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检索条件"任意字段=9th International Conference on Informatics in Control Automation and Robotics, ICINCO 2012"

共 366 条记录，以下是301-310 订阅

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Development of lightweight dual arm robot by using hollow shaft servo assembly

Development of lightweight dual arm robot by using hollow sh...

引用

作者： Park, Min-Kyu Go, Seok-Jo Lee, Young-Jin Division of Mechanical Engineering Yeungnam College of Science and Technology 274 Hyeungchungro Deagu Korea Republic of Division of Mechanical Engineering Dongeui Institute of Technology 152 Yangjiro Pusan Korea Republic of Autopower Co. LTD 1048-9 Obang-dong Kimhae Kyungnam Korea Republic of

ISBN: (纸本)9789898425010

Studies on dual arm robots have been continually carried out because the robots provide human-like flexibility of movement. In previous study, the dual arm robot with solid shafts had been designed. However, the robot has some defects in its heavy weight and big shape. In this study, a hollow shaft servo assembly for lightweight robot arm has been developed. And then, the dual arm robot (AUTOMAN) has been designed using a hollow shaft servo assembly.

关键词： Robotic arms

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SSB modulation with dynamic carrier control and n-order distortion compensation for micro audio directional system

SSB modulation with dynamic carrier control and n-order dist...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Li, Xuesheng Xu, Limei Xu, Leon Institute of Astronautics and Aeronautics University of Electronic Science and Technology of China Chengdu Sichuan 610054 China BDA No.5 Dong Huan Zhong Lu Beijing 100176 China

ISBN: (纸本)9781467312776

SSB modulation method with both dynamic carrier control and n-order distortion compensation is investigated to realize low power consumption and high fidelity for micro audio directional system. the fundamental signal processing method of audio directional system is clarified with the review of Berktay s far-field solution. With the general SSB modulation analysed on the harmonic distortion and output power, a dynamic carrier control system is proposed to control the dissipation of power consumption. A n-order compensation method is developed to reduce the distortion. With dynamic control law of √x and 1-order compensation, the modulating algorithm is realized on a prototype of micro audio directional loudspeaker. the intermodulation distortion and power consumption are measured compared with the general SSB modulation. the results indicates that the distortion and the power consumption are reduced drastically. It is demonstrated experimentally that the signal processing algorithm proposed in the paper is feasible for utilizing in micro audio directional system. © 2012 IEEE.

关键词： Electric power utilization

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Operator-based parallel compensation control for hysteresis using ELM-based stop-type PI model

Operator-based parallel compensation control for hysteresis ...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Jiang, Changan Deng, Mingcong Hayakawa, Yoshikazu RIKEN-TRI Collaboration Center for Human-Interactive Robot Research 2271-130 Anagahora Shimoshidami Moriyama-ku Nagoya 463-0003 Japan Graduate School of Engineering Tokyo University of Agriculture and Technology 2-24-16 Naka-cho Koganei Tokyo 184-8588 Japan Department of Mechanical Science and Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 Japan

ISBN: (纸本)9781467312776

In this paper, operator-based parallel compensation control for hysteresis is considered. In order to describe the hysteresis, play-type Prandtl-Ishlinskii (PI) hysteresis model is applied. By using properties between play and stop hysteresis operators, a parallel compensator is designed by stop-type PI hysteresis model which is constructed by using Extreme Learning Machine (ELM). As a result, the hysteresis dynamics is compensated. According to operator-based right coprirne factorization, a feedback controller and a tracking controller are designed to guarantee the output tracking performance. Finally, the numerical simulation results are presented to validate the effectiveness of the proposed method. © 2012 IEEE.

