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IEEE Conference on Control Technology and Applications (CCTA)

作者： Masami Iwase Satoru Katohno Teruyoshi Sadahiro Department of Robotics and Mechatronics Tokyo Denki University Chiyoda Tokyo Japan Department of Computers and Systems Engineering Tokyo Denki University Saitama Japan

This paper presents a stabilizing control for linear systems with low resolution sensors. The quantization error in low resolution sensors cannot be neglect, and then a stabilizer should take the error into account. The stabilizer may be realized as an event-based controller because measurement is performed when low resolution sensors output quantized values. The measurement output may be a constant value when the ideal output of the plant is within a quantization width. Therefore it is difficult to design a controller and estimator of the systems according to ordinary linear control system designs in the use of the measurement output. This paper proposes a simple controller designed which is based on the generalized holder concept to overcome this problem. The generalized holder consists of a dynamic holder and corrector, and this paper also presents the separation theorem about the pole assignments of both dynamic holder and corrector in our case.

关键词： Control systems Linear systems Sensor systems Robust stability Robust control Robustness Performance analysis Polynomials Uncertainty Helicopters

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A consideration of human-unicycle model for unicycle operation analysis based on moment balancing point

A consideration of human-unicycle model for unicycle operati...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Hiroshi Ohsaki Masami Iwase Teruyoshi Sadahiro Shoshiro Hatakeyama Department of Computers and System Engineering Tokyo Denki University Chiyoda Tokyo Japan Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

The unicycle operation is a good exercise for training of the sense of balance, the agility and the ability to coordinate the body according to situations. This paper aims to give an interpretation of the relationship between the moment balancing point (MBP) and the center of pressure (CP) in a riding a unicycle from the human motion viewpoint. This paper shows derivations of Human-Unicycle model motion equations according to the Projection Method, and represents the relationship between the MBP and the CP of the the model by considering structure and constraint reaction forces of the model.

关键词： Biological system modeling Feedback Control system synthesis Humans Educational institutions Vehicle dynamics Visualization Cybernetics USA Councils Systems engineering and theory

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The direct teaching and playback method for robotic deburring system using the adaptiveforce-control

The direct teaching and playback method for robotic deburrin...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： SeungHoon Lee ChengJie Li DongHyung Kim JinHo Kyung ChangSoo Han CIM & Robotics Laboratory Department of Mechanical Engineering Hanyang University Seoul South Korea CIM & Robotics Laboratory Department of Mechatronics Engineering Hanyang University Seoul South Korea Department of Robotics & Intelligent Machinery Korea Institute Machinery and Materials Daejeon South Korea CIM & Robotics Laboratory Department of Mechanical and Information Management Engineering Hanyang University Ansan South Korea

Industrial robots are widely used and should be able to easily treat various work pieces. Therefore, a teaching and playback method is effective in small-quantity batch production. This paper suggests the mathematical modeling of the robotic deburring system, a complex target workpiece, and an uneven environment. First, a method is proposed that simplifies the teaching path for automated robotic deburring for efficient teaching, to generate a feasible trajectory that traces out a playback reference, and then an artificial disturbance on its playback motion is set. The recorded path is compressed using the Douglas-Peuker (DP) algorithm, which is for smoothing curves. Next, the simulation results based on the realization algorithm for effective direct teaching are introduced. Through this process, fundamental dynamic parameters are estimated and the adaptive force control strategies that were implemented in the simulation are verified.

关键词： Education Educational robots Deburring Service robots robotics and automation Production Mathematical model Smoothing methods Parameter estimation Programmable control

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Fuzzy control for shape memory alloy tendon-actuated robotic structure

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Lecture Notes in Electrical engineering 2009年 11卷 425-438页

作者： Bizdoaca, N.G. Petrisor, A. BîzdoacǍ, E. Diaconu, I. Department of Mechatronics University of Craiova Blvd. Decebal 107 Romania Department of Engineering in Electromechanics Environment and Industrial Informatics University of Craiova Blvd. Decebal 107 Romania Research Center of Mechatronics and Robotics Blvd. Decebal 107 Romania

ISBN: (纸本)9780387764825

Shape memory alloy offers an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal-type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model are required. Due to a particular possibility of SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. For an efficient study, a Simulink block set was developed (block for user configurable shape memory alloy material, configurable block for dynamics of single-link robotic structure, block for user configurable wire/tendon actuation). As conventional control possibilities were explored, the fuzzy control structure applied in this chapter. offers an improved response. A more compact SMA actuation is proposed and experimented. The results are commented. © 2009 Springer Science+Business Media LLC.

关键词： Tendons

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Stabilizing control for Furuta Pendulum systems with low resolution sensors

Stabilizing control for Furuta Pendulum systems with low res...

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Asian Control Conference

作者： Satoru Katohno Masami Iwase Hiroshi Kogure Department of Computers and Systems Engineering Tokyo Denki University Hiki Saitama Japan Department of Robotics and Mechatronics Tokyo Denki University Chiyoda Tokyo Japan

ISBN: (纸本)9781424454402

关键词： Control systems Sensor systems Quantization Feedback Linear systems Control theory Digital control Biological control systems Control design Stability analysis

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Estimating the position of parts of an automobile cowl cross bar assembly using CCD camera

Estimating the position of parts of an automobile cowl cross...

