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International Conference on Computer and Communication engineering, ICCCE

作者： Mahmud Iwan Solihin Wahyudi M.A.S. Kamal Ari Legowo International Islamic University Malaysia Kuala Lumpur Wilayah Persekutuan MY Intelligent Mechatronics System Research Laboratory Department of Mechatronics Engineering International Islamic University Malaysia Kuala Lumpur Malaysia

Gantry cranes are widely used in various applications to transfer a payload from one position to desired position. Gantry crane system is an underactuated system where the number of inputs is less than the number of outputs. When the input signal is given to the actuator, the trolley starts to accelerate whilst causing a swing of payload hanging on a flexible cable. Many researchers have proposed anti-swing controls of gantry crane using PID+PD structure where PID controller is used for trolley positioning control and PD controller is used to dampen the swing oscillation. This is because of the simplicity of PID control structure. Some have combined intelligent methods such as fuzzy and neural networks to improve the performance of the proposed PID control structure. This paper discusses GA-based PID+PD controller tuning for automatic gantry crane system. The discussion is emphasized on the selection of the objective function since the objective function is the key to use the GA (genetic algorithm). The optimized PID gains would be mainly due to the appropriate objective/fitness function. The simulation results show that a good anti-swing control performance can be obtained from the proposed objective function.

关键词： Three-term control Automatic control Cranes Payloads Actuators Acceleration PD control Intelligent networks Intelligent structures Fuzzy control

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A micromirror scanner with vertical combs tilted by assembly process

A micromirror scanner with vertical combs tilted by assembly...

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IEEE/LEOS International Conference on Optical MEMS

作者： Min-Ho Jun Sungsik Yun Man Geun Kim Sung-Kil Lee Jong-Hyun Lee School of Information and Mechatronics MEMS Laboratory USA School of Medical System Engineering Gwangju Institute of Science and Technology Gwangju South Korea

We have developed a simple assembly technology to realize the tilted vertical combs for electrostatic micromirror scanners. The in-plane vertical comb electrodes are easily transformed into out-of-plane tilted comb by asymmetrical pushing down the levers of the spring that is attached to the micro mirror. The fabricated mirror scanner showed the optical scan angle of up to 1.3deg at 60 V and the resonant frequency of 3.15 kHz.

关键词： Mirrors Assembly Fabrication Silicon Optical device fabrication Resonant frequency Optical imaging

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Damping parameters measurement and preisach modeling of extra vehicular activity glove based on exoskeleton mechanism

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Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University 2008年第7期42卷 891-894+899页

作者： Fang, Honggen Shi, Shicai Liu, Hong Li, Tanqiu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany Institute of Space Medicine and Medical Engineering Beijing 100094 China

By combination of parallelogram link and gear, a new type of exoskeleton mechanism is developed. As placed on the back of extra vehicular activity (EVA) glove in an external way, this mechanism is able to drive the EVA glove finger to extent or flex like human finger grasp *** force sensor located at the tip of exoskeleton mechanism measures the EVA glove damping force during flexion or extension. The force reaches even to 10 N and the hysteresis of the force approaches to 31%.To predict the force which corresponds to an angular displacement of EVA glove and simulate the human factors performance metrics of extra vehicular activity, an unified Preisach numerical calculating strategy is presented by recording the number of vertices of the interface line in discrete Preisach plane and getting a series of first order reversal curves. A distance-weighted interpolation is chosen to evaluate at the points belonging to the Preisach plane except the discrete grid points. The proposed method is validated by the experiments.

关键词： Damping

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Generation of space grid map by 3D detection of obstacle distribution

Generation of space grid map by 3D detection of obstacle dis...

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International Conference on Control, Automation and systems ( ICCAS)

作者： Myoung-Jong Yoon Gu-Young Jeong Kee-Ho Yu Department of Mechatronics Engineering Chonbuk National University of Korea Jeonju South Korea Division of Mechanical and AeroSpace system Engineering Chonbuk National University of Korea Jeonju South Korea

In walking guide robot, a guide vehicle detects an obstacle distribution in walking space using range sensors, and generates a space grid map to mapping the obstacle information and the tactile display. And the obstacle information is transferred to a blind pedestrian using tactile feedback. Based on the obstacle information a user plans walking route and controls the guide vehicle. The algorithm of 3-D obstacle detection and the method of mapping the generated obstacle map and the tactile display device are proposed in this paper. The experiment for the 3-D detection of the obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors (SRF05, Devantech Co. Ltd.) and control system (PCI-6221 DAQ board & LabVIEW, National Instruments Co.). In the experiment, the detection of fixed obstacles on the ground and the detection of down step are performed. The performance for the 3D detection of obstacle distribution and mapping space is verified through the experiment.