关键词： Hysteresis

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A developed microfluidic system with model reference adaptive control

A developed microfluidic system with model reference adaptiv...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Wei, Wei Guo, Shuxiang Tianjin University of Technology Binshui Xidao Extension 391 Tianjin 300384 China Kagawa University 2217-20 Hayashi-cho Takamatsu 761-0396 Japan

ISBN: (纸本)9781467312776

A developed microfluidic system which is actuated by EO (electroosmotic) actuators was presented toward biomedical system and drug delivery systems. the classical structure, which consists of an actuating unit, chambers and rectifiers, has been employed in the design. the EO actuators with the impulse input make the polydimethylsiloxane (PDMS) diaphragm which separates the two chambers reciprocate. So the working liquid can be pumped from inlet to outlet. Due to the large deflections of the PDMS diaphragm, the device is completely self-filling and able to pump liquid even operated in vertical situation. By using the indirect pumping mechanisms, the EO actuator can be used more widely without considering the properties of the working liquid. In order to find the characteristic of the microfluidic system, the Bouc-Wen model was used to model it. Based on this model, the model reference adaptive control (MRAC) method was used to obtain the stable flow rate, because of the uncertain parameter. And some simulations were manipulated to show the controlling results of the MRAC which is used in the microfluidic system. these researches demonstrate the microfluidic system with MRAC performance and ability to deliver the fluid and drugs to biomedical systems. © 2012 IEEE.

关键词： Actuators

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VAR based state-space structures: Realization, statistics and spectral analysis 1

引用

6th international conference on informatics in control automation and robotics, icinco 2009

作者： Dertimanis, Vasilis K. Koulocheris, Dimitris V. National Technical University of Athens Mechanical Design and Automatic Control Department Iroon Politechniou 9 157 80 Athens Greece

ISBN: (数字)9783642197307

ISBN: (纸本)9783642197291

the effective representation of multivariate time-series in terms of their structural indices is faced in this study, leading to the development of a corresponding scheme that is based in the interconnection between VAR and state-space models. To this, a specific state equation that retains a state matrix identical to the companion matrix of the original VAR polynomial is realized, uncovering many "hidden" information of the initial process. In light of this realization, it is shown how closed form expressions for the Green function, the covariance generating function and the spectral density can be derived through the spectrum of the state matrix, thus allowing assessment and quantification (via the notion of dispersion analysis) of every structural mode. A Yule-Walker based estimate is also provided, which applies directly to the state equation. A structural system with two degrees of freedom and closely spaced modes serves as an application of the novel scheme, using Monte Carlo analysis. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Time series

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SELF-organised distribution of tasks inside a networked robotic system

SELF-organised distribution of tasks inside a networked robo...

引用

作者： Smolorz, Sebastian Wagner, Bernardo Institute of Systems Engineering Real Time Systems Group Leibniz Universität Hannover Appelstr. 9A D-30167 Hannover Germany

ISBN: (纸本)9789898425744

For several years, mobile multi-robot systems are a main focus in robotic research. the possibilities to carry out demanding algorithms in a networked robotic system grow as computational resources used by those robots become more and more powerful and inexpensive. One major question is how to distribute the necessary algorithms and tasks to the available computers so that all requirements are met and furthermore, an optimal distribution pattern is achieved. this paper presents a new approach for generating an optimal task distribution pattern without human intervention based on the concepts of Autonomic Computing and Computational Intelligence. Although still in its conceptual state, we describe why our approach seems to be promising for this particular problem. Additionally, further challenges and research demand are outlined.

关键词： Genetic algorithms

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Credibility analysis of flight motion table in simulation with frequency domain norm

Credibility analysis of flight motion table in simulation wi...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Dong, Guangling Yao, Yu Wang, Xingdan He, Chi Control and Simulation Center Harbin Institute of Technology Harbin China Simulation Test Center China Baicheng Ordnance Test Center Baicheng Jilin Province China

ISBN: (纸本)9781467312776

the importance of credibility evaluation for simulation system in integrated test evaluation technology study of weapon system is addressed. Basic idea and steps of using analytical hierarchy process (AHP) to evaluate the credibility of simulation system are introduced. the vital role of flight motion table as a bottom layer credibility index is analysed. Definition for credibility of flight motion table in simulation (CFMTS) and its measure function are proposed based on similarity theory, the consistency of credibility indexes defined with Euclidean distance in both time domain and frequency domain is proved. Solving method for the lower limit of CFMTS using frequency domain norm is studied while input signal is limited in frequency domain, the relationship between dynamic frequency indexes of flight motion table and CFMTS is given out. Mathematical model for relationship between dynamic frequency indexes of flight motion table and CFMTS is given out. Simulation results illustrate the feasibility of the proposed method. © 2012 IEEE.

