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2007 International Conference on Control, Automation and Systems (ICCAS 2007), vol.6

作者： Satoshi Suzuki Yuichi Watanabe Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan Department of Electrical Electronic Engineering Tokyo Denki University Tokyo Japan

This paper reports experimental analyses of human characteristic in machine operation. We build a hovercraft simulator, designed the giant slalom task, and measured the operator's line-of sight to know switching-timing of human control property. By combining the identification with ARX model and statistic analysis, the process and factors for the operation skill were investigated. As the results, common factors for the skill in all participants could be found. And, it could be shown quantitatively that enhancement of immersion sense into virtual 3D work space has significant relation to the skill.

关键词： Vehicle operation Human controller Skill Line-of-sight

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Controlling Heat, Vibration and EMI in an Integral Motor

Controlling Heat, Vibration and EMI in an Integral Motor

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Compatibility in Power Electronics (CPE)

作者： Mehran Ektesabi Hasib Felic Department of Robotics & Mechatronics Faculty of Engineering & Industrial Sciences Swinburne University of Technology Hawthorn VIC Australia CMG Technology Rowville VIC Australia

Controlling heat and vibration produced by the motor & variable drive systems when integrated as an integral motor are the problems affecting the reliable operation of the system. In this paper a new-generation integral motor-drive has been demonstrated, true innovation in its design and development is a technological advancement. It is a truly integrated motor-drive unit with a design to overcome heat, vibration and electromagnetic interference which are damaging to sensitive electronics without requirement of any additional cooling system. It proposes a compact unit built to operate in arduous industrial environments.

关键词： Temperature control Vibration control Electromagnetic interference Frequency Costs Motor drives Manufacturing industries Insulation Voltage Stress

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Experiment on operating methods of an electric wheelchair for a system of detecting position and direction

Experiment on operating methods of an electric wheelchair fo...

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IEEE International Conference on robotics and Biomimetics

作者： Takashi Asakawa Kazue Nishihara Tadashi Yoshidome Graduate School of Engineering Kanagawa Institute of Technology Atsugi Kanagawa Japan Department of Robotics and Mechatronics Kanagawa Institute of Technology Atsugi Kanagawa Japan

ISBN: (纸本)9781424417612

In this paper, we propose a voice-controlled electric wheelchair with a system for detecting the position and direction. Thus far, we have studied systems that incorporated voice instructions with our indoor navigation equipment using RF tags. An operating method which is different in order to clarify the problem of the operation method of an existing wheelchair was measured in the same environment. We then evaluated the results from the viewpoint of the usability of each operation in order to determine the most suitable assisting operation. We found that it is very effective to memorize one of the possible stopping positions and the angles of rotations to desired directions, which could adequately assist the movement of a wheelchair.

关键词： Wheelchairs Radio frequency Mobile robots mechatronics Navigation Usability Helium Speech recognition Microcomputers Biomimetics

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Modeling of a Horizontal Active Magnetic Bearing System with Uncertainties in Deterministic Form

Modeling of a Horizontal Active Magnetic Bearing System with...

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Asia International Conference on Modeling & Simulation

作者： Abdul Rashid Husain Mohamad Noh Ahmad Abdul Halim Mohd Yatim Department of Mechatronics and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia Department of Energy Conversion Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

In this paper the derivation of mathematical model of a horizontal active magnetic bearing (AMB) system in deterministic form is presented. The system is open-loop unstable and highly coupled due to nonlinearities inherited in the system such as gyroscopic effect and mass imbalance. Based on the equation of motions of the rotor and dynamic equation of electromagnetic coils, the dynamic model of the system with eight inputs is derived and represented in state-space format in which the system matrix is 16times16 in size. By using the upper and lower bounds of the parameter and the state variables of the system, the model is transformed into deterministic form where it can be shown that the system contains mismatched uncertainties in the state and disturbance matrices. This final system model with its numerical values can be used for the design of a class of a dynamic controller for system stabilization

关键词： Magnetic levitation Uncertainty Nonlinear equations Nonlinear dynamical systems Mathematical model Couplings Coils Electromagnetic modeling Numerical models Control system synthesis

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Construction of hybrid visual map for indoor SLAM

Construction of hybrid visual map for indoor SLAM

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Sunghwan Ahn Wan Kyun Chung Sang-Rok Oh Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Institute for Information Technology Advancement Daejeon South Korea

Our previous work, SLAM with visual plane, allowed correct data association and computationally feasible solution for vision-based SLAM. In this paper, we propose a scheme of generating a hybrid visual map based on the visual plane framework. The hybrid visual map has two levels of map representations: 1) absolute map representation of distinctive visual planes via EKF-SLAM and 2) relative map representation of dense visual features for each visual plane via sparse information filter update. It can inherit the advantages of the visual plane by maintaining the absolute map. Moreover, the relative map can reconstruct a 3-D map of visual features efficiently without loosing dense visual information. The performance of the proposed method was verified by the experimental results of consistent hybrid visual maps in two real indoor environments.

关键词： Simultaneous localization and mapping Information filters Indoor environments Robot vision systems Cameras Image databases Principal component analysis Spatial databases Visual databases Intelligent robots

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FUSBOTUS: Empirical Studies Using a Surgical Robotic System for Urological Applications

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AIP Conference Proceedings 2007年第1期911卷 117-121页

作者： Sunita Chauhan Gail ter Haar *Division of Mechatronics and Design Robotics Research Center School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore †Institute of Cancer Research Royal Marsden Hospital Sutton Surrey U.K

A custom designed robotic system, FUSBOT‐US (acronym for Focal Ultrasound Surgery Robot), for non‐invasive surgery of deep‐seated cancers of the urological organs was devised at RRC, NTU. This robotic system has modular multi‐axes manipulation components, guiding a set of HIFU transducers through a pre‐determined and image‐guided trajectory. HIFU is applied using extra‐corporeal means with approach to the targets from multiple routes. The robot automatically positions and registers the diagnostic and HIFU probes with respect to each other and with respect to the target in a desired configuration under supervisory control. The user is prompted to select target‐areas on subsequent 2‐D images and the selected protocol is replayed either in manual or auto mode. In laboratory set‐up, the system is tested for tissue phantoms in‐vitro and ex vivo trials. The compensated end‐point accuracy during these trials is accomplished to within 0.5mm.

