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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Bong-Huan Jun Jihong Lee Pan-Mook Lee Ocean Develop. System Division KRISO Korea Ocean Research and Development Institute Daejeon South Korea Department of Mechatronics Engineering Chungnam National University South Korea

In order to utilize hydrodynamic drag force on articulated robot moving in an underwater environment, a repetitive motion planning method subject to drag optimization is proposed. Repetitive trajectories, a preplanned periodic motion, are obtained from general polynomial trajectory planning method by connecting the end point of trajectory to start point by enforcing continuous motion. After drag torque is described in terms of joint angles and velocities, directional drag force in task space is derived, which is used as objective function to be optimized during a time period. The genetic algorithm (GA) is adopted to find optimal parameters composing the coefficients of polynomials. To verify the correctness of proposed method, periodic motion planning examples of simple two-link planner robot are presented in this paper.

关键词： Motion planning Robots Drag Trajectory Polynomials Hydrodynamics Optimization methods Joining processes Torque Genetic algorithms

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A study on the multi-carrier PWM methods for voltage balancing of flying capacitor in the flying capacitor multi-level inverter

A study on the multi-carrier PWM methods for voltage balanci...

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IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society

作者： Jin, Bum-Seung Lee, Won-Kyo Kim, Tae-Jin Kang, Dae-Wook Hyun, Dong-Seok Department of Electrical Engineering Hanyang University HaengDang-Dong Seongdong-Gu Seoul 133-791 Korea Republic of Power System Laboratory Korea Electric Power Research Institute Munji-dong Yusung-gu Daejeon 305-380 Korea Republic of Mechatronics Research Group I.A.R.L. KERI Sung-ju-dong Changwon Kyoungnam 641-120 Korea Republic of

ISBN: (纸本)0780392523

The voltage control of flying capacitor is very important for safe operation in flying capacitor multi-level inverter (FCMLI). The voltage unbalancing of flying capacitor causes serious problems in safety and reliability of system, and also limits FCMLI's applications. The voltage unbalancing is occurred due to the difference of each capacitors charging and discharging time applied to FCMLI. This paper investigates and analyzes multi-carrier PWM methods to solve capacitor voltage balancing problem. Among the various PWM methods for the FCMLI, the Phase-Shift PWM (PSPWM) method, the Modified Carrier-Redistribution PWM (MCRPWM) method and the Saw-Tooth-Rotation PWM (STRPWM) method are discussed and compared with respect to switching state, balancing voltage of capacitors and output waveform. Also, this paper considers the performance of PWM methods. These three PWM methods are analyzed in the flying capacitor three-level inverter. The results are shown through simulation and experiment. Finally, the harmonics about the output voltages of their methods are compared using the harmonic distortion factor (HDF). ©2005 IEEE.

关键词： Pulse width modulation

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A study on the multi-carrier PWM methods for voltage balancing of flying capacitor in the flying capacitor multi-level inverter

A study on the multi-carrier PWM methods for voltage balanci...

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Annual Conference of Industrial Electronics Society

作者： Bum-Seung Jin Won-Kyo Lee Tae-Jin Kim Dae-Wook Kang Dong-Seok Hyun Department of Electrical Engineering Hanyang University Seoul South Korea Power System Laboratory Korea and Electric Power Research Institute Daejeon South Korea Mechatronics Research Group KERI Kyungnam South Korea

The voltage control of flying capacitor is very important for safe operation in flying capacitor multi-level inverter (FCMLI). The voltage unbalancing of flying capacitor causes serious problems in safety and reliability of system, and also limits FCMLI's applications. The voltage unbalancing is occurred due to the difference of each capacitors charging and discharging time applied to FCMLI. This paper investigates and analyzes multi-carrier PWM methods to solve capacitor voltage balancing problem. Among the various PWM methods for the FCMLI, the phase-shift PWM (PSPWM) method, the modified carrier-redistribution PWM (MCRPWM) method and the saw-tooth-rotation PWM (STRPWM) method are discussed and compared with respect to switching state, balancing voltage of capacitors and output waveform. Also, this paper considers the performance of PWM methods. These three PWM methods are analyzed in the flying capacitor three-level inverter. The results are shown through simulation and experiment. Finally, the harmonics about the output voltages of their methods are compared using the harmonic distortion factor (HDF)

关键词： Pulse width modulation inverters Capacitors Pulse width modulation Voltage control Semiconductor diodes Switches Power system harmonics Harmonic distortion Topology Clamps

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Development of smart vehicles using a scaled mechatronic environment 3

Development of smart vehicles using a scaled mechatronic env...