关键词： Mesh generation Legged locomotion Vehicle detection Displays Robot sensing systems Orbital robotics Space vehicles Tactile sensors Feedback Gas detectors

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The Ground-based Validation Technology of Teleoperation for Space Robot

The Ground-based Validation Technology of Teleoperation for ...

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IEEE Conference on Robotics, Automation and mechatronics

作者： Xueqian Wang Bin Liang Cheng Li Wenfu Xu Division of Control and Mechatronics Engineering Harbin Institute of Technology Shenzhen Guangdong China The Institute of Space Intelligent System Harbin Institute of Technology Harbin Heilongjiang China

This paper addresses a ground-based validation subsystem which verifies the functions and performance of the teleoperation system for space robot. The subsystem is comprised of three modules: the physics verification module, the onboard verification module and the communication simulator module. In the physics verification module, a hybrid experiment concept which combines the mathematical model with the physical model is used. The key issues of the physics verification module are dynamic emulation and kinematic equivalence, in which the behaviors of the space robotic system are calculated by its dynamic equations. The motion of its end-effector and the space target is realized by two industrial robots. The concept of hardware-in-the-loop simulation is used in the onboard verification module to verify the onboard computer's processing ability. The communication simulator can provide fidelity communication conditions which consist of time delays and communication bandwidth. Lastly, a teleoperation system is set up, and many experiments have been done on the system. The experiments verified the effectiveness of the work in the paper.

关键词： Space technology Orbital robotics Physics Mathematical model Service robots Computational modeling Emulation Kinematics Equations Aerospace industry

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Multiple Sliding Surface Control of Idle Engine Speed and Torque Reserve with Load Torque Estimation

Multiple Sliding Surface Control of Idle Engine Speed and To...

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2008 International Workshop on Variable Structure systems

作者： Benedikt Alt Ferdinand Svaricek Jan Peter Blath Matthias Schultalbers University of the German Armed Forces Department of Aeronautical Engineering Institute of System Dynamics and Flight Mechanics Neubiberg Germany Department of Powertrain Mechatronics Development Gasoline Engines IAV GmbH Gifhorn Germany

A novel controller based on multiple sliding surface control is adopted to automotive engine control at idle condition. The control task is to maintain the engine speed and the torque reserve at their reference values despite parameter uncertainties and variations in the intake-to-torque-production delay. Additionally, a disturbance estimator is applied to reconstruct unknown load torque disturbances based on measurements of the engine speed. A validated nonlinear simulation model is used to evaluate the performance of the closed-loop system and it is shown that the system is robust with respect to the mentioned uncertainties and disturbances.

关键词： Torque control Engines Surface reconstruction Automotive engineering Sliding mode control Uncertain systems Delay Torque measurement Velocity measurement Robustness

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A way of Chinese Question Analysis and its’ implement

A way of Chinese Question Analysis and its’ implement

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World Congress on Intelligent Control and Automation (WCICA)

作者： Chaotao Liu Zushu Li Institute of Intelligent Automation Chongqing University Chongqing China School of Mechatronics and Automotive Engineering Chongqing Jiaotong University Chongqing China Institute of Artificial Intelligence System Chongqing Institute of Technology Chongqing China

Question analysis is the primary task of question answering system. Performing Interrogative phrase classification based on the chinese interrogative phrases and their usages before parsing words can reduce the influence of the parsing errors to question analysis. Standard question notation (SQN), which composed of question classes denotation and keywords denotation, was put forward to describe a concrete question sentence, which can make the question analysis more simply. All of the process of the question analysis was described as follow: identifies the IPC, parses words, identifies the question class and gets the SQN based on the sentencepsilas IPC and matching the sentence styles, acquires the answer patterns and rewritten sentences of questions based on SQN. The result of experiments shows that the question analysis implemented by this way is effective.

