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Mechatronics, 2004. ICM '04. Proceedings of the IEEE International Conference on

Date 3-5 June 2004

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Displaying Results 1 - 25 of 114
  • Two semi-active approaches for vibration isolation: piezoelectric friction damper and magnetorheological damper

    Page(s): 60 - 65
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (484 KB) |  | HTML iconHTML  

    Two different approaches to perform vibration isolation control on a single-degree-of-freedom system using semiactive dampers are investigated. In the first approach, the friction damper consists of an actuator, which is based on a piezoelectric stack with a mechanical amplifying mechanism that provides symmetric forces within the isolator. The advantages of such an actuator are its high bandwidth, displacement response and its ability to operate in vacuum environments such as in space. The damper is constrained to move using an air bearing that produces a virtually ideal single-degree-of-freedom spring-mass system. Within this work, the actuating ability of the friction-based actuator is characterized. The relationship between the force generated by the actuator and the applied voltage was found to be linear. In the second approach, a magnetorheological (MR) fluid damper is designed and fabricated. This damper is ideal for use in a semi-active control system where the damping characteristics can be adjusted by varying the amount of current applied to the damper. View full abstract»

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  • The stakes of the mechatronics in research, training and industry : a practical example of a technical development policy in Haute-Savoie

    Page(s): 482 - 486
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (435 KB) |  | HTML iconHTML  

    The mechatronic technology was confined on the level of the aeronautic space and army R&D programs for ten years. It was established then in a parallel way in the engineering departments and the industrial research laboratories but still remained in a restricted core of specialists. Haute-Savoie, a French area located at the foot of the Mount Blanc launched at the start of the nineties a program for the development of the mechatronic in SME's. No one is astonished here that industrial parks are named Mechatronics 1, 2 or 3 or that a mechatronic professional licence exists since many years. The network Thesame with the University of Savoy and the technical centers meet here all the conditions to help industry, research formation and engineering departments to exchange competences and the develop new products. But any pole of competences has to be building today at least at the European level. The goal of this article is to show with some pragmatic examples, the opportunities and the difficulties of an industrial and scientific development policy in mechatronics. View full abstract»

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  • Lessons learned from model based development of a dependable control-by-wire system

    Page(s): 25 - 29
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (376 KB) |  | HTML iconHTML  

    Volvo Car Corporation and The Royal Institute of Technology initiated a joint project named FAR in October 2002. FAR stands for function and architecture integration. There were 10 M.Sc. students in the project taking a special class. The focus of the project was the development of a portable drive-by-wire system using model based development and reference architectures. The deliveries from the project were a tool chain for automatic code generation from Matlab Simulink models and a prototype vehicle in scale 1:5. The project was very successful and the result was delivered to Volvo cars in June 2003. The project deliveries have been further developed at Volvo cars. View full abstract»

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  • Motion control firmware for high speed robotic systems

    Page(s): 72 - 77
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (427 KB) |  | HTML iconHTML  

    This paper addresses the hardware and software platforms of high-speed robot control systems, which are usually integrated with multi-modal sensing, multi-axis motion, and complex algorithmic capabilities. In this work, robot control is considered from software development cycles to actual applications. Cross platform and upward compatible software development is addressed. Finally, an example application of real time slewing control of a high-speed industrial robot is provided. View full abstract»

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  • Intelligent transportation systems - travelers' information systems the case of a medium size city

    Page(s): 200 - 204
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (388 KB) |  | HTML iconHTML  

    Intelligent transportation systems and associated travelers' information systems can dramatically influence the way people decide to travel, thus the way of living in urban areas. In this paper a bus arrival time prediction and the associated travelers' information system of a medium size city is presented. The system uses the latest GPS technology for automatic bus location and GPRS technology for communications. The real time availability of all buses' exact locations and speeds enables the system to have very clear traffic information of the city's main streets and to predict arrival times with satisfactory accuracy. Some financial aspects of the project are discussed as well. View full abstract»

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  • Real-time test of aircraft brake-by-wire system with HILS & dynamometer system

    Page(s): 322 - 327
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (399 KB) |  | HTML iconHTML  

    In this paper, it is a study to valid a compatibility of digital control unit (DCU) for an aircraft brake system through a dynamometer test as well as HILS test. It is very important because results of this test are satisfied before installing on an aircraft. The dynamometer system is composed of dynamo, HILS (hardware-in-the-loop simulation) and velocity sensors installed on wheel and dynamo. The DCU was tested under various friction conditions in HILS and dynamometer test. The DCU with ABS control algorithm protected very well a wheel skid on high friction condition as well as low friction condition. View full abstract»

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  • Cooperative control of mobile robots for target search

    Page(s): 123 - 128
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (529 KB) |  | HTML iconHTML  

