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Advanced Motion Control, 2000. Proceedings. 6th International Workshop on

Date March 30 2000-April 1 2000

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Displaying Results 1 - 25 of 118
  • 6th International Workshop On Advanced Motion Control [front matter]

    Publication Year: 2000 , Page(s): i - xvi
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  • Author index

    Publication Year: 2000 , Page(s): xvii - xix
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    Freely Available from IEEE
  • Intelligent modelling, observation and control for nonlinear systems

    Publication Year: 2000 , Page(s): XX - XXX
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    This paper considers the problem of the stable and convergent identification of a static nonlinearity where the structure and the parameters of the linear section of the plant are known exactly. In this first step of the derivation of one intelligent tool the mathematical procedure is shown in detail. In the following steps this first solution is generalized and practical examples are given. Additionally it is demonstrated that a direct design of the nonlinear controller is also possible when the knowledge of the real plant is sparse. These intelligent methods are very valuable control tools, when the plant has relevant nonlinearities. But these tools should be used only when the plant is actually a nonlinear one. Therefore linear control tools for the self-optimizing or the adaptation remain important control tools, when the plant could be approximated by a linear model. View full abstract»

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  • Mechatronics of electrostatic microactuators and micro-gyroscopes

    Publication Year: 2000 , Page(s): XXXI - XXXVIII
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    This paper discusses two applications of microelectromechanical systems (MEMS). The first involves the design, fabrication and control of electrostatic microactuators for dual-stage servo systems in magnetic disk drives. The second involves the design and control of electrostatic oscillatory Z-axis microgyroscopes for measuring out-of-plane angular rotation. View full abstract»

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  • A tracking control to multiple objects for plural hand-eye systems

    Publication Year: 2000 , Page(s): 1 - 6
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    This paper describes a tracking control for plural hand-eye systems with respect to multiple objects. In case that hand-eye systems attempt to realize tracking control in regard to multiple objects simultaneously, there is a situation that it is desirable hand-eye system changes target object. For example, if a hand-eye system continues to track the same target object, collision with the other hand-eye system may happen. Avoiding such a collision motion, the optimal selection of the target object for each hand-eye system is required. To address the above issue, this paper proposes an approach for tracking control of multiple objects in plural hand-eye systems. The proposed approach is confirmed by numerical simulations and experiments. View full abstract»

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  • Exploring motion planning for 3D object recognition

    Publication Year: 2000 , Page(s): 7 - 12
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    In this paper, a new control scheme on image-based visual servoing is described. The proposed approach consists of two level strategies, one is in the motion planning and the other in the task planning. The method in the motion planning is based on the eigenvector derived from the product of the extended Jacobian. When the camera moves in the direction along the vector, the largest shift of feature points in the image is obtained so that the most effective motion of the camera is achieved, which contribute toward the accurate three-dimensional position detection. In the method in the task planning, the accurate three-dimensional position and orientation are detected, based on the structure analysis. In the analysis, the indices where enough surveillance has been achieved in the motion and so on are applied. The motion which consists of the motion planning and the task planning is called exploring motion, in which the features are recognized by traveling around all the target object. View full abstract»

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  • Control issues to improve visual control of motion: applications in active tracking of moving targets

    Publication Year: 2000 , Page(s): 13 - 18
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    This paper deals with active tracking of 3D moving targets. Tracking is based on different visual behaviors, namely smooth pursuit and vergence control. The performance and robustness in visual control of motion depends both on the vision algorithms and the control structure. In this work we evaluate these two aspects, characterize the delays, and discuss ways to cope with latency while improving system performance. Kalman filtering is used to achieve smooth behaviors and increase visual processing robustness. A specific Kalman filter structure is proposed and its tuning and initialization are discussed. Delays and system latencies substantially affect the performance of visually guided systems. Interpolation is used to cope with visual processing delays. Model predictive control strategies are proposed to compensate for the mechanical latency in visual control of motion. View full abstract»

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  • Control issues to improve visual control of motion: applications in active tracking of moving targets

    Publication Year: 2000 , Page(s): 13 - 18
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (597 KB)  

