discrete quantizer

    Page(s): 116 - 121
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (696 KB) |  | HTML iconHTML  

    Networked control systems (NCSs) have been receiving much attention in order to improve control performance in the field of in remote robot operation, surgery and some operations. In the NCSs, it is important to quantize necessary signals for control over a limited network channel for the sake of prevention from transmitting a large amount of data. This paper addresses a quantized feedback control system with a variable discrete quantizer. In the system, both input and a parameter of the quantizer are optimized online with the help of model predictive control (MPC). In our approach, constraints on input/output, the parameter of the quantizer and other physical and/or logical constraints can be explicitly taken into account while guaranteeing optimality. The optimization problem is reduced to a mixed integer quadratic programming. Experimental results are demonstrated to verify the effectiveness of the proposed method. View full abstract»

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  • Model-error feedback for time-delay systems with communication disturbance observer

    Page(s): 122 - 127
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (722 KB) |  | HTML iconHTML  

    This paper proposes a method to use modeling-error feedback, to improve the steady-state error due to the model error of a communication disturbance observer, along with a design of a controller based on the stability theorem of Lyapunov. In the conventional method the communication disturbance observer has a problem because steady-state error occurs owing to model error, and the stability is impaired in the trade-off and the steady improvement system. This problem is solved by using a controller design based on the Lyapunov stability theorem and model error feedback. View full abstract»

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  • Per hop data encryption protocol for transmission of motion control data over public networks

    Page(s): 128 - 133
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (897 KB) |  | HTML iconHTML  

    Bilateral controllers are widely used vital technology to perform remote operations and telesurgeries. The nature of the bilateral controller enables control objects, which are geographically far from the operation location. Therefore, the control data has to travel through public networks. As a result, to maintain the effectiveness and the consistency of applications such as teleoperations and telesurgeries, faster data delivery and data integrity are essential. The Service-oriented Router (SoR) was introduced to maintain the rich information on the Internet and to achieve maximum benefit from networks. In particular, the security, privacy and integrity of bilateral communication are not discoursed in spite of its significance brought by its underlying skill information or personal vital information. An SoR can analyze all packet or network stream transactions on its interfaces and store them in high throughput databases. In this paper, we introduce a hop-by-hop routing protocol which provides hop-by-hop data encryption using functions of the SoR. This infrastructure can provide security, privacy and integrity by using these functions. Furthermore, we present the implementations of proposed system in the ns-3 simulator and the test result shows that in a given scenario, the protocol only takes a processing delay of 46.32 μs for the encryption and decryption processes per a packet. View full abstract»

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