    Multi-agent teams have the potential to accomplish, some goals more efficiently than single agent systems. The success of the team depends critically on the ability of the agents to coordinate their operations. For this reason, the presence of a robust and reliable control architecture and a cooperation framework is as important as the design of individual agents. In this paper, we present a hierarchical control architecture that provides a methodology to control individual robots and to coordinate the operations of multiple robots. Furthermore, we introduce a multi-robot wireless test bed constructed based on this framework. The effectiveness of the framework is demonstrated by considering an optimal search problem. It is observed that the proposed architecture provides a useful framework to design cooperative control strategies. View full abstract»

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  • The decomposition of turbulent flows in a forced jet

    Page(s): 542 - 547
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (475 KB) |  | HTML iconHTML  

    In this study, wavelet transform is used to decompose the forced turbulent jet flows. Turbulent component and organized (forced) component of the measured signals are determined using the wavelet decomposition technique. We investigated the rms values of the organized and the turbulent motions for various test cases such as axial distance, Reynolds number and forcing frequency. In the experiments, several measurements on organized jet flows on an ID jet were carried out. An elliptical plate was used in order to obtain sinusoidal forcing. View full abstract»

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  • Modelling of batch fluidized bed drying of baker yeast for cylindrical pellets

    Page(s): 7 - 12
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (360 KB) |  | HTML iconHTML  

    A mathematical model was enveloped to describe the drying process of microorganism pellets in a fluidized bed dryer. The modeling of heat and mass transfer between air and the pellets in fluidized bed dryers is based on application of temperature and diffusion equations inside the pellets. These equations were nonlinear partial differential equation. Robin boundary condition was selected to solve nonlinear differential equations. In this model, the microorganism pellets are assumed to be nonshrinking and homogenous. The material forms were cylindrical geometry. The baker yeast, the microorganism Saccharomyces cerevisiae was used to test the model in this study. The experimental results of the drying process were compared to the mathematical model predictions. As to the results of comparison, this model was shown very good agreement for batch fluidized bed drying of baker yeast. View full abstract»

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  • Rough-terrain traversability for a cylindrical shaped mobile robot

    Page(s): 148 - 153
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (454 KB) |  | HTML iconHTML  

    Ground autonomous mini-mobile robots have important potential applications, such as reconnaissance, patrol, planetary exploration and military applications. To accomplish tasks on rough-terrain, control and planning methods must consider the physical characteristics of the vehicle and of its environment. This paper describes recent and current work at Politecnico of Bari in the area of mobile robot rough terrain traversability. A cylindrical shaped vehicle is presented and the dynamic model of its rolling motion on soft terrain is provided and experimentally validated. An experimental framework for estimating tractive effort and for soil parameter identification is presented based on visual methods for measuring vehicle motion parameters. It is shown that these methods can lead to efficient understanding of the mobile robot physical surroundings and could enhance vehicle mobility through integration with control and planning algorithms. View full abstract»

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  • MUSCULOSOCCER with in-shoe data logger

    Page(s): 398 - 403
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (438 KB) |  | HTML iconHTML  

    MUSCULOSOCCER is a physically based simulator which is capable to analyze and to screen a soccer player. The simulator is primarily concerned lower extremity of the hitman body in order to use effectively in sports medicine. The in shoe data logger equipped with force sensing resistors has been constructed to provide the interface to the simulator such a way that online testing of a soccer player can be done. The medical and orthopedic instruments so far developed generally make use of vision techniques based on fixed monitoring equipment. This is expensive and inconvenient for many applications. The aim of this project is to develop a low cost integrated, interactive and intelligent system, which can be carried with the person being monitored. This is consisting of a data-logging computer, force sensing resistors built into a shoe and MUSCULOSOCCER. View full abstract»

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  • Integral-augmented state feedback control of a surgical simulator for non-linear friction identification

    Page(s): 381 - 386
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (446 KB) |  | HTML iconHTML  

    Integral-augmented state feedback control of a surgical simulator, which is intended to evaluate human haptic perception for low level of forces during angioplasty simulation, is performed to accomplish different test functions of the system, like velocity control to be employed in parameter identification of frictional components of the drive mechanism. The emphasis is directed to minimizing overall steady-state error of controlled output. System state equations are established considering different aspects of the availability of building necessary control algorithms, like controllability and observability of the system states. Order reduction of the system differential equations is applied to be able to create efficient control algorithms. Lastly, integral state augmentation is undertaken to obtain zero steady-state error. Simulation and real system responses are compared and finally, control algorithm is used to determine nonlinear friction parameters of the system. View full abstract»

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  • A comparative study on Kalman filtering techniques designed for state estimation of industrial AC drive systems

    Page(s): 439 - 445
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (483 KB)  