    This paper deals with active tracking of 3D moving targets. Tracking is based on different visual behaviors, namely smooth pursuit and vergence control. The performance and robustness in visual control of motion depends both on the vision algorithms and the control structure. In this work we evaluate these two aspects, characterize the delays, and discuss ways to cope with latency while improving system performance. Kalman filtering is used to achieve smooth behaviors and increase visual processing robustness. A specific Kalman filter structure is proposed and its tuning and initialization are discussed. Delays and system latencies substantially affect the performance of visually guided systems. Interpolation is used to cope with visual processing delays. Model predictive control strategies are proposed to compensate for the mechanical latency in visual control of motion. View full abstract»

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  • Design and realization of autonomous decentralized object transfer system: magic carpet

    Publication Year: 2000 , Page(s): 25 - 29
    Cited by:  Papers (4)
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    The attempt to realize a "magic carpet"-an array of actuators on which a ball, for example, can be moved to a specified position-driven by autonomous decentralized type control algorithm is proposed. The algorithm is evaluated mainly by computer simulation and trial manufacturing of experimental setup. Due to the recent development of micromachine technology, we can integrate a lot of very small decentralized modules, each of which consists of sensor, actuator and electronic circuit. However, control algorithm of such systems have not yet been developed enough. To avoid complicated wiring problem of communication network, it is assumed that the module should exchange information only with neighboring several modules. The proposed algorithm is divided into two steps. One is the macro rule based on the concept of "field" which controls the general behavior of the carpet. Another is the micro rule to control each module in a robust manner. Some basic simulations on macro control and experimental results on micro control are shown. View full abstract»

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  • Initial condition adapting robust control for a high-speed moving iron type lift actuator

    Publication Year: 2000 , Page(s): 30 - 35
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    We deal with a robust control method for a high-speed moving iron type lift actuator. This actuator is driven by magnetic force generated between an electric magnet and an armature sprung by a spring that enables high-speed piston motion of the armature. Our aim of control is to moderate motion speed of the armature when it touches the magnet to reduce mechanical shock or noise adjusting electric magnet current. Problems come from magnetic force properties: hard nonlinearity and instability, and the fact that the spring can exert only a pulling force and therefore push-pull forces are available to adjust armature speed in only the vicinity of the stroke end. To overcome them robustly we developed a kind of adaptive control scheme, which changes control effort depending on an initial condition at which control effort begins to be effective. View full abstract»

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  • Electronic nose-based odour source localization

    Publication Year: 2000 , Page(s): 36 - 40
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    It is well known that insects and other animals use their olfactory sense in a wide variety of behavioural processes, namely to recognize and locate food sources, detect predators, and find mates. This paper discusses the gathering of olfactive information and its utilization by a mobile robot to find a specific odour source in a room with turbulent phenomena and multiple sources of odour. Three navigation algorithms are compared both with a simple gas sensor and with an electronic nose. Their performance in finding an ethanol source in a room with obstacles is evaluated. The first navigation strategy is based on bacterial chemotaxis. The second strategy is based in the silk-worm moth algorithm to search and track a female moth pheromone plume. The last strategy is based on odour map estimation and maximum concentration following. The electronic nose utilized is composed by an array of different and weakly selective metal oxide gas sensors. The odours are identified and quantified by a pattern recognition algorithm based on artificial neural networks (ANN). The test bed for the navigation algorithms was a Nomad Super Scout II mobile robot. View full abstract»

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  • Electronic nose-based odour source localization

    Publication Year: 2000 , Page(s): 36 - 40
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (615 KB)  

    It is well known that insects and other animals use their olfactory sense in a wide variety of behavioural processes, namely to recognize and locate food sources, detect predators, and find mates. This paper discusses the gathering of olfactive information and its utilization by a mobile robot to find a specific odour source in a room with turbulent phenomena and multiple sources of odour. Three navigation algorithms are compared both with a simple gas sensor and with an electronic nose. Their performance in finding an ethanol source in a room with obstacles is evaluated. The first navigation strategy is based on bacterial chemotaxis. The second strategy is based in the silk-worm moth algorithm to search and track a female moth pheromone plume. The last strategy is based on odour map estimation and maximum concentration following. The electronic nose utilized is composed by an array of different and weakly selective metal oxide gas sensors. The odours are identified and quantified by a pattern recognition algorithm based on artificial neural networks (ANN). The test bed for the navigation algorithms was a Nomad Super Scout II mobile robot. View full abstract»

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  • Torque Sensing from Harmonic Drives by Using Three Strain Gages

