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IEEE International Conference on Robotics and Automation (ICRA)

作者： T. Fukuda K. Sekiyama Y. Hasebe Y. Hasegawa S. Shibata H. Yamamoto Y. Inada Center for Cooperative Research in Advanced Science and Technology Department of Management and System Science Science University of Tokyo Chino Nagano Japan Department of Mechano-Informatics and Systems School of Engineering University of Nagoya Nagoya Japan Mechatronics Technology Section Advanced Industrial Systems Technology Department Technology Research and Development Center Tokyo Engineering Corporation Narashino Chiba Japan

This paper proposes a flexible transfer system (FTS) as one of the self-organizing manufacturing systems. The FTS is composed of autonomous robotic modules, which transfer a palette carrying an object. Through the self-organization of a multilayer strategic vector field corresponding to a task, the FTS can generate quasi-optimal transfer path in fully distributed way. We apply the learning automata for path generation algorithm. Simulation is conducted to evaluate the basic performance of the system and the results show the feasibility of application. Also, the developed hardware is explained.

关键词： Distributed control Learning automata Production systems Centralized control Assembly systems Transportation Systems engineering and theory technology management Engineering management Educational institutions

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Hybrid approach of genetic algorithms and learning automata for flexible transfer system

Hybrid approach of genetic algorithms and learning automata ...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： T. Fukuda K. Sekiyama I. Takagawa S. Shibata H. Yamamoto Center for Cooperative Research in Advanced Science and Technology Nagoya Japan Department of Management and System Science Suwa College Science University of Tokyo Chino Nagano Japan Department of Micro System Engineering Graduate School of Engineering University of Nagoya Nagoya Japan Mechatronics Technology Section Advanced Industrial Systems Technology Department Technology Research & Development Center Toyo Engineering Corporation Narashino Chiba Japan

The flexible transfer system (FTS) is a self-organizing manufacturing system composed of autonomous robotic modules, which transfer a palette carrying machining parts. The central issue is realization of both higher efficiency and flexibility to cope with environmental change, such as a sudden change of machining plan or breakdowns of the modules. Through the self-organization of a multi-layered strategic vector field corresponding to a task, the FTS can generate a quasi-optimal transfer path with learning automata. Also, the optimal planning is attempted by use of genetic algorithms, and is based on the global information on the system. We propose a hybridization method between the distributed and centralized approaches. Simulation is conducted to evaluate the basic system performance and the results show the effectiveness.

关键词： Genetic algorithms Learning automata Machining Manufacturing systems Electric breakdown Production systems Intelligent manufacturing systems Transportation Switches technology management

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Genetic adaptive IIR filtering algorithm for active noise control

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Kook Hyun Yim Jong Boo Kim Tae Pyo Lee Doo Soo Ahn Research & Development Center TSPC Yongin si South Korea Departmentof Mechatronics Induk Institute of Technology Seoul South Korea Central Research Center Hyundai Motors Company Yongin si South Korea Sch. of Elec.&ComputerEngineering Sungkyunkwan University Suwon South Korea

ISBN: (纸本)0780354060

This paper presents an adaptive infinite impulse response (IIR) filtering algorithm using genetic algorithm for active noise control (ANC). Feedforward ANC systems are equivalent to system identification configuration whose reference model has infinite impulse response and input signal is colored. Stochastic gradient algorithms such as filtered-x least mean square (FXLMS) algorithm are conventionally used for their simplicity and stability. But these algorithms have disadvantages of local minimum and large eigenvalue disparity of input signal's autocorrelation matrix. To solve those problems we propose an IIR structure ANC algorithm with genetic algorithm which is well known as global optimization tools in control and signal processing area. Computer simulation shows that genetic IIR algorithm is superior to LMS IIR algorithm for insufficient case.

关键词： Programmable control Adaptive control Filtering algorithms Active noise reduction Signal processing algorithms IIR filters Genetic algorithms System identification Signal processing Stochastic resonance

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development OF A MAGNETOSTRICTIVE TORQUE SENSOR FOR MILLING PROCESS MONITORING

DEVELOPMENT OF A MAGNETOSTRICTIVE TORQUE SENSOR FOR MILLING ...

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ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - Manufacturing Science and Engineering

作者： Ohzeki, Hiro Mashine, Akihiro Aoyama, Hideki Inasaki, Ichiro Mechatronics and Manufacturing Systems Development Laboratories Mitsubishi Materials Corporation Saitama Japan Faculty of Science and Technology Keio University Yokohama Japan

ISBN: (纸本)9780791826782

This paper deals with a sensor system based on the magnetostrictive effect, which is installed in a tool holder, for sensing cutting torque in order to monitor the milling process. Changes in the magnetic permeability of ferromagnetic alloy layers formed onto a rotating shaft due to torque are detected by coils as changes in impedance without contacting the rotating shaft. By mounting the magnetostrictive sensor on a tool holder, it became possible to detect cutting torque as close to the cutting point as possible. The accuracy of the proposed sensor system was confirmed through static and dynamic evaluation tests. In order to investigate the relationship between tool failure and cutting torque, side milling tests were performed, which bore out the possibility of estimating flank wear and tool fracture from the cutting torque detected by the proposed sensor system. © 1997 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Fracture

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Modelling and Control of Manufacturing Systems Using Petri Nets

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IFAC Proceedings Volumes 1996年第1期29卷 4754-4759页

作者： M.J. Stanton W.F. Arnold A.A. Buck Mechatronics Development Centre Faculty of Technology University of Wales College Newport Newport Gwent Wales U.K.

