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3rd international conference on control and robotics engineering (ICCRE)

作者： Chimpai, Natthapol Parnklang, Jirawath King Mongkuts Inst Technol Ladkrabang Fac Engn Bangkok Thailand

ISBN: (纸本)9781538666630

The purpose of this work was to compare the electrical characteristic of iridium spark plug with the standard spark plug in order to accord with the conditions of general control signal operation of the standard spark plug ignition system. The required voltage and spark duration time are used for analysis. The data of this study were defining by charging time of ignition coil since 0.5 - 6.0 ms and spark gap at the 0.7, 0.9 and 1.1 mm respectively. That operated under the normal atmosphere. The experimental results indicated that the required voltage of iridium spark plug is lower than the standard spark plug from fully saturated charging time. When it is applied in the general system, the advance angle should be adjusted more advance about 4% and the lower voltage requirement of one lengthens the spark duration, that is not suitable for engine speed more than 24000 rpm.

关键词： spark control signal required voltage spark duration

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Design and control of the Lower Part of Humanoid Biped Robot 3

Design and Control of the Lower Part of Humanoid Biped Robot

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3rd international conference on robotics and Automation engineering (ICRAE)

作者： Mohamed, Samer A. Maged, Shady A. Awad, Mohammed I. Ain Shams Univ Fac Engn Mechatron Engn Dept Cairo Egypt

ISBN: (纸本)9781538695944

This manuscript describes the design methodology of a lower limb bipedal robot which was controlled to achieve a stable walking gait. The proposed design has 12 DOF to mimic human gait in the most daily living activities. The design process started by creating dynamically equivalent lower limb segments based on the human anthropometric data. A linear inverted pendulum model of human walking was developed to produce the trajectory of the robot center of mass (COM), and then generate the feet trajectories, as well as applying inverse kinematics model. An iterative optimization algorithm was used to find the angular correction. The system was simulated on MATLAB/SIMULINK simulation environment and the results were satisfactory.

关键词： bio-inspired robotics humanoid gait walking pattern trajectories linear inverted pendulum

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Reliability Modeling for Integrated BPCS and ESD System Case Study: A two-phase gas-liquid separator process 3

Reliability Modeling for Integrated BPCS and ESD System Case...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Thepmanee, Teerawat King Mongkuts Inst Technol Ladkrabang Fac Engn Bangkok Thailand

ISBN: (纸本)9781538666630

This paper addresses the analytical models and statistical methods used to analyze reliability systems that form the basis for evaluation and prediction of the stochastic failure and nonrepairable behavior of complex process control systems, assembled using a variety of components. The reliability model design of a two-phase gas-liquid separator process has been conducted in this study. The quantitative fault tree analysis approach which has been proved to be acceptable and widely applied in many applications of modeling and methods supporting the system integrator and safety engineer not only to identify how subsystems and components could fail and what are the corresponding effects on the whole system, but also to quantify the reliability parameters for complex systems. The results obtained from our case study can be useful as the tools for justifying the design and implement of BPCS&ESD systems.

关键词： Reliability model BPCS ESD SIS FTA

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Model-based Process Planning for Milling Operations Using Industrial Robots 3

Model-based Process Planning for Milling Operations Using In...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Lienenlueke, Lars Gruendel, Lukas Storms, Simon Brecher, Christian Rhein Westfal TH Aachen WZL Lab Machine Tools & Prod Engn Dept Automat & ControlChair Machine Tools Campus Boulevard 30 D-52074 Aachen Germany

ISBN: (纸本)9781538666630

The machining sector is increasingly making use of industrial robots to benefit from high flexibility and low investment costs in relation to the working area. However, low absolute accuracy as well as low stiffness prevent the breakthrough in industry. This paper describes a concept, developed at the WZL Chair of Machine Tools, which enables robot model-based planning optimization by developing an expert system which represents robot process behavior in milling operations.

关键词： industrial robots process planning optimization expert system

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Visual perception in design and robotics

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INTEGRATED COMPUTER-AIDED engineering 2007年第1期14卷 73-91页

作者： Bittermann, Michael S. Sariyildiz, I. Sevil Ciftcioglu, Oezer Delft Univ Technol Dept Bldg Technol NL-2628 CR Delft Netherlands

Studies on human visual perception are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual information from an environment. By means of this model some other vision related concepts, such as visual attention and visual openness, are also mathematically defined. The theoretical considerations are implemented in three applications, namely scene description by perception, visual openness measurement for design, and perceptual robotics.

关键词： VISUAL perception MATHEMATICAL models SIMULATION methods & models ROBOTS robotics

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Machine Learning Comparison for Step Decision Making of a Bipedal Robot 3

Machine Learning Comparison for Step Decision Making of a Bi...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Kouppas, Christos Meng, Qinggang King, Mark Majoe, Dennis Loughborough Univ Comp Sci Loughborough Leics England Loughborough Univ Sports Biomech Loughborough Leics England Swiss Fed Inst Technol Comp Sci Zurich Switzerland

ISBN: (纸本)9781538666630

This paper(1) presents the results of several machine learning techniques for step decision in a bipedal robot. The custom developed bipedal robot does not utilize electric motors as actuators and as a result has the disadvantage of imprecise movements. The robot is inherently unstable and maintain its stability by making steps. The classifiers had to learn when and which leg must be moved in order to maintain stability and locomotion. Methods like: Decision tree, Linear/Quadratic Discriminant, SVM, KNN and Neural Networks were trained. The results of their performance/accuracy are noted.