    In this paper, two different Kalman filtering techniques, unscented Kalman filter (UKF) and extended Kalman filter (EKF) are investigated and compared both experimentally and theoretically. These non-linear, stochastic observers are employed as a state estimation tool in field-oriented control (FOC) of sensorless AC drives in this work. Using the superiorities of Kalman filtering, rotor speed and dq-axis fluxes of an induction motor are estimated only with the sensed stator currents and voltages information. In order to compare the estimation performances of the observers explicitly, both of the observers are designed for the same motor model and run with the same covariance matrices under the same conditions. In the simulation results it is shown that, UKF, whose several intrinsic properties suggest its use over EKF in highly nonlinear systems, has more satisfactory rotor speed and flux estimates, which are the most critical states for FOC. These simulation results are supported with experimental results. View full abstract»

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  • Design and real-time experimental implementation of gain scheduling PID fuzzy controller for hybrid stepper motor in micro-step operation

    Page(s): 421 - 426
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (408 KB) |  | HTML iconHTML  

    In this paper, design and real time experimental implementation of fuzzy gain scheduling of PID controller for hybrid stepper motor in micro-stepping operation is described that was developed to track the desired positioning problem. The control problems characterized by mathematical models exhibit significant nonlinearity and uncertainty. The good performance of proposed fuzzy PID controller is shown. View full abstract»

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  • Simulation and experimental study of real-time robust control of hybrid stepper motor with QFT method in micro-step operation

    Page(s): 364 - 368
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (407 KB)  

    Real-time linear robust control of a two-phase hybrid stepper motor with quantitative feedback theory method in micro-stepping operation is considered in this paper. Utilizing the phase currents as inputs, linear robust controller is derived for a hybrid stepper motor that achieves robustness to parametric and dynamic uncertainties such as viscous friction, load torque, flux linkage and other uncertainties. Simulation and experimental studies are presented to show the efficiency of the control design approach. View full abstract»

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  • Monitoring and management of machines with wireless PDAs in wireless networked facilities

    Page(s): 536 - 541
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (445 KB) |  | HTML iconHTML  

    Effective information exchange is essential for successful operation of the highly automated manufacturing and maintenance facilities. Microcontrollers and microcomputers have been widely used in these facilities for control and diagnostics of thousands of machines, vehicles and products. Generally, each of these systems collects sensory data, locally analyzes it, takes necessary actions, displays their status and informs a central system briefly. Use of networks and communications with operators by using the wireless personal digital assistants (PDA) and tablet PC is proposed in this paper. Fast networks and powerful central computers allow the analysis of data at central computers by using much more sophisticated procedures and may save extensive information about the operations. Operators are able to receive detailed information and control any machine in the facility with their PDA and tablet computers. The current study is concentrated on wireless PDA. Web page and databased information exchange with PDA is implemented and observations are reported. View full abstract»

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  • Position control of catheters using magnetic fields

    Page(s): 392 - 397
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (426 KB) |  | HTML iconHTML  

    We describe a computerized closed-loop control system for navigating catheters, guidewires and other interventional devices inside the human body for minimally invasive diagnostic and therapeutic applications. Each device contains a permanent magnet near its distal tip. An external magnetostatic field, whose direction and magnitude can be selectively varied, is applied to the vicinity of the tissue where the medical procedure is being performed, in order to orient the catheter tip. At the same time, the length of the catheter is varied by a motorized advancer. The position and orientation of the catheter tip is determined in real-time by electromagnetic means. This information is fed into a control algorithm which decides how to change the external magnetic field and the catheter length. In this way, the catheter is automatically navigated to anatomical target points selected by the physician. Although potentially not limited to cardiology, most common applications at present include navigation inside the heart and coronary vessels, electrophysiology and interventional cardiology. Possible future clinical applications include atrial fibrillation, flutter and tachycardia, ventricular tachycardia, angioplasty, etc. The resulting system has more predictable navigation performance compared to manually deflected catheters, and provides an opportunity to shorten the procedure time considerably. View full abstract»

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  • Pole assignment for a class of the second order singular distributed parameter control systems

    Page(s): 427 - 431
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (289 KB) |  | HTML iconHTML  

    Pole assignment for a class of the second order singular distributed parameter control systems was discussed via the functional analysis and operator theory in Hilbert space. The solutions of the problem and the constructive expression of the solutions are given by the generalized inverse one of bounded linear operator. At last an illustrate example is given. This research is theoretically important for studying the stabilization and asymptotic stability of the second order singular distributed parameter control systems. View full abstract»

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  • Automatic transfer switch (ATS) using programmable logic controller (PLC)

    Page(s): 531 - 535
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (381 KB) |  | HTML iconHTML  

