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Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on

Date 8-12 July 2001

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  • 2001 IEEE/ASME International Conference On Advanced Intelligent Mechatronics Proceedings [front matter]

    Publication Year: 2001, Page(s):i - xxiii
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  • Authors index

    Publication Year: 2001
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  • Development of a distribution VR-based complex graphics design system

    Publication Year: 2001, Page(s):793 - 798 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (728 KB) | HTML iconHTML

    Attempts to apply the principle of distributed virtual environments (DVE) and virtual reality (VR) technologies to a complex graphics design system (CGDS) by integrating network, computer graphics and VR into a Web-based learning environment. VR systems, especially multi-user systems, can benefit from and often require a distributed realization. This study develops a multi-user sculpture graphics ... View full abstract»

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  • Object-oriented approach to PLC software design for a manufacture machinery using IEC 61131-3 norm languages

    Publication Year: 2001, Page(s):787 - 792 vol.2
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (528 KB) | HTML iconHTML

    Presents an application of object-oriented methodology to the development of programmable logic controller (PLC) programs. The PLC is widely used as a computer controller of manufacturing machinery, principally because of its robustness and programming simplicity. The IEC 61131-3 norm has been introduced aiming to provide standard languages and structure to the development environments of PLC prog... View full abstract»

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  • New concept of visibility tetrahedra for fast robot motion planning

    Publication Year: 2001, Page(s):1340 - 1345 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (668 KB) | HTML iconHTML

    New applications of robots, outside the known and fixed environment of a factory, will increase the need for planners. In this situations it will be necessary to cope with very variable and complex environments and with the direct human interaction. An approach for n degrees of freedom robot motion planning, based on the concept of the visibility tetrahedra and the use of genetic algorithms combin... View full abstract»

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  • Continuous testing as a strategy of improving the PLC software development cycles

    Publication Year: 2001, Page(s):781 - 786 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB) | HTML iconHTML

    An appropriate simulation environment for testing real-time software applications, especially PLC (programmable logic controller) programs, is in demand for many reasons. One of the them might be found in the altered conditions of cooperation (teamwork, teleworking, etc.) under which PLC software projects have to be carried out. Most areas of automation engineering lack largely formalizable proced... View full abstract»

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  • Coulomb and viscous friction fault detection with application to a pneumatic actuator

    Publication Year: 2001, Page(s):1239 - 1244 vol.2
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (628 KB) | HTML iconHTML

    Generally, fault detection is the process of monitoring a physical dynamic system accompanied by conformation and assessment of any degradation of system performance. These systems are modelled and terms that are representative of a specific fault are identified and monitored for detection. In this paper, a fault detection algorithm is developed to isolate and detect friction changes in a high pre... View full abstract»

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  • Control of the secondary mirror unit for the SOFIA telescope

    Publication Year: 2001, Page(s):838 - 842 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (268 KB) | HTML iconHTML

    SOFIA is a 2.5-m telescope to be carried on a special Boeing 747 for astronomic observations at altitudes of about 15,000 m. The paper describes the main features of the secondary mirror unit. The SOFIA secondary mirror needs active control for alignment along five degrees of freedom as well as for very fast chopping with a frequency up to 20 Hz. The SOFIA secondary mirror chopping mechanism and c... View full abstract»

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  • Postgraduate and undergraduate mechatronics' courses at the University of Wollongong

    Publication Year: 2001, Page(s):994 - 999 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (556 KB) | HTML iconHTML

    This paper outlines the University's involvement with industry based manufacturing projects, and how this has lead to the recent establishment of postgraduate and undergraduate mechatronics degrees. The nature of the industrial projects is described with examples of specific problems, test equipment and experimental rigs given. This work can be used to explain the reasons for the design of the mec... View full abstract»

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  • The Agoraphilic algorithm: a new optimistic approach for mobile robot navigation

    Publication Year: 2001, Page(s):1334 - 1339 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (448 KB) | HTML iconHTML

    Presents a summary of research which has been conducted at Monash University-Gippsland Campus. The objective of this research project is to develop a new efficient methodology for mobile robot navigation. The new “optimistic” algorithm is based on free space attraction rather than looking for obstacles to avoid. It utilizes a single attractive force, generated by the surrounding local ... View full abstract»

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  • PLC software modularity and co-operative development

    Publication Year: 2001, Page(s):775 - 780 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB) | HTML iconHTML

    The paper introduces a software design method to pursue modularity of PLC-based system control code. Modularity is a critical condition to support co-operative development of complex systems, where components supplied by a number of subcontractors are integrated to realize the envisaged plant. The method proposes a disciplined use of the SFC, FBD and ST languages of the IEC 61131-3 standard View full abstract»

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  • A time-delayed dynamic inversion scheme for mechatronic control of hydraulic systems

    Publication Year: 2001, Page(s):1232 - 1238 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (632 KB) | HTML iconHTML

    A method is presented for robust control of hydraulic systems. Hydraulic systems with high-fidelity electronic control are considered as a special class of mechatronic systems, where mechanical motion is achieved using hydraulic actuation. In this paper, such systems are referred to as hydrotronic systems. A control system is presented for such systems consisting of hybrid position/force control w... View full abstract»

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  • Online identification of hysteresis functions with non-local memory

    Publication Year: 2001, Page(s):833 - 837 vol.2
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB) | HTML iconHTML

    This paper discusses the online identification of non-local static hysteresis functions, which are encountered in mechanical friction, magnetic materials, and piezoelectric actuators. The hysteresis function is modeled using a superposition of elementary extended stop-type hysteresis operators. Each hysteresis operator is defined by one characteristic parameter and one state variable. By choosing ... View full abstract»

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  • Internet access to a fluid power mechatronics laboratory