The Petri net graph is a powerful tool for the specification, control and analysis of discrete event systems. A well structured Petri net will provide a clear description of how a system functions. This paper describes the development of structured Petri nets for specification and design of control code for manufacturing systems, and discusses the implementation of such Petri nets on various controllers present in modern manufacturing systems. The usefulness of structured Petri nets for system modelling and analysis is also discussed with two practical examples where they have been used to design and implement control code on real systems.

关键词： Petri-nets programmable controllers manufacturing systems software specification implementation

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High-Energy Subnanosecond Compact Laser System with Diode-Pumped, Q-Switched Nd:YVO4Laser

High-Energy Subnanosecond Compact Laser System with Diode-Pu...

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Advanced Solid State Lasers, ASSL 1996

作者： Kyusho, Yukio Arai, Motohiro Mukaihara, Katsuji Yamane, Tsuyoshi Hotta, Kazuaki Kuwano, Yasuhiko Saito, Seiichi Laser Equipment and Mechatronics Division NEC Corporation 1120 Shimokuzawa Sagamihara229 Japan NEC Institute of Technology Education NEC Corporation 1753 Shimonumabe Nakahara-ku Kawasaki211 Japan Material Development Center NEC Corporation 4-1-1 Miyazaki Miyamae-ku Kawasaki213 Japan

ISBN: (纸本)1557523703

For a high-precision laser photomask repairing system, we have developed a high-energy, subnanosecond compact laser, consisting of a diode-pumped Q-switched Nd:YVO4 laser with 700 ps, TEM00, 0.76 mJ/pulse (1.1 MW) at 1064 nm. Using a MOPA system by a Xeflashlamp-pumped Nd:YAG amplifier, we have obtained an output laser pulse of 700 ps, 12 mJ/pulse. © 1996 Optical Society of America.

关键词： Yttrium aluminum garnet

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MOBILE ROBOT LOCALIZATION USING A SINGLE ROTATING SONAR AND 2 PASSIVE CYLINDRICAL BEACONS

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ROBOTICA 1995年第3期13卷 243-252页

作者： BEOM, HR CHO, HS Research & Development Laboratory Gold Star Industrial Systems CO. Ltd. Anyang (Korea). Center for Robotics and Automation Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology373–1 Kusong-dongTaejeon305–701 (Korea).

This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.

关键词： MOBILE ROBOT SONAR BEACON LOCALIZATION

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A neural network-based assembly algorithm for chamferless parts mating

A neural network-based assembly algorithm for chamferless pa...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： Y.K. Park H.S. Cho System Integration Development & Research Center DAEWOO Electronics Company Limited Seoul South Korea Department of Precision and Mechatronics Korea Advanced Institute of Science and Technology Taejon South Korea

This paper presents a neural network-based assembly algorithm for chamferless parts mating. The difficulties in assembly strategies result from the errors of assembly system as well as the complexity of the assembly process. To solve this problem, we propose an active-passive assembly algorithm by integrating a passive vibration method and an active force feedback signal, This method generates a vibration pattern by signs of moments, which is used to compensate the misalignment between mating parts. In this method, the relationship between the signs of moments and output patterns of the vibration is trained by neural network. The performance of the presented method is evaluated through a series of experiments. The experimental results show that the method can be applied to chamferless parts mating.

关键词： Neural networks Assembly systems Robotic assembly Robot sensing systems Manufacturing automation Manufacturing processes Robotics and automation Wrist Control systems Pulse width modulation

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A robust control compensation for hardware deficiency in the plant: time delay control for the brushless DC motor drive

A robust control compensation for hardware deficiency in the...

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American Control Conference (ACC)

作者： Jung-Hoon Lee P.H. Chang Young-Cheol Lee Sang-Yeal Lee Agency for Defense Dev. Taejon South Korea Department of Precision Engineering & Mechatronics Korea Advanced Institute of Science and Technology Taejon South Korea Agency for Defence Development Taejon South Korea

The time delay control (TDC) algorithm has been applied to the position control of a brushless DC motor (BLDCM) with a highly simplified hardware configuration: the six-step commutation was used without current control unit. Nevertheless, TDC achieves a performance level approaching to that of a BLDCM adopting sinusoidal commutation with current control unit. More specifically, the algorithm effectively compensates for parameter variations, nonlinearities, and the torque ripple caused by six-step commutation, whereas a conventional PID control yields poor response characteristics. This result shows that TDC enables an economical design without compromising performance. More importantly, the application establishes a case that a good control algorithm can compensate for the hardware deficiency in a given plant and even simplify its hardware configuration.

关键词： Robust control Hardware Commutation Current control Delay effects Position control Brushless DC motors Three-term control Torque control Control nonlinearities

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HARDWARE REALIZATION OF INVERSE KINEMATICS FOR ROBOT MANIPULATORS

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1994年第1期41卷 45-50页

作者： PARK, SW OH, JH Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology South Korea New Automotive Electronics Development Team Hyundai Electronics Industries Company Limited Gyeonggi South Korea Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology Daejeon South Korea

For real-time processing of kinematic information required for intelligent robotic applications, a hardware realization of an inverse kinematics algorithm is a challenging task. This paper adopts an incremental unit computation method to accomplish the inverse kinematics of a three-axis articulated robot. This method starts from defining incremental units in joint and Cartesian spaces, which represent the position resolutions in each space. With this approach, calculation of the inverse Jacobian matrix can be realized through a simple combinational logic gate circuit. Furthermore, the incremental direct kinematics can be solved by using a digital differential analyzer (DDA) integrator. The hardware architecture to implement the algorithm is also described. Applying the hardware implemented by an erasable programmable logic device (EPLD) to the straight-line trajectory of an experimental robot, we have obtained the end-effector's maximum speed of 12.6 m/s.

关键词： Hardware Kinematics Manipulators Intelligent robots Orbital robotics Jacobian matrices Logic gates Logic devices Combinational circuits Programmable logic devices

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