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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Ye, Changlong Ma, Shugen Li, Huaiyong Yang, Junjun School of Mechatronics Engineering Shenyang Aerospace University 110136 Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation 110016 Shenyang China Department of Robotics Ritsumeikan University 525-8577 Kusatsu Japan

ISBN: (纸本)9781424493173

A pipe cleaning robot for central air-condition named PCV-1 is developed to adapt to the pipe environment. This robot consists of three parts: middle part and front part as well as back part. One part in the middle of the robot is the driving unit, which utilizes the spring mechanism to get the normal pressure and utilizes the active driving wheels to actuate the robot. The front part and back part are similar in structure. These two parts can modulate the turn angle of the robot to realize turn motion for the pipe adaptation. This robot can move in the vertical pipe beside in the horizontal pipe, which enables it move in the air conditioning pipe system. The movement capability of this robot was verified through experiments. © 2010 IEEE.

关键词： Robots

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2010 IEEE 71st Vehicular Technology Conference, VTC 2010-Spring

作者： Lii, Neal Y. Sturm, Stefan Coombs, Timothy A. Institute of Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen Germany The BMW Group Munich Germany Department of Engineering University of Cambridge Cambridge United Kingdom

Dissimilar sensor redundancy with force and displacement measurements can provide extended fault coverage for drive-by-wire applications. However, large variances occur when correlating these inputs in dynamic measurements. To address this issue, this paper introduces a novel fault tolerant sensor fusion concept to fuse redundant kinetic and kinematic sensors dynamically and accurately. It consists of a driver input condition classifier, and a graceful degradation scheme voter. The classifier determines the states of several driver input conditions in real-time, which are then utilized as a pointers to allocate the best fitting driver input kinetic-kinematic response profile during dynamic operation for sensor data conversion. The graceful degradation voter module facilitates voting and fusing of the converted redundant sensor data. Functional safety is further maintained through a graceful degradation scheme to tolerate the presence of different fault scenarios in the system. The proposed sensor fusion concept is implemented on a brake-by-wire pedal test bench. Test results show significant performance gains in driver command accuracy for fault-tolerant dissimilar redundant sensor fusion. © 2010 IEEE.

关键词： Redundancy

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Time-optimal motion planning for robots

Time-optimal motion planning for robots

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19th International Workshop on robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Somló, János Molnár, József Óbuda University Knowledge Centre of Robotics Budapest Hungary Budapest University of Technology and Economics Dept. Mechatronics Optics and Mechanical Engineering Informatics Hungary

ISBN: (纸本)9781424468867

At the practical application of robots, the part processing time has a key role. The part processing time is an idea borrowed from manufacturing technology. In robotics it mostly means that the robots tool-centre point should go along some given path and the tool orientation in every point should also have the given values. These two requirements have to be satisfied at the same time. In the present paper we propose a method which provides the motion in every point of the path with the possible maximum velocity. In fact, we divide the path to transient and cruising parts and require the maximum velocities only for this second part. The given motion is called "Timeoptimal cruising motion". We demonstrate on an example the simplicity of the approach. Using the parametric method of motion planning, we give the equations for determining time-optimal motions. Not only the translation motions of tool-centre points but, also the orientation motions of too lsmay be optimally planned. The time-optimal motion planning is also possible for free paths (PTP motions). A general approach for this problem is proposed, too. In the paper, some parts are devoted to the deeper understanding of the optimization problems. © 2010 IEEE.

关键词： Motion planning

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Characterization of steel mill electric-arc furnace dust

Characterization of steel mill electric-arc furnace dust

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作者： Rizescu, Cristiana-Zizi Bacinschi, Zorica Stoian, Elena-Valentina Poinescu, Auroraanca Department of Materials Engineering Mechatronics and Robotics Valahia University from Targoviste Unirii Blvd. No. 18-22 Targoviste-Dambovita Romania