    Publication Year: 2001, Page(s):1112 - 1117 vol.2
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (476 KB) | HTML iconHTML

    Educational courses in system dynamics need physical experiments to realistically represent behaviors of mechatronic systems to students. This paper describes how experiments in fluid power for motion control can be provided over the Internet. A hydraulic system was chosen because this important example is absent from hands on experiments in traditional laboratories. Internet access allows the equ... View full abstract»

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  • Building an environment map using a sweeping system based on a single ultrasonic sensor

    Publication Year: 2001, Page(s):1329 - 1333 vol.2
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (332 KB) | HTML iconHTML

    We present an efficient and cheap approach to building a sonar based map for autonomous mobile robots in indoor environments. The system uses one ultrasonic sensor (emitter and receiver are separated) mounted on a motorization constituted by two motors allowing horizontal and vertical scanning. The reading is modelled as probability profiles projected on a two-dimensional map. These readings provi... View full abstract»

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  • Modeling of mobile manipulators on irregular terrain and evaluation of disturbance torques

    Publication Year: 2001, Page(s):1297 - 1302 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (472 KB) | HTML iconHTML

    We propose a model of a dynamic mobile manipulator travelling on an irregular terrain and evaluate disturbance torques caused by the irregular terrain. Terrain irregularities exist even in structures such as the man-made floors of factories and buildings. When a mobile manipulator's hand is required to operate precisely while travelling on an irregular terrain, it is subject to disturbance torques... View full abstract»

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  • Design requirements and reference trajectory generation for a copier paperpath

    Publication Year: 2001, Page(s):911 - 916 vol.2
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (508 KB) | HTML iconHTML

    Presents an approach to introducing closed loop control in a copier paperpath in order to achieve robust, high-speed media handling. The basic idea exploits periodicity in the relative position of correctly fed sheets and their corresponding images. It is shown that the periodic behavior allows to design polynomial position reference trajectories for sheets as a function of their initial position ... View full abstract»

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  • Machine layout problem in FMS design

    Publication Year: 2001, Page(s):1035 - 1040 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (456 KB) | HTML iconHTML

    This paper deals with the transport system design in automated FMS. We describe the different phases for the design of such a system and explain more in details the step consisting in laying out machines in a manufacturing cell. The machine layout problem was treated under several assumptions in the literature, and our contribution consists in introducing flexibility in the production system illus... View full abstract»

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  • Dynamic modeling of primary commands for a car simulator

    Publication Year: 2001, Page(s):1070 - 1075 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (560 KB) | HTML iconHTML

    Simplified dynamic analytical models of primary commands of a car, i.e., the steering wheel and gearshift, are identified and developed in the paper. The dynamic models are used to design the control law of force feedback devices, which can be integrated in a car simulator. The model simulation results match satisfactorily with the experimental available data. An experimental partial assessment of... View full abstract»

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  • Rest-to-rest motion of a one-link flexible arm

    Publication Year: 2001, Page(s):923 - 928 vol.2
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB) | HTML iconHTML

    We present a solution to the problem of finding the torque command that provides rest-to-rest motion in a given time for a one-link flexible arm. The basic idea is to design an auxiliary output such that the associated transfer function has no zeros. Planning a smooth interpolating trajectory for this output imposes a unique rest-to-rest motion to the whole arm, with automatically bounded link def... View full abstract»

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  • Fault diagnosis for nonlinear mechanic systems

    Publication Year: 2001, Page(s):1257 - 1260 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (216 KB) | HTML iconHTML

    The problem of observer-based fault diagnosis in mechatronic systems is studied. To solve this problem, the following approach is suggested: replacing the initial nonlinear system by a certain linear logic-dynamic system, obtaining the bank of linear logic-dynamic observers, and transforming these observers into the nonlinear ones View full abstract»

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  • Object conveyance system “Magic Carpet” consisting of 64 linear actuators-object position feedback control with object position estimation

    Publication Year: 2001, Page(s):1307 - 1312 vol.2
    Cited by:  Papers (7)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (608 KB) | HTML iconHTML

    An object transfer system called “Magic Carpet” composed of a linear actuator array and driven by an autonomous decentralized type control algorithm is proposed. An object is manipulated by a large number of contact points with many actuators, which differs from conventional systems like a belt conveyor. In the paper, the control algorithm for such “distributed manipulation&rdquo... View full abstract»

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  • Creating reusable, hardware independent motion control applications via IEC 61131-3 and PLCopen Motion Control Profile

    Publication Year: 2001, Page(s):769 - 774 vol.2
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (416 KB) | HTML iconHTML

    Motion integration issues have come to the forefront, along with maintainability and connectivity to automation solutions. For this standards are needed. PLCopen has generated such a standard. A standard in programming languages, to harmonize the access of motion control functionality across platforms. In this way, the generated application program is much more hardware independent, and re-usable ... View full abstract»

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  • Loop shaping issues in hard disk drive servo system design

    Publication Year: 2001, Page(s):828 - 832 vol.2
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB) | HTML iconHTML

    In this paper, the design of hard disk drive (HDD) servo systems based on state-space techniques is considered. In particular, we analyze the performances of discrete-time controllers obtained by means of LQG optimal control theory. The key control design issue we address is related to the need of achieving sufficiently high close-loop bandwidth while granting adequate disturbance rejection in the... View full abstract»

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  • Mechatronics and early mechanical design

    Publication Year: 2001, Page(s):990 - 993 vol.2
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (436 KB) | HTML iconHTML

    This paper deals with the development of a set of studio projects for a sophomore level course that integrate mechanical and electrical systems. The paper discusses the types of projects that can be run, and how they are used to foster mechanical and electronic design. From an electronics perspective a simple and an inexpensive microcontroller is used. A variety of pre-designed modules are supplie... View full abstract»

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