    Publication Year: 2000 , Page(s): 41 - 46
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    The paper addresses the topic of torque sensing by using strain gages, which are cemented directly on the flexpline of Harmonic Drive gear reducer. Conventionally two or four strain gages were used to reduce the ripple signal, which is generated by the gear operation, however, our analysis shows that three strain gages are more suitable for the ripple compensation. In the paper, we present a mathematical model fof the ripple and explain the new method for successful compensation. The method does not need on-line calculations and reduces requirements on the strain gages positioning accuracy, therefore it easy to be practically implemented. View full abstract»

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  • Following control of flexible manipulator

    Publication Year: 2000 , Page(s): 47 - 51
    Cited by:  Papers (1)
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    This paper describes a control strategy with flexible manipulator in case of the movable environment. In a pushing task of the movable environment, it is important to keep the stable contact without hunting. To realize such a motion, a flexible structure of the manipulator is useful. Also it is important to realize a following control of the desired force between the manipulator and the movable environment. In the proposed approach, the dynamical behavior of the environment is fed back by using the estimated reaction torque. This makes it easy to obtain the stable following response against the moving environment. Several numerical results are shown to confirm the validity of the proposed controller. View full abstract»

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  • Control strategy of one link flexible arm for contact motion to moving object

    Publication Year: 2000 , Page(s): 52 - 57
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    Presents a control strategy of a one link flexible arm for the contact motion with a moving object. Our purpose is to accomplish the smooth transition from the free space to the constraint space without changing control laws at collision. We design the controller based on the model following servo system with two additional compensators. One is the stabilizing compensation based on strain feedback and the other is the approaching velocity compensation based on a relative displacement feedback. In order to improve the force tracking performance, we determine the relative displacement feedback gain so as to minimize a performance index. Moreover, we virtually adjust the desired force to realize the high-speed approaching motion. Some experimental results show the effectiveness of the proposed controller. View full abstract»

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  • Development of a software package for a flexible link manipulator

    Publication Year: 2000 , Page(s): 58 - 63
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    The design of a controller for a flexible manipulator is a complicated task due to vibrations inherent in the manipulator. A software package is developed as a test-bed for such a task. The package assumes a Euler-Bernoulli beam carrying a payload, moving horizontally and is driven by a DC motor. It runs on the MATLAB platform with interactive user interfaces for the adjustment of beam and system parameters. Simulation results are displayed on screen and can be saved in disk files. A real-time animation is also included. View full abstract»

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  • Command generation with sliding mode control for flexible systems

    Publication Year: 2000 , Page(s): 64 - 68
    Cited by:  Papers (3)
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    Modeling inaccuracies can have adverse affects on a control system of a system, especially when there are significant flexible dynamics. Sliding mode control can provide good trajectory tracking of such systems, even in the presence of disturbances. Command generation has proven beneficial for eliminating residual vibration from motion induced dynamics. In an attempt to utilize the best aspects of these two control methods, the paper proposes a control scheme that combines command generation and sliding mode control. View full abstract»

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  • Recent control technologies for fast and precise servo system of hard disk drives

    Publication Year: 2000 , Page(s): 69 - 73
    Cited by:  Papers (5)  |  Patents (1)
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    Areal density increases are required to satisfy the demand for larger capacity hard disk drives. Furthermore, the increase of the track density is expected to be larger than that of bit density due to several reasons of magnetic recording and data transfer problems. By 2001, it is expected that track pitch will have reduced to 0.4 /spl mu/m. To accomplish this, a head-positioning accuracy of 35-40 nm must be achieved during track-following, which is 8-10% of the track pitch. In the paper, several servo methods including multirate feedforward control methods, and the use of servo systems for dual stage actuators, are reviewed. Then our latest research results on a mode-switching control servo are shown. View full abstract»

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  • Proposal of seeking control of hard disk drives based on perfect tracking control using multirate feedforward control

    Publication Year: 2000 , Page(s): 74 - 79
    Cited by:  Papers (15)  |  Patents (1)
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    In this paper, novel multirate two-degree-of-freedom controllers are proposed for digital control systems, where it is restricted that the speed of the A/D converters are slower than that of the D/A converters. The proposed feedforward controller assures the perfect tracking at M inter-sampling points. Moreover, it is shown that the structure of the proposed perfect tracking controller is very simple and clear. Next, the proposed method is extended to systems with time delay. The proposed scheme is applied to the seeking control for hard disk drive, and advantages of this approach are demonstrated by simulations and experiments. View full abstract»

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  • Single/dual-rate digital controller design for dual stage track following in hard disk drives

