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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

7th Annual International Conference on electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward Controller (FFC-PFC) are presented.

关键词： Friction

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Measuring the molecular force of Burkitt's lymphoma patient cells using AFM

Measuring the molecular force of Burkitt's lymphoma patient ...

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IEEE International Conference on Nano/Molecular Medicine and engineering (NANOMED)

作者： Mi Li Lianqing Liu Ning Xi Yuechao Wang Zaili Dong Guangyong Li Xiubin Xiao Weijing Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China State Key Laboratory of Drug Research Shanghai Institute of Materia Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing China

The treatment of Non-Hodgkin's lymphoma (NHL) was revolutionized by the approval of rituximab in 1997. Rituximab is a CD20-directed monoclonal antibody (mAb). Despite the great success of rituximab in the treatment of B-cell NHL, the urgent need is to enhance the efficacy due to the markedly variable patient responses. Hence elucidating the molecular mechanisms of rituximab's anti-cancer effect is of great significance. In the past decade the atomic force microscopy (AFM) has proven to be a powerful tool for characterizing the morphological properties and measuring the physiological interaction forces of single cells and single molecules under native conditions. In this work, the AFM single-molecule force spectroscopy (SMFS) was applied to quantitatively measure the CD20-rituximab binding force on Burkitt's lymphoma patient bone marrow cells. The experimental results will facilitate further investigation of the molecular mechanisms of rituximab's anticancer effect.

关键词： Force Bones Atomic force microscopy Fluorescence Cells (biology) Scanning electron microscopy

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Mission-oriented design: A fully autonomous mobile urban robot

Mission-oriented design: A fully autonomous mobile urban rob...

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International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Qun Zhang Pey Yuen Tao Aswin Thomas Abraham Brice Rebsamen Chenguang Yang Shuzhi Sam Ge NUS Graduate School of Integrative Sciences and Engineering NGS National University of Singapore Singapore A Star Agency of Science Technology & Research National University of Singapore Singapore Department of Electrical & Computer Engineering Temasek Laboratories National University of Singapore Singapore Department of Bioengineering Imperial College London National University of Singapore Singapore Social Robotics Laboratory Interactive & Digital Media Institute (IDMI) Department of Electrical & Computer Engineering National University of Singapore Singapore

This paper describes a fully autonomous mobile urban robot-X1, which can perform multiple tasks autonomously in an unknown urban environment without human guidance, including mobile reconnaissance, target searching, and object manipulation. The mission-oriented design, which allows reliability and extensibility of the robotic system, includes a high degree of modularity for both hardware and software architecture, and coordination between tasks. Our strategy specifically addresses fundamental issues such as autonomous navigation in unknown urban environments and vision-based object manipulation. All the functionalities have been proved effective in the real urban environments. The robot platform is being built to provide valuable experiences on autonomous robotics research.

关键词： Path planning Navigation Elevators Robot kinematics Robot sensing systems

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An experimental study on imaging burkitt's lymphoma cells by atomic force microscope

An experimental study on imaging burkitt's lymphoma cells by...

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IEEE International Conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： Mi Li Lianqing Liu Ning Xi Yuechao Wang Zaili Dong Guangyong Li Xiubin Xiao Shunzong Yuan Weijing Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy of Sciences Beijing China Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA USA Department of Lymphoma Hospital of Military Medical Academy of Sciences Beijing China

Burkitt's lymphoma (BL) is a highly aggressive malignant tumor with high morbidity rate in children. Patients have different responses to the same therapy due to the molecular heterogeneity. Detailed observation of the surface structure of BL cells to locate the specific receptors (CD20) on the cell surface and measure the binding force between the CD20s and their cognate ligands (Rituximab) may give people a further understanding to BL cell's intrinsic properties and provide complementary approaches for the next generation of drug research and development. In this paper, we give an experimental study on how to obtain the morphology images of the BL cells both in air and liquid with atomic force microscope (AFM). The detailed procedures such as sample preparation of BL cells, parameter setting of AFM and so on, are presented, and the experimental results illustrate that the morphology image of the BL cell can be obtained in air or liquid respectively by using AFM.

关键词： Force Atomic force microscopy Drugs Surface morphology Humidity

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Real-time implementation of a non-invasive tongue-based human-robot interface

Real-time implementation of a non-invasive tongue-based huma...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Michael Mace Khondaker Abdullah-Al-Mamun Ravi Vaidyanathan Shouyan Wang Lalit Gupta Department of Mechanical Engineering Faculty of Engineering University of Bristol UK Institute of Sound and Vibration Research (ISVR) University of Southampton UK US Naval Postgraduate School Monterrey CA USA Bristol Robotics Laboratory Department of Mechanical Engineering University of Bristol Bristol UK Department of Electrical and Computer Engineering Southem Illinois University IL USA

Real-time implementation of an assistive human-machine interface system based around tongue-movement ear pressure (TMEP) signals is presented, alongside results from a series of simulated control tasks. The implementation of this system into an online setting involves short-term energy calculation, detection, segmentation and subsequent signal classification, all of which had to be reformulated based on previous off-line testing. This has included the formulation of a new classification and feature extraction method. This scheme utilises the discrete cosine transform to extract the frequency features from the time domain information, a univariate Gaussian maximum likelihood classifier and a two phase cross-validation procedure for feature selection and extraction. The performance of this classifier is presented alongside a real-time implementation of the decision fusion classification algorithm, with each achieving 96.28% and 93.12% respectively. The system testing takes into consideration potential segmentation of false positive signals. A simulation mapping commands to a planar wheelchair demonstrates the capacity of the system for assistive robotic control. These are the first real-time results published for a tongue-based human-machine interface that does not require a transducer to be placed within the vicinity of the oral cavity.