关键词： Frequency domain analysis

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On the position density of planar two-link manipulators

On the position density of planar two-link manipulators

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Brandstötter, Mathias Hofbaur, Michael Institute of Automation and Control Engineering UMIT A-6060 Hall in Tyrol Austria

ISBN: (纸本)9781467312776

Every manipulator exhibits a discrete resolution in its joint actuation due to the use of angular encoders as the sensing device for joint actuation. Hence, one obtains a manipulator that is limited to movement within discrete positions in its reachable workspace. this corresponds to the fact that the absolute accuracy of the end effector depends on the resolution of the actuated joints. In this work we present a thorough analysis of this discretization process and its mathematical foundations for a two-link planar manipulator. We show how to compute an underlying accuracy function for the end effector position of arbitrary two-link manipulators. this allows us to formulate a metric to compare possible variations of these robots in terms of end effector precision. Despite the simplicity of our robot model, a two-link planar robot, we obtain viable results as the two-link mechanism is widely applied in so called SCARA's. We therefore demonstrate our analysis to selected industrial SCARA type robots. © 2012 IEEE.

关键词： End effectors

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Full self-calibration of a hand-mounted projector using structured light 12th

Full self-calibration of a hand-mounted projector using stru...

引用

12th international conference on informatics in control, automation and robotics, icinco 2015

作者： Wieghardt, Christian S. Wagner, Bernardo Institute for Systems Engineering Real Time Systems Group Leibniz Universität Hannover Appelstraße 9A Hannover30167 Germany

ISBN: (纸本)9783319264516

this paper describes two methods to determine the homogeneous transformation of a projector with respect to the robot hand. Since the projector itself has no exteroceptive capabilities, a camera is rigidly attached to the robot base or placed in the environment to detect the projected pattern. the camera’s extrinsic calibration parameters can be simultaneously solved, which is shown by the second method. Self-calibration implies that any kind of calibration tool may be omitted. For calibration, the robot hand has to make at least two movements around nonparallel rotational axes. At each robot configuration, correspondences between the camera and the projector are established to recover the transformation between them, up to an unknown scale factor. the system is described by the common known formulations AX = XB and AX = ZB. Both can be arranged in a linear form with respect to the unknown extrinsic parameters and scale factors, and solved in least square sense. Further optimization allows to refine all intrinsic and extrinsic parameters. © Springer international Publishing Switzerland 2016.

关键词： Motion estimation

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Improving 2D Scanning Radar and 3D Lidar Calibration 1

引用

19th international conference on informatics in control, automation and robotics, icinco 2022

作者： Rotter, Jan M. Stanke, Levin Wagner, Bernardo Real Time Systems Group Leibniz University of Hanover Appelstraße 9a Hanover30167 Germany

ISBN: (数字)9783031483035

ISBN: (纸本)9783031483028

Sensor fusion in mobile robots requires proper extrinsic and intrinsic sensor calibration. Robots in the search and rescue robotics domain are often equipped with multiple range sensor modalities such as radar and lidar due to the harsh environmental conditions. this article presents a method to easily calibrate a 2D scanning radar and a 3D lidar without the use of special calibration targets. therefore, it focuses on the improvement of the feature extraction from the environment by applying filtering algorithms to remove noise and improve the signal-to-noise ratio. Additionally, a second optimization stage is introduced to propagate measurement uncertainties of the lidar to the calibration result. the results are compared to the previous version of the algorithm as well as to the ground truth parameters. Furthermore, statistical tests are performed to confirm the validity of the calibration results. © 2023, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Calibration

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