ISBN: (纸本)9789604741908

EAF dust is a complex material consisting mostly of metal oxides. Since electric arc furnaces typically rely on scrap metal for their charge and the composition of the dust is directly associated with the chemistry of the metallic charge used, increased use of galvanized steel to manufacture automobile bodies and paneling has increased the zinc content in the dust over the years. When galvanized steel scrap is melted in a steel making furnace, most of the zinc vaporizes and ends up in the dust as zinc oxide and zinc ferrite. In addition, trace quantities of precious metals such as gold are also found in EAFD. In order to make a complete characterization of electric-arc furnace (EAF) dust, as hazardous industrial waste, and to solve its permanent disposal and/or recovery, bearing in mind both the volumes formed in the steel industry and experiences of developed industrial countries, a study of its properties was undertaken. For this purpose, samples of EAF dust, taken from the regular production process in more Integrated iron and steel works were subjected to a series of tests. The chemical composition of EAF dust samples was investigated by means of a several different analytical methods. The results from the chemical analysis show that the approximate order of abundance of major elements in EAF dusts is as follows: Fe, Zn, Mn, Ca, Mg, Si, Pb, S, Cr, Cu, Al, C, Ni, Cd, As and Hg. Granular-metric composition of single samples was determined by applying sieve separation. Scanning electron micro-structural examination of EAF dust microstructure was performed and results indicated that all twelve EAF dusts were composed of solid spherical agglomerates with Fe, Zn, Pb, O, Si and Ca as the principal element. The investigation of grain morphology and the mineralogical composition of EAF dust were taken by combination of high resolution Auger electron spectroscopy (HR AES), X-ray photoelectron spectroscopy (XPS) and X-ray powder diffraction analysis. The analysis of XPS-sp

关键词： II-VI semiconductors

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Study regarding the establishing of automatic control drilling on micro-robots

Study regarding the establishing of automatic control drilli...

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作者： Patic, Paul Ciprian Ardeleanu, Mihaita Popa, Florin Pascale, Lucia Valahia University of Targoviste Electrical Engineering Faculty Automatics Informatics and Electrical Engineering Department 18-24 Unirii Boulevard 130082 Targoviste Romania Valahia University of Targoviste Material Engineering Mechatronics and Robotics Faculty Mechatronics Department 18-24 Unirii Boulevard 130082 Targoviste Romania

The demand for the manufacture of micro components is increasing because many products are slim due to their portable use. A new production system is an interesting time in microassembly systems. The performance of the micro-robotic system has the potential to have an important role in such applications with reference to the transportation, handling and storage of micro objects. For many years, has developed an automated system consisting of multiple drilling micro-robots. In this paper, with the aid of the control of "cluster" type for more micro-robots may deduct an execution of an application by drilling into the work area. This control "cluster" type may provide some advantages having in view the accuracy and flexibility of micro fabrication.

关键词： DC motors

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Heavy metals in suspended powders from steelmaking

Heavy metals in suspended powders from steelmaking

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作者： Rizescu, Cristiana-Zizi Stoian, Elena-Valentina Poinescu, Aurora-Anca Teodorescu, Sofia Department of Material Engineering Mechatronics and Robotics Valahia University from Targoviste Blvd. Carol I No.2 130024 Targoviste-Dambovita Romania

ISBN: (纸本)9789604742035

Motivations for controlling heavy metal concentrations in gas streams are diverse. Some of them are dangerous to health or to the environment (e.g. Hg, Cd, As, Pb, Cr), some may cause corrosion (e.g. Zn, Pb), some are harmful in other ways (e.g. Arsenic may pollute catalysts). Within the European community the 13 elements of highest concern are As, Cd, Co, Cr, Cu, Hg, Mn, Ni, Pb, Sn, and Tl, the emissions of which are regulated in waste incinerators. Some of these elements are actually necessary for humans in minute amounts (Co, Cu, Cr, Ni) while others are carcinogenic or toxic, affecting, among others, the central nervous system (Hg, Pb, As), the kidneys or liver (Hg, Pb, Cd, Cu) or skin, bones, or teeth (Ni, Cd, Cu, Cr). Heavy metals occur naturally in the ecosystem with large variations in concentration. In modern times, anthropogenic sources of heavy metals, i.e. pollution, have been introduced to the ecosystem.

关键词： Heavy metals

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Intelligent diagnostic health management of power transmission systems: An experimental validation

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International Journal of COMADEM 2010年第2期13卷 46-58页

作者： Onsy, Ahmed Bicker, Robert Shaw, Brian Mechatronics Group and Design Unit Stephenson Building Newcastle University NE1 7RU United Kingdom School of Mechanical and Systems Engineering United Kingdom Department of Robotics Group School of Mechanical and Systems Engineering United Kingdom Design Unit Gear Technology Centre School of Mechanical and Systems Engineering British Gear Association United Kingdom

Power transmissions are one of the most important parts of any mechanical system, and in order to achieve reliable operation robust and effective maintenance strategies must be used to trace the condition of the operating transmission, classifying faults, and predicting the onset of failure. This paper presents a novel intelligent diagnostic health management system that is able to monitor different gear faults by combining vibration, acoustic emission, and oil debris analysis with fuzzy logic sensory fusion algorithms. An intelligent diagnostic health management system (IDHMS) has been implemented on a back-to-back gearbox and can be adapted to monitor the behaviour of transmission systems in automotive, aircraft, wind turbine, and industrial machinery. The study describes the operation of the online IDHMS under variable conditions and its ability in detecting transmission gear defects and thus preventing sudden unexpected failures. The results support the recent trend in using IDHMSs in CBM strategies. © 2010 COMADEM International.