    Publication Year: 2000 , Page(s): 80 - 85
    Cited by:  Papers (2)
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    This paper presents the design of single rate and dual rate digital controllers for dual stage servo systems. The dual stage actuator system consists of a coarse actuator (voice coil motor) and a fine actuator (piezoelectric transducer, PZT). The design is divided into two steps. In the first step, the stability of the coarse actuator loop is an important consideration. In the second step, the fine actuator loop is designed by loop shaping for superior performance of the overall system. An important consideration in the second stage is to ensure that the phase difference is away from /spl plusmn/180 degrees between the coarse and fine actuator paths when the magnitudes of the two are close to each other. By loop shaping of fine actuator loop, appropriate contribution of each actuator to the final output is adjusted differently in different frequency range. In the dual rate control, the coarse actuator works at slow sampling frequency and the fine actuator works at fast sampling frequency. Simulation and experimental results justify the proposed design. View full abstract»

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  • High performance digital servo design for HDD by using sampled-data H/sub /spl infin// control theory

    Publication Year: 2000 , Page(s): 86 - 91
    Cited by:  Papers (1)
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    In the head positioning control of hard disk drives, a digital control is widely used. Therefore, if a small sampling period could be used, the performance obtained by the digital controller is not so deteriorated compared with the one obtained by the analog controller. However, in hard disk systems, the sampling period cannot be chosen arbitrarily small, since it is determined by factors which have nothing to do with control requirements in most cases. In this paper we apply the sampled-data H/sub /spl infin// control synthesis to the head positioning control of the hard disk drive. This method enable us to design a desirable digital controller directly by taking into account of intersampling behaviors. Experimental results show that a good following performance can be achieved by the long sampling period. View full abstract»

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  • Robust high speed tracking servo system for optical disk system

    Publication Year: 2000 , Page(s): 92 - 97
    Cited by:  Papers (18)
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    This paper proposes a new high speed robust tracking control system based on both "zero phase error tracking" (ZPET) control system and disturbance observer for an optical disk recording system. In optical disk recording systems (for example CD-R), the tracking servo system must have a precise tracking response whose error is less than 0.1 [/spl mu/m] for a reference input signal with an amplitude of 100 [/spl mu/m]. Moreover, the tracking servo system can detect only the tracking error, i.e. the position difference between the optical spot and the track to be followed. For this purpose, the tracking servo system proposed in this paper estimates the reference input signal from the tracking error, and realizes the high speed robust tracking control based on ZPET control. Numerical simulation results point out that the proposed system has a quick and robust tracking response. View full abstract»

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  • A motion control of mobile manipulator with external force

    Publication Year: 2000 , Page(s): 98 - 103
    Cited by:  Papers (1)
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    This paper describes a stable motion control of a mobile manipulator against the external force. As well known, the mobile manipulator has infinite motion area, which brings a sophisticated advantage to the manipulator control. However the unexpected external force to the mobile manipulator makes its motion unstable because there is no fixed points in the stationary coordinate. To obtain the stable motion independently of the external force, a cooperative control of manipulator and vehicles is needed. This paper presents a stable control strategy of mobile manipulator with considering the eternal force. The validity of the proposed method is confirmed by several numerical and experimental results. View full abstract»

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  • An estimation of slope for mobile manipulator

    Publication Year: 2000 , Page(s): 104 - 109
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    In most of industrial applications such as factory automation, a mobile manipulator has been used in a flat plane without slope. From a practical point of view, however, it is important to deal with various conditions of the poor surface to increase the reliability and the flexibility of the locomotion. Then the mobile robot is applicable to the workspace with unknown environment. With recent advances of sensor technologies, it is possible to know the position and configuration of mobile manipulator by acceleration sensors such as gyroscope. They are so powerful, but their cost is still high. This paper proposes a sensorless approach to detect the position and configuration of mobile manipulator without external sensor. In the proposed approach, a slope angle of the floor is estimated by using wheel torque and is utilized for a stable motion planning of the mobile manipulator. Several experimental results are also shown. View full abstract»

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  • Experiment system for two wheels drive running control

    Publication Year: 2000 , Page(s): 110 - 113
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    An experiment system suitable for laboratory level is developed which can be used to analyze motions of 2 wheel driven car and simulate the performance of running control system. Although the system is manufactured corresponding to the structure and kinematics characteristic of gantry crane, other vehicle's running control algorithms can also be studied. View full abstract»

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