关键词： Training Discrete cosine transforms Tongue Real time systems Feature extraction Ear Accuracy

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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International Conference on electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Wijin Suteeratanapirom Rapeepong Rattanawaorahirankul Chutima Laosapan Peerayot Sanposh Nattapon Chayopitak Kanokvate Tungpimolrut Hiroaki Kunieda TAIST Tokyo Technology China Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

关键词： Friction computer numerical control Metalworking machines Servomotors Three-term control Fasteners Rails Servomechanisms Torque control Error correction

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Quality bottleneck transitions in flexible manufacturing systems

Quality bottleneck transitions in flexible manufacturing sys...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Junwen Wang Jingshan Li Jorge Arinez Stephan Biller Department of Electrical and Computer Engineering Institute for Sustainable Manufacturing University of Kentucky Lexington KY USA Manufacturing Systems Research Laboratory General Motors Research and Development Center Warren MI USA

In this paper, we introduce a Markov chain model to evaluate the quality performance in flexible manufacturing systems with batch productions. In such a model, the product quality is a function of the transition probabilities characterizing the changes among good and defective states (where good quality or defective parts are produced during a cycle, respectively). A transition that has the largest impact on quality, i.e., whose improvement will lead to the largest improvement in quality, is defined as the quality bottleneck transition (BN-t). Analytical expressions of sensitivity of quality with respect to transition probabilities are derived. Indicators to identify bottleneck transitions based on the data collected on the factory floor are developed. Numerical experiments show that such indicators have high accuracy in identifying the correct bottlenecks and can be used as an effective tool for quality improvement effort. Finally, a case study at an automotive paint shop to improve quality through quality bottleneck transition identification is introduced.

关键词： Flexible manufacturing systems Paints Batch production systems Production facilities Automotive engineering Fixtures robotics and automation USA Councils Degradation Machining

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Utilizing compliance to manipulate doors with unmodeled constraints

Utilizing compliance to manipulate doors with unmodeled cons...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Chad C. Kessens Joseph B. Rice Daniel C. Smith Stephen J. Biggs Richard Garcia United States Army Research Laboratory Motile Robotics Inc. MD USA University of Maryland College Park MD USA Department of Computer Engineering West Virginia University Morgantown WV USA

Increasingly, robots are being applied to challenges in human environments such as soldier and disability assistance, household chores, and bomb disposal. To maximize a robot's capabilities within these dynamic and uncertain environments, robots must be able to manipulate objects with unknown constraints, including opening and closing doors, cabinets, and drawers. Practicality suggests that these tasks be done at or near human speed. A simple and low cost method is proposed to achieve these ends - utilizing joint compliance to resolve forces non-tangent to the path of travel. In this paper, joint compliance is achieved by means of a clutch mechanism located in line with the manipulator joint motors. When an object is to be moved, the motors are disengaged from the joints using the clutch, thus allowing the joints to move freely with the object while force is applied by the mobility platform. This enables the robot to move an object within its constraints without the need for a precise forcing vector, minimizing sensing needs as well as computation time. Other implementations of the technique are also possible, including use of inverse dynamics, back-drivable motors, and/or actively controlled slip clutches for gravity and friction compensation. The effectiveness and robustness of this approach are demonstrated through kinematic analysis, dynamic simulation, and physical experimentation on three differently sized doors and a drawer.

关键词： Joints Kinematics Robustness Force End effectors

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A Passivity based Stability Analysis of Disturbance Observer based Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robot

A Passivity based Stability Analysis of Disturbance Observer...

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2010 IEEE/ASME international conference on advanced intelligent mechatronics (AIM 2010)

作者： Mohammad Noorbad Alireza Mohammad Shahri Khoshnam Shojaei Behzad Tabibian Electrical Engineering Department Mechatronics and Robotics Research Laboratory Electronic Research Center Iran University of Science and Technology Tehran Iran Computer Engineering Department Iran University of Science and Technology Tehran Iran

This paper proposes a disturbance observer (DOB) algorithm to solve the trajectory tracking problem of a nonholonomic WMR in presence of external disturbances. To obtain a high performance trajectory tracking controller, a computed torque controller (CTC) is integrated into a kinematic controller by back-stepping technique. The disturbance observer as a part of the proposed controller estimates the external disturbances and cancel-out them. By decoupling the estimation errors from disturbances and its passivity property, it is demonstrated that the overall closed-loop system is asymptotically stable. Simulation results show that the performance of the CTC is significantly improved and the DOB achieves good ability of disturbance attenuation.

关键词： Computed Torque Control Disturbance Observer Nonholonomic WMR Weakly Strictly Passive

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AFM based anodic oxidation and its application to oxidative cutting and welding of CNT

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Science China(Technological Sciences) 2009年第11期52卷 3149-3157页

作者： JIAO NianDong WANG YueChao XI Ning DONG ZaiLi State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Department of Electrical and Computer Engineering Michigan State UniversityEast Lansing 48824USA

Probe anodic oxidation by atomic force microscope (AFM) is one of the most important techniques in fabricating nano structures and devices. The technique was further studied in this paper. By analyzing the distribution of the electric field on substrate surface the dependence of oxide characters on field was discussed. The impacts of various parameters on oxide fabrication were experimentally studied. Based on these studies, we realized the oxidative cutting and welding of carbon nanotube (CNT) by the AFM based oxidation technique and provided a novel technique for the assembly and fabrication of CNT based nano devices.

关键词： anodic oxidation atomic force microscope nanofabrication cutting and welding carbon nanotube

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