关键词： Artificial intelligence Computational linguistics Pattern matching Automation Web search Computational modeling Speech

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Implementation of the Machine Vision system of Inspecting Nozzle

Implementation of the Machine Vision System of Inspecting No...

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International Conference on Convergence Information Technology

作者： Wonho Lee Chunkee Jeon Chijung Hwang Department of Computer Information System Kyonggi Institute of Technology South Korea Department of Mechatronics Kyonggi Institute of Technology South Korea Department of Computer Science and Engineering National University ChungNam South Korea

In this paper, we implemented machine vision system of inspecting nozzle to be used a part of SMD equipment. To inspect nozzle, the grey image is converted to binary image using bimodal technique. Its system first remove noise using morphological operation such as opening and closing, and then extract feature using template matching technique to identify type of nozzle. Finally, its system extract another feature to calculate the size of region of interest using projection technique. A projection is the sum of the run-lengths of 1s along a straight line oriented at angle, which is useful in shape analysis as well as image segmentation. We implemented its system and obtained satisfied results.

关键词： Machine vision Inspection Computer vision Feature extraction Image processing Image converters Morphological operations Shape Image analysis Image segmentation

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A small segmented oscillating water column using a savonius rotor turbine

A small segmented oscillating water column using a savonius ...

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IEEE International Conference on Sustainable Energy Technologies, ICSET

作者： Chi-Chien Lin David G. Dorrell Min-Fu Hsieh Research Center of Ocean Environment and Technology Department of System and Navel Mechatronic Engineering National Cheng Kung University Tainan Taiwan Mechatronics and Intelligent Systems Group University of Technology Sydney NSW Australia

This paper outlines a project which addresses the use of a small segmented oscillating water column with three sections. The turbine utilises cascaded Savonius rotors (one for each section) and this system is developed and tested for validation of the performance algorithms. It is shown that the systems can be easily described and a system developed that can generate. It would be suitable for a shoreline location such as a harbour wall, where waves are random and not orthogonal to the column. Conversion rates in the region of 20 % are tabulated for the system with an output of 25 W peak. The paper will give a full algorithm for the system while the digest outlines some crucial points with regards to the sizing and operation of the column with respect to the wave frequency and wavelength. The turbine is fully characterized - the generator is a brushless permanent magnet machine connected to a diode bridge rectifier and variable load.

关键词： Turbines Rotors Magnetic analysis system testing Frequency Character generation Permanent magnet machines Diodes Bridges Rectifiers

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Nano-Thermal Interface Material with CNT Nano-Particles For Heat Dissipation Application

Nano-Thermal Interface Material with CNT Nano-Particles For ...

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2008 International Conference on Electronic Packaging Technology & High Density Packaging (ICEPT-HDP 2008), vol.2

作者： Li Xu Cong Yue Johan Liu Yan Zhang Xiu Zhen Lu Zhaonian Cheng Key Laboratory of Advanced Display and System Applications Ministry of Education & SMIT Center School of Mechatronics Engineering and Automation Shanghai University Shanghai China SMIT Center & Bionano Systems Laboratory Department of Microtechnology and Nanoscience Chalmers University of Technology Gothenburg Sweden

Heat dissipation of electronic packages has become one of the limiting factors to miniaturization. The removal of the heat generated is a critical issue in electronic packaging. With the development of thermal management, thermal interface material (TIM) plays a more and more important role in electronics packaging. A new nano-TIM with nanofibers prepared by using electrospinning has been suggested in recent years. In this experiment study, the carbon nanotube (CNT) nano-particles were added into the polymer solution before the electrospinning to improve the thermal conductivity of nano-TIM. The polymer solution of polyurethane was used for present electrospinning. The effects of a number of process parameters in the electrospinning were studied in this work. Different variables such as the distance between needle tip and collector, the voltage applied, and CNT nano-particles content were studied. The Scanning Electron Microscopy (SEM) was used to characterize nano-TIMs with CNT nano-particles.

关键词： Materials Polymers Distance measurement Needles Scanning electron microscopy Heat sinks Electronics packaging

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