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On Evaluation of Robust Autonomy for Uninhabited Vehicles and Systems

IFAC Proceedings Volumes 2010年第16期43卷 348-353页

作者： Tristan Perez Alejandro Donaire Brendan P. Willams School of Engineering Discipline of Mechanics and Mechatronics The University of Newcastle Callaghan NSW 2308 AUSTRALIA Centre for Complex Dynamic Systems and Control (CDSC) The University of Newcastle Callaghan NSW 2308 AUSTRALIA Advanced UAS Applications Program Boeing Research & Technology Australia GPO Box 767 Brisbane QLD 4001 AUSTRALIA

This paper discusses a method to quantify robust autonomy of Uninhabited Vehicles and Systems (UVS) in aerospace, marine, or land applications. Based on mission-vehicle specific performance criteria, we define an system utility function that can be evaluated using simulation scenarios for an envelope of environmental conditions. The results of these evaluations are used to compute a figure of merit or measure for operational effectiveness (MOE). The procedure is then augmented to consider faults and the performance of mechanisms to handle these faulty operational modes. This leads to a measure of robust autonomy (MRA). The objective of the proposed figures of merit is to assist in decision making about vehicle performance and reliability at both vehicle development stage (using simulation models) and at certification stage (using hardware-in-the-loop testing). Performance indices based on dynamic and geometric tasks associated with vehicle manoeuvring problems are proposed, and an example of a two-dimensional fly scenario is provided to illustrate the use of the proposed figures of merit.

关键词： uninhabited vehicles performance evaluation manoeuvring problem

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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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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Impedance measurement of normal and cancerous human breast cells using a microfluidic tunnel

Impedance measurement of normal and cancerous human breast c...

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IEEE SENSORS

作者： Giseok Kang Sung-Kil Lee Sung Keun Yoo Sung Yang Jong-Hyun Lee Graduate-program of Medical System Engineering Gwangju Institute of Science and Technology Gwangju South Korea School of Information and Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea Department of Nanobio Materials and Electronics Gwangju Institute of Science and Technology Gwangju South Korea Gwangju Institute of Science and Technology Gwangju KR

In this paper, a novel microelectrical impedance spectroscopy (μEIS) with three-dimensional interdigitated electrodes (3D-IDE) is developed to differentiate normal and cancerous cells. The device utilizes a microfluidic tunnel structure, which forces cells to be squeezed. Thus, the enlarged contact area between cells and electrodes allows the device to measure the intrinsic electrical signal of the cells with a higher sensitivity than a noncontact case. The cell squeezing is realized by fabricating smaller microfluidic channel than cell size. The electrical impedances are measured through 3D-IDE. The device well distinguishes normal human breast cell (MCF-10A) and early-stage human breast cancer cell (MCF-7) with a phase difference of 1.42° at 500 kHz. The proposed device also features a high repeatability because the phase change is as small as 0.27° (which is sufficiently smaller than the phase difference between normal and cancer cell) before and after the each cell assay.

关键词： Impedance Electrodes Microfluidics Impedance measurement Breast cancer

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An autonomous control strategy alternative for critical industrial automated systems

An autonomous control strategy alternative for critical indu...

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作者： Pacheco, Luciana A. Lepikson, Herman A. Mechatronics Program Federal University of Bahia Salvador BA Brazil Mechanical Engineering Department Federal University of Bahia Salvador BA Brazil

ISBN: (纸本)9783902661432

In automatized industrial systems, inactivity due to unplanned resource shortage or processes failures have a great influence on the system's performance because it generates discontinuities and instabilities. Distributed and autonomous control systems may help to cope with these kinds of problems because of the higher performance, but safety issues and real time constraints must be tightly addressed in these systems because of the risks involved (human, financial and environmental). Thus, an intelligent control system instantiated at the local level to allow each controller to take critical decisions in an autonomous way is proposed here. Above that, a supervisory system manages more complex situations beyond the capabilities of local control. The proposed control aims to enable auto-adjustment in the system to improve performance and to prevent and treat unexpected faults. It therefore has to learn through events which have occurred in the system and environment using Artificial Intelligence tools. © 2009 IFAC.

关键词： Controllers

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System identification of magneto-rheological damper using group method of data handling (GMDH)

System identification of magneto-rheological damper using gr...

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2009 6th International Symposium on mechatronics and its Applications, ISMA 2009

作者： Assaleh, Khaled Shanableh, Tamer Kheil, Yasmeen Abu Department of Electrical Engineering American University of Sharjah United Arab Emirates Department of Computer Science and Engineering American University of Sharjah United Arab Emirates Mechatronics Graduate Program American University of Sharjah United Arab Emirates

ISBN: (纸本)9781424434817

In this paper Group Method of Data Handling (GMDH) technique is implemented and applied to the system identification problem of a Magneto-Rheological (MR) damper. GMDH networks are used to approximate the forward and inverse dynamic behaviors of a MR damper. The difficulty of this identification problem stems from the inherent hysteretic and highly nonlinear dynamics of MR dampers. The GMDH-based solution exhibits comparable identification accuracy in both the forward and inverse models as compared to state-of-the-art more computationally extensive solutions. © 2009 IEEE.