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3rd IFAC Symposium on Mechatronic systems 2004

作者： Hilgert, Jens Bertram, Torsten Hiller, Manfred Institute of Mechatronics and System Dynamics Faculty of Engineering University Duisburg-Essen Germany Mechatronics Laboratory Faculty of Mechanical Engineering Ilmenau Technical University Germany

In the future "smart" passenger vehicles will provide additional functionality starting with driver assistance systems and ending up in completely autonomous driving systems. In the first case these systems will mainly ensure comfortable and pleasant autonomous drive along highways. In this paper an advanced method for the whole mechatronic development process of future autonomous vehicle systems is described. Due to the fact that the verification and validation of vehicle dynamics results for future automotive systems can be seen as major challenge within the development process special emphasis is given on this topic. Therefore the paper includes the use of scaled mock-ups (scaled vehicles) within the mechatronic development process in order to satisfy special needs within the experimental verification and validation of future autonomous driving systems. Copyright © IFAC Mechatronic systems, Sydney, Australia, 2004.

关键词： Automobile drivers

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Moving objects detection by imitating biologic vision based on fly's eyes

Moving objects detection by imitating biologic vision based ...

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Proceedings - 2004 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2004

作者： Yin, Jun Li, Dong-Guang Fang, Hui-Min Liu, Zhi-Feng School of Mechatronics Engineering Beijing Institute of Technology Beijing 100081 China Imitating the Fly's Vision System

ISBN: (纸本)0780386418

Nowadays, detection technology by bionic vision has great application potentials in both civil and military fields. This technology can develop brand-new technology approaches for the research of detection systems. On the bionic basis of fly's vision system, this paper discussed the correlation-based elementary motion detector, namely EMD, which was proposed by Reichardt. On the basis of single EMD model, the mathematical model of two-dimensional EMDs array is established. Then according to this mathematical model, the computer vision detection system is schemed out to detect moving objects. This system can watch bigger visual fields and get higher image resolution than ordinary monitor systems. For avoiding complicated computation, only one of two frames is processed. In summary, simulative experiments indicate that both the moving object in relatively ideal background without interfering and certain interfered background can be detected in real time. The feasibility of bionic model was fully demonstrated in the engineering application, and it laid a solid foundation for the future study of detection technology by imitating biologic vision. © 2004 IEEE.

关键词： Object recognition

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Development of Smart Vehicles Using a Scaled Mechatronic Environment

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IFAC Proceedings Volumes 2004年第14期37卷 85-90页

作者： Jens Hilgert Torsten Bertram Manfred Hiller Institute of Mechatronics and System Dynamics Faculty of Engineering University Duisburg-Essen Germany Mechatronics Laboratory Faculty of Mechanical Engineering Ilmenau Technical University Germany

In the future “smart” passenger vehicles will provide additional functionality starting with driver assistance systems and ending up in completely autonomous driving systems. In the first case these systems will mainly ensure comfortable and pleasant autonomous drive along highways. In this paper an advanced method for the whole mechatronic development process of future autonomous vehicle systems is described. Due to the fact that the verification and validation of vehicle dynamics results for future automotive systems can be seen as major challenge within the development process special emphasis is given on this topic. Therefore the paper includes the use of scaled mock-ups (scaled vehicles) within the mechatronic development process in order to satisfy special needs within the experimental verification and validation of future autonomous driving systems.

关键词： Mechatronic Development Autonomous Vehicles Similitude Analysis

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Vehicle Dynamics Observer for a Scaled Test Vehicle

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IFAC Proceedings Volumes 2004年第22期37卷 661-666页

作者： Jens Hilgert Torsten Bertram Manfred Hiller Institute of Mechatronics and System Dynamics Faculty of Engineering University Duisburg-Essen Lotharstr. 1 D-470S7 Duisburg Germany Mechatronics Laboratory Faculty of Mechanical Engineering Ilmenau Technical University Germany

The validation of vehicle dynamics results for future automotive systems, driver assistance systems up to autonomous driving systems, can be seen as major challenge within the development process. The main reasons are the high cost of driving tests and in conjunction with the increasing risk of damaging or destroying the test vehicle and the involved people depending on the the degree of autonomy. One possibility for avoiding these problems and simultaneously to ensure good experimental results lies in the use of scaled model vehicles. In this paper a method based on similitude analysl for validation of driving tests for future autonomous vehicle systems is introduced and vehicle dynamics observer for a scaled test vehicle are developed.

关键词： Vehicle Dynamics State Space Observer Autonomous Vehicles Similitude Analysis

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Development of an unwinding machine for a fine gold wire using relative motion control method

Development of an unwinding machine for a fine gold wire usi...