    In the industrial engineering education curriculum, advanced manufacturing technology is so important to provide the students with effective industrial instructions and enrich their practical skills through the continuous development of laboratory industrial resources. Hence, the author has developed an automatic transfer switch (ATS) based on a programmable logic controller (PLC) in the laboratory of the Arab Academy for Science & Technology (AAST) as an industrial case study for the students through the course of industrial automated systems. General concepts and practical considerations of the ATS have been discussed. Steps of designing and implementing the proposed setup, including system requirements, sensors, actuators, hardware configuration, software programming and experimental tests, are demonstrated. The proposed setup has been found so effective not only in increasing students industrial knowledge and skills but also can be used as a stand-alone system in commercial and industrial practical fields. View full abstract»

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  • Dynamic force/motion simulation of a rigid-flexible manipulator during task constrained

    Page(s): 268 - 273
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (402 KB) |  | HTML iconHTML  

    Constrained motion of a rigid-flexible manipulator in contact with a rotating environment is considered. A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. When the environment is moving, knowledge of the angle a between the contact surface and the horizontal is required at every instant to evaluate the contact force and the required torques for a specific task. In this paper, different profiles for the time varying angle a are proposed to investigate the interaction between the joints profile and the angular motion of the constrained surface and the effect of this change into the contact force and the joint torques of a rigid-flexible manipulator. View full abstract»

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  • Pneumatic force control for robotic systems

    Page(s): 231 - 236
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (452 KB) |  | HTML iconHTML  

    This paper develops a control algorithm to convert a pneumatic actuator into a force generator. Since delivered power from a pneumatic actuator is product of the actuator force and the piston's displacement, through precise measurement of the piston's displacement and robust control of the actuator's power, one can effectively control the actuator force. This article first develops an exact model of a pneumatic system consisting of a double acting cylinder and a servo-valve, with the goal of providing an insight into the design and control requirements for pneumatically-actuated systems. Using the model, derivation of a control algorithm that converts a pneumatic actuator into a force generator for robotics control applications is described. View full abstract»

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  • An education tool study on mechatronics: emulation of stepper motor driving systems by using a microcontroller based system interface

    Page(s): 509 - 512
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (359 KB) |  | HTML iconHTML  

    Some type of electromechanical actuator related driving systems, such as stepper motor driving systems, have various types of implementations in the mechatronic systems. Besides the implementation variety, rapid changes in the actuator and driver technologies make it a costly and difficult task training about the type of mechatronic systems. It is most acute for undergraduate programs, specially. However, with the introduction of computers and flexible programming techniques, it is now possible to simulate these systems easily. Systems can also be emulated economically, in this way. Therefore, electromechanical actuator related mechatronic systems could be leached and/or trained, by computer simulations and/or emulations. This paper describes such a teaching and training tool study on stepper motor driving systems, including full-step, half-step and micro-step driving implementations. System emulations are fulfilled by using a microcontroller based system interface in the study. View full abstract»

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  • Design of BLDC motor controller for electric power wheelchair

    Page(s): 92 - 7e
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (422 KB) |  | HTML iconHTML  

    We introduce a design and implementation of BLDC motor controller for an electric power wheelchair. The control architecture consists of two layers of feedback control, namely the wheelchair posture control and the wheel velocity control. In the higher level of control architecture, the posture controller works as a reference velocity generator for two wheels. We realize the joystick interface and the posture controller in an 8-bits microcontroller. It is on the lower layer that the velocity controller performs four quadrant operations. For the driving system, a DSP-based BLDC motor controller with three-phase inverter module is especially designed using only three Hall-effect sensors and a single de-link current sensor. The functions of this motor controller include wheel velocity control and torque control. The performance of the control system is experimentally verified. View full abstract»

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  • Tuning of PID controllers for varying time-delay systems

    Page(s): 446 - 451
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (397 KB) |  | HTML iconHTML  

    PID controllers are used in industry in most applications. Usually, it is assumed that the system delay is constant. In this paper, tuning of PID controllers for time varying, including state-dependent delays is discussed. The approach used in the paper is simulation and optimization. The plant can be nonlinear, but the results are easier to compare with classical results for constant delay case, when the dynamics is linear and of first order. In fact, iterative feedback tuning could be applied for real systems instead of simulation. View full abstract»

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  • A new scheme in model-based fault detection in three-phase induction motors

    Page(s): 19 - 24
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (389 KB) |  | HTML iconHTML  

    In this paper, an induction motor under mixed air-gap eccentricity condition is simulated using modified winding function approach. Then the simulated stator line currents and voltages are used as outputs and inputs to obtain a linear model. Modified recursive least square is used to estimate the model parameters for an ARX model of the induction motor. Variations in estimated parameters show the occurrence and amount of mixed eccentricity in this motor. Also it is proposed as a method for other faults that may occur in three-phase induction motor alone or together, as in this method, faults can be detected and isolated very well. Simulation and experimental results confirm our claims. View full abstract»

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