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Robust Adaptive Motion Tracking Control of Piezoelectric Actuation Systems for Micro/Nano Manipulation

Robust Adaptive Motion Tracking Control of Piezoelectric Act...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hwee Choo Liaw Bijan Shirinzadeh Julian Smith Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton VIC Australia Monash Medical Centre Department of Surgery Monash University Clayton VIC Australia

This paper presents a robust adaptive control methodology for piezoelectric actuation systems to track specified motion trajectories. This methodology is proposed to deal with the control problems of unknown or uncertain system parameters, nonlinearities including the hysteresis effect, and external disturbances in the piezoelectric actuation systems, without any form of feed-forward compensation. In this paper, a special class of positive definite functions is employed to formulate the control methodology such that the closed-loop system stability can be guaranteed. The control formulation as well as the stability analysis is detailed. Furthermore, an experimental investigation is also conducted. Implementation of the control methodology is practical as only a knowledge of the estimated system parameters is required. In the experimental study, a promising tracking ability in following a specified motion trajectory is demonstrated. With the capability of motion tracking under the aforementioned conditions, the robust adaptive control methodology is very attractive in realising high performance control applications in the field of micro/nano manipulation.

关键词： Robust control Programmable control Adaptive control Tracking Motion control Control systems Trajectory Nonlinear control systems Control nonlinearities Uncertain systems

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A design of real-timewireless sensor-based control system for pendulum-like systems

A design of real-timewireless sensor-based control system fo...

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SICE Annual Conference

作者： Kohei Yoshida Hiroo Hirahara Yuuki Kanemura Masaya Kinoshita Masami Iwase Shoshiro Hatakeyama Department of Computers and Systems Engineering Tokyo Denki University Saitama Japan Mitsubishi Company Limited Tokyo Japan Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

This paper is concerned with development of a wireless sensor system, which is small and compact enough to be installed to mobile robots such as a segway-type robot. The sensor system has gyro and acceleration sensors, and the noise reduction is important for improving the measurement accuracy. The transmission delay is also important factor to realize the real-time control. Filtering of noise-contaminated measurement signals, information loss and delay of wireless transmission are taken into account. To evaluate these consideration, the wireless sensor system is installed to a segway-type robot, and is utilized for the stabilizing control of the robot. The considerations are effective, and leads to the successful stabilizing control and the improvement of the control performance.

关键词： Control systems Sensor systems Wireless sensor networks Robot sensing systems Mobile robots Noise measurement Delay Accelerometers Acceleration Noise reduction

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Optimal area covering using genetic algorithms

Optimal area covering using genetic algorithms

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

作者： Paulo A. Jimenez Bijan Shirinzadeh Ann Nicholson Gursel Alici Robotics And Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton VIC Australia Information Technology Monash University Clayton VIC Australia School of Mechanical Materials and Mechatronic Engineering University of Wollongong Australia

Path planning problems involve computing or finding a collision free path between two positions. A special kind of path planning is complete coverage path planning, where a robot sweeps all area of free space in an environment. There are different methods to cover the complete area; however, they are not designed to optimize the process. This paper proposes a novel method of complete coverage path planning based on genetic algorithms. In order to check the viability of this approach the optimal path is tested in a virtual environment. The simulation results confirm the feasibility of this method.

关键词： Genetic algorithms Path planning Robot sensing systems Landmine detection mechatronics Neural networks Design optimization Laboratories Mechanical engineering Optimal control

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Experimental implementation and analysis of a DNA computing readout method based on real-time PCR with TaqMan probes

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Natural Computing 2007年第2期7卷 277-286页

作者： Zuwairie Ibrahim John A. Rose Akira Suyama Marzuki Khalid Department of Mechatronics and Robotics Faculty of Electrical Engineering Center for Artificial Intelligence and Robotics (CAIRO) Universiti Teknologi Malaysia Johor Darul Takzim Malaysia Institute of Information Communication Technology Ritsumeikan Asia Pacific University Oita Japan J.S.T.-CREST Kawaguchi Japan Department of Life Sciences and the Institute of Physics University of Tokyo Tokyo Japan

A new readout approach for the Hamiltonian Path Problem (HPP) in DNA computing based on the real-time polymerase chain reaction (PCR) is experimentally implemented and analyzed. Several types of fluorescent probes and detection mechanisms are currently employed in real-time PCR, including SYBR Green, molecular beacons, and hybridization probes. In this study, real-time amplification performed using the TaqMan probes is adopted, as the TaqMan detection mechanism can be exploited for the design and development of the proposed readout approach. Double-stranded DNA molecules of length 140 base-pairs are selected as the input molecules, which represent the solving path for an HPP instance. These input molecules are prepared via the self-assembly of 20-mer and 30-mer single-stranded DNAs, by parallel overlap assembly. The proposed readout approach consists of two steps: real-time amplification in vitro using TaqMan-based real-time PCR, followed by information processing in silico to assess the results of real-time amplification, which in turn, enables extraction of the Hamiltonian path. The performance of the proposed approach is compared with that of conventional graduated PCR. Experimental results establish the superior performance of the proposed approach, relative to graduated PCR, in terms of implementation time.

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