关键词： Decision tree Linear/Quadratic Discriminant SVM KNN Neural Networks Bipedal Robot LSTM

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A Machine Vision Assisted Mechatronic Seed Meter for Precision Planting of Corn 3

A Machine Vision Assisted Mechatronic Seed Meter for Precisi...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Borja, Adrian A. Amongo, Rossana Marie C. Suministrado, Delfin C. Pabico, Jaderick P. Univ Philippines Los Banos UPLB Coll Laguna Philippines

ISBN: (纸本)9781538666630

Missed seeding during planting operation is a problem for pneumatic corn planters especially for locally developed designs in the Philippines. This study focused on providing a solution to prevent or reduce missed seeding by integrating a control system with machine vision and mechatronic elements to a modified design of a locally developed seed meter. The seed meter was fitted with a camera to monitor the seed plate, a microprocessor to analyze images, and a stepper motor to produce precise rotations for the meter's drive. The control system was designed to detect unfilled holes in the seed plate and adjust seeding rate accordingly to compensate any expected missing hill. Operation simulation revealed that the control system can operate between 2 kph to 6 kph of forward speed. This speed range was caused by the limitations in torque production of the mechatronic drive and the latency of image capture of the camera.

关键词： crop establishment machine vision mechatronics precision agriculture

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Spatial Alignment Method Based on Cooperative Multi-sensors Target Detection 3

Spatial Alignment Method Based on Cooperative Multi-sensors ...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Lu Xiaodong Xie Yuting Zhou Jun Northwestern Polytech Univ Sch Astronaut Xian 710072 Shaanxi Peoples R China

ISBN: (纸本)9781538666630

This paper is focused on the estimation for the multi-sensors alignment errors. There are two types of biases being discussed: sensor measurement (systemic) biases and attitude biases. An improved ECEF-KF algorithm is proposed for the estimation of 12-D error vector. Firstly, we develop the state models of fixed systemic biases and slowly time-varying attitude errors. Secondly, the measurements to public target are transformed from body frames into ECEF coordinate system, isolating the motion and rotation of platforms. Thirdly, a Kalman Filter based on linear pseudo-measured function is used to estimate the error state. Simulations demonstrate that the alignment errors can be exactly estimated and the accuracy of target tracking can be dramatically improved by error compensation.

关键词： sensor alignment Kalman filter target detection error compensation

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NURBS Path Tracking control of a Scanning Mirror System Based on EtherCAT Fieldbus 3

NURBS Path Tracking Control of a Scanning Mirror System Base...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Huang, Ruei-Yu Cheng, Chung-Wei Lee, An-Chen Natl Chiao Tung Univ Dept Mech Engn Hsinchu Taiwan

ISBN: (纸本)9781538666630

In this paper, an EtherCAT scanning mirror system with function of NURBS path tracking control was investigated. By using EtherCAT protocol to connect master computer with a scanning mirror system, we did a first attempt to implement position control by the master computer, so that one can apply an advanced control algorithm to the system instead of applying a distributed control algorithm on the proprietary driver of the slave device. The technical issue of this configuration like commutation delay caused by the three-buffer-mode is addressed. A two-staged H-infinity with feed-forward controller is designed for the position control loop. Moreover, considering the widely used of non-uniform rational B-spline (NURBS) in the field of CAD/CAM, we added the function of NURBS path planning in the controller so that the system can deal with complex NURBS curves. The experiment results showed that the proposed method can reduce tracking error and have better performance when comparing with traditional distributed control strategy.

关键词： Scanning Mirror System EtherCAT Robust control Distributed control

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Two-Input Two-Output Current-Mode Universal Biquad Using Only VDTAs and Grounded Capacitors 3

Two-Input Two-Output Current-Mode Universal Biquad Using Onl...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Moonmuang, Pitchayanin Mongkolwai, Pratya Tangsrirat, Worapong King Mongkuts Inst Technol Ladkrabang Fac Engn Bangkok 10520 Thailand Rajamangala Univ Technol Rattanakosin RMUTR Fac Engn Nakhon Pathom 73170 Thailand

ISBN: (纸本)9781538666630

A two-input two-output current-mode universal biquad employing only two voltage differencing transconductance amplifiers (VDTAs) and two grounded capacitors is introduced. By appropriately connecting the input and output terminals, the proposed circuit can realize lowpass, bandpass, highpass, bandstop and allpass current responses. It also exhibits an independent electronic control of the natural angular frequency (omega(o)) and the quality factor (Q) by properly setting the transconductance values of the VDTAs. No critical component matching choices are imposed for generating all the filter functions, and all incremental parameter sensitivities are low.

关键词： Voltage Differencing Transconductance Amplifiers (VDTA) universal biquad filter electronically tunable

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