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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Ş. Yaren Gelbal Erdinç Altuğ E. Faruk Keçeci Mechatronic graduate program İstanbul Technical University İstanbul Turkey Department of Mechanical Engineering İstanbul Technical University İstanbul Turkey

Within the last decade, we are witnessing the introduction of intelligent vehicles on our roadways. There is a similar need of intelligent transportation vehicles inside buildings such as airports or shopping malls. These intelligent vehicles can transfer elderly, disabled, or people with heavy luggage. This paper describes an intelligent vehicle that can autonomously transport people in indoor and outdoor areas where pedestrians exist. During operation along pedestrians, detecting them and updating trajectories to avoid collision is not always feasible. In some cases, this leads to a vehicle that is unable to move. In literature, this problem is labeled as the freezing robot problem. This paper proposes an approach to solve this problem by interaction with pedestrians. In order to validate the approach, Simulink simulations and hardware in the loop simulations are performed with different environment scenarios.

关键词： Vehicles Sensors Autonomous automobiles Navigation Software packages

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Cutting force monitoring and control system for CNC lathe machines

Cutting force monitoring and control system for CNC lathe ma...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Jorge Cubas Josuet Leoro Daniel Reyes Syh-Shiuh Yeh Graduate Institute of Mechatronic Engineering National Taipei University of Technology Taipei Taiwan EECS International Graduate program National Chiao Tung University Hsinchu Taiwan Department of Mechanical Engineering National Taipei University of Technology Taipei Taiwan

ISBN: (纸本)9781509020669

The importance of cutting forces during turning processes creates the need for a simple and low-cost solution to measure those forces. Various improvements on the cutting performance can be achieved by using these measurements. The present study explains the design and construction of a cutting force sensor, as well as the implementation of a fuzzy logic controller to obtain a complete system to monitor and control the cutting forces in rough turning operations. The force sensor uses four strain gauges attached on the sides of the tool holder to estimate the cutting forces. The force controller is designed to smoothly adjust the feed rate because a fast change in the feed rate could damage the cutting tool. The maximum cutting force needs to be input manually in this approach, because it will be the reference variable for the fuzzy controller. The maximum force is selected by the operator based on tool conditions, tool temperature, machining conditions, workpiece material, tool material, etc. A balance between the speed required to achieve the reference force and the smooth feed rate change is considered. The simulation results obtained by controlling the cutting force along with the associated machining time improvements are presented in this paper.

关键词： Force Feeds Niobium Turning Process control Force measurement

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FPGA implementation of the EKF algorithm for localization in mobile robotics using a unified hardware module approach

FPGA implementation of the EKF algorithm for localization in...

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International Conference on ReConFigurable Computing and FPGAs, ReConFig 2015

作者： Contreras, Luis Cruz, Sergio Motta, J.M.S.T. Llanos, Carlos H. Graduate Program in Mechatronic Systems Department of Mechanical Engineering University of Brasilia Brasilia D.F.70910-900 Brazil

ISBN: (纸本)9781467394062

In this paper a Hardware Architecture for computing the Extended Kalman Filter (EKF) is presented which is addressed to solve the self-localization problem of autonomous mobile robots. In this case, the overall EKF algorithm has been implemented in hardware over an Altera Cyclone IV FPGA with a Nios II processor, in which the latter is used only for interfacing and communication tasks. The achieved implementation has been adapted and applied to the mobile platform Pioneer 3AT (P3AT) for validation task. The prediction stage of the EKF algorithm was based on a dead-reckoning system model and the estimation stage on a measurement system which uses a sensor of Laser Range Finder (LRF). The proposed architecture has been designed considering a Unified Hardware Module approach using floating-point arithmetic operators, allowing the operations to be computed with large precision and dynamic range. Furthermore, several metrics have been used to evaluate the system performance, measuring both FPGA resources consumption, power consumption and execution time. Finally, the suitability of reconfigurable devices for such kind of applications has been verified and also discussed. © 2015 IEEE.

关键词： Field programmable gate arrays (FPGA)

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Analysis and implementation of active noise control strategies using piezo actuators 19

Analysis and implementation of active noise control strategi...

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19th World Multi-Conference on Systemics, Cybernetics and Informatics, WMSCI 2015

作者： Calderón, Jesús A. Tafur, Julio C. Chernukhin, Victor Mechatronic Engineering Master Degree Program Pontificia Universidad Católica Del Perú San Miguel Lima Lima 32 Peru Technische Universitat Ilmenau Ilmenau Germany

ISBN: (纸本)9781941763292

Ventilation systems are used in order to provide an appropriate temperature inside buildings. For this reason, convection heat transfer is achieved by fans and extractors to produce wind flows. Nevertheless, fans are loud in operation, therefore passive or active mechanisms are used to reduce the noise level inside buildings. However, passive mechanisms are costly and need big space to be fixed around the ventilation system to absorb noise compared to Active Noise Control (ANC). ANC systems are being employed to avoid big costs and space requirements. Accordingly, strategies and algorithms for active noise reduction were analyzed, implemented and tested experimentally in this paper for applications in duct ventilation systems. Algorithms implemented were simulated by Matlab software. Piezo actuator was utilized as an active element of ANC system during experimental testings.