关键词： Fuzzy logic

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On adaptive fuzzy control for combined longitudinal and lateral vehicular control

On adaptive fuzzy control for combined longitudinal and late...

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12th IASTED International Conference on Control and Applications, CA 2010

作者： Ranatunga, S.R. Cao, Z. Nagarajah, R. Rad, A.B. Robotics and Mechatronics Engineering Swinburne University of Technology VIC 3122 Australia School of Engineering Science Simon Fraser University 102 Avenue Surrey BC V3T 0A3 Canada

ISBN: (纸本)9780889868526

The main quest in this work is to develop a novel combined longitudinal and lateral controller that reliably attends the needs of precise motion control of highway vehicles. In pursuit of this a novel hybrid controller setup consisting of a PD (proportional-derivative) controller and an adaptive fuzzy controller is developed. The PD function is to do the main tracking in the domains of longitudinal and lateral control while the adaptive fuzzy controller is to address the coupling effects, nonlinearity issues and model uncertainties with further refining the output results. A three degrees-of-freedom (DOF) nonlinear vehicle model is used for the development and testing purposes of the controller. The controller is tested for viability in rigorous simulated scenarios subjected to some extreme parametric limitations. The results obtained from these tests proved the effectiveness of the controller that has been developed.

关键词： Controllers

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Refine PID tuning rule using ITAE criteria

Refine PID tuning rule using ITAE criteria

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International Conference on Computer and Automation engineering, ICCAE

作者： Ala Eldin Abdallah Awouda Rosbi Bin Mamat Department of Mechatronics and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Department of Mechatronics and Robotics Universiti Teknologi Malaysia Johor Malaysia

ISBN: (纸本)9781424455690

This paper discusses an approach to tune the PID controller parameters using the optimization method. The method involves analytically calculating the gain of the controller (Kc), integral time (Ti) and the derivative time (Td) for PID controlled systems whose process is modeled in first order lag plus time delay (FOLPD) form. A mat lab program is used to find the optimum value of the PID controller parameters which can achieve most of the systems requirements such as reducing the overshoot, maintain a high system response, achieve a good load disturbances rejection and maintain robustness. The objective function is selected so as to minimize the integral of Time Absolute Error (ITAE) performance index. A comparison between the proposed tuning rules and the traditional tuning rules is done through the Matlab software to show the efficiency of the new tuning rule.

关键词： Three-term control Control systems Transfer functions Optimization methods Delay effects Process control mechatronics Robots Error correction Robust control

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Experimental researches and statistical analysis of the corrosion behavior of rolled and heat treated 2xxx al alloys

Experimental researches and statistical analysis of the corr...

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作者： Popescu, Ileana Nicoleta Bratu, Vasile Enescu, Maria Cristiana Department Faculty of Materials Engineering Mechatronics and Robotics University Valahia of Targoviste Address Bd. Carol I no. 2 130024 Targoviste Dambovita Romania

ISBN: (纸本)9789604741717

The material for experiments was an aluminum alloys series 2xxx obtained by thermo-mechanical processing using different parameters of artificial aging. The slab of Al alloys was rolled at 450-400oC for 7-8 hours, solution treated at 500 ± 5o C, maintaining time 40 minutes, quenched in water and artificial aging at 100-220o C during respectively 10-240 minutes. After rolling and heat treatment the obtained alloys was corroded in solution of NaCl with 7.33-8.33 pH at room temperature and analyzed the evolution of potential of electrode depending on time in correlation of structural modification. In addition was studied the electrochemical corrosion behaviour in sodium thiosulphate solution 0.5M using a potentiostatic device. The corrosion characteristics of rolled and heat treated 2xxx Al alloys were predicted through statistical analysis of the measured pitting potential and pitting time at different parameters of aging.

关键词： Aluminum alloys

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