关键词： Inverse problems

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A study of the collision detection of robot manipulator without torque sensor

A study of the collision detection of robot manipulator with...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Je, Hwan-Wook Baek, Jun-Young Lee, Min-Cheol Interdisciplinary Program in Mechatronics Pusan National University Busan Korea Republic of Department of Mechanical and Intelligent Systems Engineering Pusan National University Busan Korea Republic of School of Mechanical Engineering Pusan National University Busan Korea Republic of

ISBN: (纸本)9784907764333

In this study, we proposed the collision observer for real-time detection of collisions between service robot and unknown obstacle. In case of a mobile equipped extra manipulator such as a service robot the safety of the system in service field is very important because a collision between the manipulator and a person may damages against the one. Therefore it is required to detect the collision against the unknown obstacle and to make them safe. This paper proposes current based method to detect unexpected collision without using extra sensor such as the force/torque(F/T), tactile sensor or the visual sensor. Instead of these sensors, the collision is detected by the observer for collision. To detect the collision of the manipulator without force/torque sensor, two parameters are only required for calculation of collision observer. One is current value, the other is control input value. Because the current from the servo amplifier is generated to follow the controller command input, the current can be used for detecting the collision. After detecting the collision of robot manipulator, we can control the robot to make them safe or reduce damage. The proposed collision detection method is implemented in a light weight robot manipulator. It is confirmed that the proposed method is valid by experimental results. © 2009 SICE.

关键词： Robot applications

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An Autonomous Control Strategy Alternative for Critical Industrial Automated Systems

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IFAC Proceedings Volumes 2009年第4期42卷 331-336页

作者： Luciana A. Pacheco Herman A. Lepikson Postgraduate MSc Mechatronics Program Federal University of Bahia Salvador-BA Brazil Mechanical Engineering Department Federal University of Bahia Salvador-BA

关键词： Intelligent Predictive Control Discrete Event Controller Supervisory Control

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Contamination-free cell lysis microfluidic device using cell cross over

Contamination-free cell lysis microfluidic device using cell...

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13th International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2009

作者： Mun, Byung Phil Jung, Seung Mo Yoon, Sang Youl Lee, Jong Hyun Yang, Sung School of Information and Mechatronics Gwangju Institute of Science and Technology Korea Republic of Graduate Program of Medical System Engineering Gwangju Institute of Science and Technology Korea Republic of Department of Nanobio Materials and Electronics Gwangju Institute of Science and Technology Korea Republic of

ISBN: (纸本)9780979806421

Complicated and time-consuming cell purification processes prevent a micro cell lysis device from integrating with LOC (Lab-on-a-chip) or μ-TAS (μ-Total Analysis System) devices for cell analysis. In this paper, we present a microfluidic cell lysis device using a contamination-free cell cross over method in order to minimize the cell pretreatment procedure. © 2009 CBMS.

关键词： Microfluidics

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Control of robot manipulator for storing cord blood in cryogenic environments

Control of robot manipulator for storing cord blood in cryog...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Lee, Seung-Heui Jeong, Do-Young Kim, Ik-Soo Lee, Dong-In Cho, Dong-Yeon Lee, Min Cheol RIMT Pusan National University Busan Korea Republic of Interdisciplinary Program in Mechatronics Pusan National University Busan Korea Republic of R and D Center ENK Co. Ltd. Busan Korea Republic of School of Machine Engineering Pusan National University Busan Korea Republic of

ISBN: (纸本)9784907764333

This paper studies a control method for the manipulator of an automatic cryogenic storing vessel which can improve a ratio of survival of a cord blood. The cord blood keeps in liquid nitrogen in the cryogenic vessel. The integrated robot control system for storing a cord blood based on mechanism of SCARA robot is developed. The system consists of a cryogenic vessel, a robot arm controller using a multi motion controller(MMC) board, and control program. The robot manipulator consists of four axes. Each axis consists of a rotation of a major lid, a rotation of a minor lid, a rotation of periscope and a linear motion of periscope. The main software has functions of operating task, dynamic simulator, three dimensional animation, and trajectory planning. To overcome a difficulty to detect collision between canister and the pin of a slot in a rack of the vessel, a collision detection algorithm for the robot is proposed. The trajectory tracking performance of these algorithms are evaluated by implementing to design SCARA type robot using MMC board which has conventional PID control algorithm. To improve performance of the integrated system, the proposed algorithm for the collision avoidance is applied to the end-effector of the robot manipulator. © 2009 SICE.

关键词： Computer software

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Quantitative Measurement of Nano‐/Microparticle Endocytosis by Cell Mass Spectrometry†

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Angewandte Chemie 2010年第20期122卷

作者： Huan‐Chang Lin Hsin‐Hung Lin Cai‐Yu Kao Alice L. Yu Wen‐Ping Peng Chung‐Hsuan Chen Genomics Research Center Academia Sinica Taipei Taiwan (Republic of China) Fax: (+886) 2‐2789‐9931 Department of Bio‐Industrial Mechatronics Engineering National Taiwan University Taipei Taiwan (Republic of China) Taiwan International Graduate Program Academia Sinica Taipei Taiwan (Republic of China) Department of Physics National Dong Hwa University Shoufeng Hualien Taiwan (Republic of China) Fax: (+886) 3‐863‐3690

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