关键词： Active noise control

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Dual Inlets Design of an Air Purifying Respirator to Study Inhalation Pressure Drop Reduction and Heart Rate Prediction

Dual Inlets Design of an Air Purifying Respirator to Study I...

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2015 International Conference on Network Security & Computer Science (ICNSCS-15);International Conference on Mechanical and Industrial engineering (ICMAIE’2015);2015 International Conference on Innovations in Chemical and Agricultural engineering (ICICAE’2015)

作者： Y.C.Su C.C.Li Y.C.Chang the School of Defense Science Studies CCITNDU the Department of Mechatronic Energy and Aerospace EngineeringCCITNDU the Master Program of Mechanical Engineering CCITNDU

In this paper,computational fluid dynamics（CFD） method is used to research and compare the inhalation pressure drop reduction and heart rate prediction for APR and *** was improved according to the dual inlets of APR,which does not feature a one-way inhalation *** results indicate that the inhalation pressure drop of APR（22.2 Pa,85 L/min） is 82.3% lower than that of APR（125.4 Pa）.Consider the case of APR mounted with canister A and B,the inhalation pressure drop of APR mounted with dual canister B（206.4 Pa,85 L/min） is 61.2% lower than that of APR mounted with canister B（531.5 Pa）.Using Li's prediction equation of inhalation pressure drop and heart rate,under high exercise condition of P = 120 W,the predicted Hr/Hrmax for APR mounted with dual canister B is 74.3%,which is 8.6% lower than the experimental value of APR mounted with canister A（82.9%）.In addition,the Hr/Hrmax is lower than the anaerobic threshold（Hr/Hrmax = 80%）,thereby preventing fatigue in users resulting from anaerobic *** results verified that the dual inlets design substantially reduce inhalation pressure drop while decelerating users' heart rate.

关键词： CFD,Dual Inlets,Iinhalation Pressure Drop,Hr/H

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Finite element analysis of (SA) mechanoreceptors in tactile sensing application

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AIP Conference Proceedings 2015年第1期1660卷

作者： Syamimi N S. Yahud Biomedical Electronic Engineering Program School of Mechatronic Engineering Universiti Malaysia Perlis 02600 Ulu Pauh Perlis MALAYSIA

This paper addresses the structural design of a fingertip model in order to analyse the sensory function of slow adapting (SA) mechanoreceptors by using the finite element analysis (FEA) method. A biologically inspired tactile sensor was designed to mimic a similar response of the human mechanoreceptors in the human glabrous skin. The simulation work was done by using COMSOL Multiphysics. The artificial skin was modelled as a solid square block of silicone elastomer with a semi cylinder protrusion on top. It was modelled as a nearly incompressible and linear hyperelastic material defined by Neo Hookean constitutive law. The sensing element on the other hand was modelled by using constantan alloy mimicking the SA1 receptor. Boundary loads of 1 N/m² to 4 N/m² with the increment of 1 N/m² were applied to the top surface of the protrusion in z and x-direction for normal and shear stress, respectively. The epidermal model base was constrained to maintain the same boundary conditions throughout all simulations. The changes of length experienced by the sensing element were calculated. The simulations result in terms of strain was identified. The simulated result was plotted in terms of sensing element strain against the boundary load and the graph should produce a linear response.

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CHARM: A Platform for Algorithmic Robotics Education & Research

CHARM: A Platform for Algorithmic Robotics Education & Resea...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Surya P. N. Singh Hanna Kurniawati Kianoosh Soltani Naveh Joshua Song Tyson Zastrow RDL and Mechatronic Program director and coordinates METR4202 (Advanced Controls and Robotics) RDL and coordinates COMP3702 (Artificial Intelligence) Mechatronic Engineering student in the UQ RDL UQ RDL Mechatronic Engineering graduate

ISBN: (纸本)9781479969357

This paper introduces autonomous sorting of moving coins via a robot as a multi-level task that supports the principled study of robotics fundamentals including kinematics, dynamics, perception, motion planning, controls, and optimization based around a widely obtainable, standardized, low-cost object (a coin). The paper also presents a demonstrated solution to this in the form of the CHARM (Coin Handling Arm for Robotics Mastery) robot, which addresses the autonomous coin sorting problem using an economical kit made from commodity computing hardware and three Dynamixel servomotors. From a learning perspective, this problem facilitates interdisciplinary practice across subject and grade levels with an algorithmic foundation that is central to modern robotics. Evidence supporting this approach is illustrated from case studies of student projects and, in particular, the CHARM robot. Beyond practice alone, by presenting a challenging (but manageable) research problem, we found that the coin sorting task teaches robotics in a principled way. Further, algorithmic complexity tiers the problem to academic levels. While motivated by robotics education, the (optimal) coin sorting problem may also be seen as an archetype problem for manipulation/motion-planning research. Thus, this also promotes a research foundation supporting later research opportunities.