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International Symposium on Optomechatronic Technologies, ISOT

作者： Yong-Soo Jang Soon-Geul Lee Dong-Hyuk Cha Jeonil Moon Department of Mechanical Engineering Kyung Hee University Yongin si South Korea Department of Mechatronics Engineering Korea Polytechnic University Sihung South Korea Department of Robotics Engineering Hoseo University Asan South Korea

This paper realized an inspection system of the cowl cross assembly which is an automotive part using single CCD camera. Edge is extracted by Sobel operator after improving image quality with homomorphic filter. The unnecessary segments and the unnecessary edge elements are removed from the obtained edge image by labeling. The accurate center of the merged segment can be estimated using RHT (Randomized Hough Transform). Existence of defect can be decided by comparing the CAD information of the cowl cross assembly with the estimated center position. Efficiency of the proposed method was proven by accurate inspection result for various target images at the poor environment such as the real industrial field.

关键词： Automobiles Charge coupled devices Charge-coupled image sensors Inspection Image segmentation Assembly systems Automotive engineering Image quality Filters Labeling

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Experimental study on dynamic reactionless motions with DLR's humanoid robot Justin

Experimental study on dynamic reactionless motions with DLR'...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thomas Wimböck Dragomir Nenchev Alin Albu-Schäffer Gerd Hirzinger DLR German AeroSpace Center Institute of Robotics and Mechatronics Wessling Germany Department of Mechanical Systems Engineering Tokyo City University of Japan Setagaya Tokyo Japan

The capabilities of DLR's multi-DOF humanoid robot Justin are extended with the help of a dynamic torque control component for base reaction minimization. Since the mobile base of the robot comprises springs, reactions induced by arm/torso motions lead to vibrations and deteriorate the performance. The control component is derived from the equation of motion of the robot, represented as an underactuated system, and partitioned into a ¿driven¿ subsystem (one of the arms), and a ¿compensating¿ subsystem (the other arm, with or w/o torso contribution). The control component is then embedded into the existing sophisticated controller structure of Justin, as a feedforward component, with additional control signals from an augmented PD feedback controller. It was possible to obtain satisfactory performance with a very ¿soft¿ compensatory subsystem. The experimental results confirmed the potential of this model-based approach for use in a complex multi-DOF system. As far as we know, this is the first time that a dynamic-coupling compensating controller is applied to a real system of such complexity, utilizing thereby a torque control interface.

关键词： Humanoid robots Torque control Torso Control systems Mobile robots Springs Motion control Equations Manipulators PD control

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Optimal design of vibration power generator for low frequency

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作者： Hadas, Zdenek Singule, Vladislav Ondrusek, Cestmir Institute of Solid Mechanics Mechatronics and Biomechanics Faculty of Mechanical Engineering Brno University of Technology Technicka 2 616 69 Brno Czech Republic Institute of Production Machines Systems and Robotics Faculty of Mechanical Engineering Brno University of Technology Technicka 2 616 69 Brno Czech Republic Department of Power Electrical and Electronic Engineering Faculty of Electrical Engineering and Communication Brno University of Technology Technicka 8 61669 Brno Czech Republic

ISBN: (纸本)3908451655

This paper deals with an optimal design of an electromagnetic energy harvesting generator for supplying wireless sensors with energy. The developed device is complex mechatronic system which generates an electrical power from an ambient low frequency mechanical vibration by use of a suitable electromagnetic generator. This device is excited by ambient mechanical vibration and electrical energy is harvested due to Faraday's law. The design of this vibration power generator results from development cycles and the final generator can provide sufficient electrical energy for wireless sensors. The vibration power generator is tuned up to frequency of vibration 17 Hz and harvested output power depends non-linearly on level of vibration. The vibration power generator operates in level of vibration 0.1 - 1 G peak and output power is in range 2 - 25 mW. © (2009) Trans Tech Publications.

关键词： Energy harvesting

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Real-time face detection for human robot interaction

Real-time face detection for human robot interaction

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Yaozhang Pan Shuzhi Sam Ge Hongsheng He Lei Chen Social Robotics Lab Interactive and Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore Department of Cogno Mechatronics Engineering Graduate School Pusan National University South Korea

Face detection plays an important role in developing human-robot interaction (HRI) for social robots to recognize people. In this paper, we introduce an intelligent vision system that is able to detect human face from background and filter out all the non-face but face-like images. The human face is detected using Ada boost-based Haar-Cascade classifier and the real human face detection is improved using extreme learning machine (ELM). The proposed robot vision system for human detection is tested through realtime experiments.

关键词： Face detection Human robot interaction Face recognition Intelligent systems Intelligent robots Learning systems Machine vision Filters Machine learning Robot vision systems

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Realization of the action-oriented education approach by programming a microcontroller steered mobile robot

Realization of the action-oriented education approach by pro...

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XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Dusko Lukac Lejla Banjanovic-Mehmedovic Department of Robotics and Mechatronics Rheinische Fachhochschule Köln gGmbH University of Applied Sciences Cologne Germany Department of Automation Faculty of Electrical Engineering University of Tuzla Tuzla Bosnia and Herzegovina

Focus of this paper is on the development of the action-oriented education approach. Results from secondary data analysis and different empirical studies indicate that for the different levels of education (for example, tertiary practical education as well as operational professional training), enterprises and educational experts expect more competence extension in the future. The concept of action-oriented education which includes informing-process, planning, decision-making, evaluation, examination and achievement should lead the trainee to the development of their own key qualifications, predominantly their own methods and social competence to meet requirements. The concept of action-oriented education is explained by using learning purpose formulation related to the example of the assembly and programming of the microcontroller steered mobile robot. In this context, the role of the trainer is explained, who should be a moderator during his/her instructor's activity in order to increasingly advance the trainees learning and to qualify them in single handed project work and also in groups.

关键词： Educational programs Programming profession Robot programming Microcontrollers Mobile robots Data analysis Meeting planning Decision making Qualifications Robotic assembly

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