关键词： robotics Coin Computer hardware Robot Grade Level Research Problems sorting programs

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Multi Response Optimization of Wire Electrical Discharge Machining Process Parameters Using Taguchi based Grey Relational Analysis

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Procedia Materials Science 2014年 6卷 1683-1695页

作者： Zahid A. Khan Arshad N. Siddiquee Noor Zaman Khan Urfi Khan G.A. Quadir Department of Mechanical Engineering Jamia Millia Islamia (A Central University) New Delhi-25 India Department of Mechanical and Automation Engineering G. B. Pant Engineering College New Delhi-20 India Mechanical Engineering Program School of Mechatronic Engineering UniMAP Campus Ulu Pauh 02600 Arau Perlis Malaysia

This paper presents a study that investigates the effect of the WEDM process parameters on the surface roughness average and the kerf width of the stainless steel (SS 304). Nine experimental runs based on an orthogonal array of Taguchi method are performed and grey relational analysis method is subsequently applied to determine an optimal WEDM parameter setting. Surface roughness and kerf width are selected as the quality targets. An optimal parameter combination of the WEDM process is obtained using Grey relational analysis. By analyzing the Grey relational grade matrix, the degree of influence for each controllable process factor onto individual quality targets can be found. The pulse ON time is found to be the most influential factor for both the surface roughness and the kerf width. Further, the results of the analysis of variance (ANOVA) reveals that the pulse ON time is the most significant controlled factor for affecting the multiple responses in the WEDM according to the weighted sum grade of the surface roughness and the kerf width.

关键词： WEDM surface roughness kerf width Grey relational analysis optimization

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PAPR reduction in an OFDM system using recursive clipping and filtering technique

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WSEAS Transactions on Communications 2014年第1期13卷 291-297页

作者： Islam, Anamul Ahmed, N. Ahamed, Nizam Uddin Rahman, Matiur Aljunid, S.A. Dept. of Applied Physics and Electronic Engineering University of Rajshahi Bangladesh School of Computer and Communication Engineering University Malaysia Perlis Malaysia Biomedical Engineering Program Mechatronic Engineering University Malaysia Perlis Malaysia College of Computer Science and Information System Najran University Saudi Arabia

An Orthogonal Frequency Division Multiplexing (OFDM) scheme is expected as an efficient technique for next generation wireless communications. However, high Peak to Average Power Ration (PAPR) of OFDM system is the main drawback which degrades the transmitter power efficiency causes poor performance of the system. To reduce PAPR of OFDM signal, several works on clipping technique have been proposed. This paper is incorporated the improvement of the PAPR and Bit Error Rate (BER) performance using clipping method. It has been shown from the result that by employing the recursive clipping and filtering, 11.45 dB of PAPR of original OFDM signal is reduced down to 4.77 dB. Hence, BER is also increased significantly. This research is carried out through MATLAB simulation and gradually measured the effect of PAPR on BER under AWGN channel for 16QAM scheme with 256 points OFDM. Moreover, it is studied the effect of OFDM signal while passing through High Power Amplifier (HPA). Finally, the PAPR reduction technique such as recursive clipping and filtering (RCF) is implemented.

关键词： Orthogonal frequency division multiplexing

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Design and Implementation of a Low-Cost Robotic Load Carrier

Design and Implementation of a Low-Cost Robotic Load Carrier

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Annual Conference of the IEEE Industrial Electronics Society

作者： Leonardo Adolpho Silva Julio Justino Braz de Jesus Cardoso Fabricio Pujatti Dept. of Telecommunication and Mechatronic Engineering Federal University of S. Joao del Rei Graduate Program in Electrical Engineering Federal University of Minas Gerais Dept. of Mechanical Engineering Federal University of Minas Gerais

ISBN: (纸本)9781479940318

Many professional or daily activities demand load displacement by human arms or by human powered vehicles. Those activities may cause muscle-skeleton diseases even in load carrying professionals as in people carrying their daily objects. In the field of robotics, the research developments to help people at those activities are made through human-robot cooperation systems actuated by servo drives. Due to the cost of those drives, many people are not able to acquire the robots and so they are prohibited from getting the associated health benefits. To promote robot-aided solutions, this paper presents the design and implementation of a load carrier human-robot cooperation system, which is built through an electrical load cart and driven by frequency inverter and induction motor. The robot controller is implemented by a force regulation structure which allows the conductor to set the mechanical trajectories through the multiplication of the force applied by his/her arms. Since the arms have a higher positioning bandwidth than the conductor's legs, the controller dynamic response is tuned with human leg dynamics in mind, so as to increase the operational safety. The paper presents details of mounting, firmware design and measurements to show the robot performance.

关键词： Human-robot cooperation Electrical vehicle Cost Effective

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