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Annual Conference of Industrial Electronics Society

作者： Sungkwun Kim Dong-Kwan Yi Kun-Ku Oh Mechatronics Engineering Department Korea Polytechnic University Gyeonggi South Korea Electricity Engineering Department Korea Polytechnic University Gyeonggi South Korea Center for Intellignet Mechatronics System Korea Polytechnic University Gyeonggi South Korea

ISBN: (纸本)0780387309

A new unwinding machine is developed for a fine gold wire used in wire bonding machine for semiconductor assembly process. The tension of the fine gold wire should be kept constantly to avoid or reduce wire disconnection during the operation. A new relative motion control methodology of a following system to an independent leading system is applied to this machine to control the tension of the line. The unwinding machine developed in this research controls the tension of 2/spl plusmn/0.1 g during unwinding the wire for a winding machine. The experimental results show the unwinding machine follows the independent motion of the winding machine keeping the tension requirement of 2/spl plusmn/0.1 g.

关键词： Gold Motion control Machine windings Control systems Error correction Error compensation mechatronics Bonding Wire drawing Assembly systems

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Study to secure reliability of measurement data through application of game theory

Study to secure reliability of measurement data through appl...

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30th EUROMICRO Conference, EUROMICRO 2004

作者： Ko, Sang-Pok Sung, Hak-Kyung Lee, Kyung-Whan Institute of Intelligent System Mechatronics Center Samsung Electronics Co. Ltd 416 Maetan-3Dong Suwon City Gyeonggi-Do Korea Republic of Dept. of Computer Science and Engineering Chung-Ang University 221 HukSuk-Dong DongJak-Ku Seoul Korea Republic of

ISBN: (纸本)0769521991

Recently, many corporations have applied CMM, SPICE or other software process maturity models to developing software products. These models are recommended to change from qualitative process management to quantitative management as they reach a certain level of maturity. Quantitative process management is possible only when reliable data exist. If quantitative process management are conducted when data's reliability are not ensured, adverse effects can be caused by the false management activities. That is why so many methods have been studied to analyze reliability of collected data. Most of them, however, are analysis methods for already collected data. Therefore, if the analysis finds that the existing data are not reliable, the data should be abandoned and new data be collected again, causing need to consume much time and effort. Therefore, as a way to secure reliability of data to be used for quantitative process management when they are input in the first place, this paper suggests a method applying the second level meta game of non-cooperative, bimatrix games to collecting data for quantitative measurement.

关键词： Game theory

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Fuzzy Based Auto-coagulation Control Through Photometric Dispersion Analyzer

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Journal of Harbin Institute of Technology(New Series) 2004年第2期11卷 164-167页

作者：白桦李圭白 School of Environmental Engineering Tongji UniversityShanghai 200092 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150006 China 3. School of Municipal and Environmental Engineering Harbin Institute of Technology Harbin 150090 Chinahe main role of water treatment plants is to supply high-quality safe drinking water. Coagulation is one of the most important stages of surface water treatment. The photometric dispersion analyzer(PDA) is a new optical method for flocculation monitoring and is feasible to realize coagulation feedback control. The on line modification of the coagulation control system's set point(or optimum dosing coagulant) has influenced the application of this technology in water treatment plant for a long time. A fuzzy control system incorporating the photometric dispersion analyzer was utilized in this coagulation control system. Proposed is a fuzzy logic inference control system by using Takagi and Sugeno's fuzzy if-then rule for the self-correction of set point on line. Programmed is the dosing rate fuzzy control system in SIEMENS small-scale programmable logic controller. A 400 L/min middle-scale water treatment plant was utilized to simulate the reaction. With the changes of raw water qualitythe set point was modified correctly in time as well as coagulant dosing rate and residual turbility before filtration was eligible and stable. Results show that this fuzzy inference and control system performs well on the coagulation control system through PDA.

The main role of water treatment plants is to supply high-quality safe drinking water. Coagulation is one of the most important stages of surface water treatment. The photometric dispersion analyzer(PDA) is a new optical method for flocculation monitoring, and is feasible to realize coagulation feedback control. The on line modification of the coagulation control system' s set point( or optimum dosing coagulant) has influenced the application of this technology in water treatment plant for a long time. A fuzzy control system incorporating the photometric dispersion analyzer was utilized in this coagulation control system. Proposed is a fuzzy logic inference control system by using Takagi and Sugeno' s fuzzy if-then rule for the self-correction of set point on line. Programmed is the dosing rate fuzzy control system in SIEMENS small-scale programmable logic controller. A 400 L/min middle-scale water treatment plant was utilized to simulate the reaction. With the changes of raw water quality, the set point was modified correctly in time, as well as coagulant dosing rate, and residual turbility before filtration was eligible and stable. Results show that this fuzzy inference and control system performs well on the coagulation control system through PDA.

关键词： coagulation dosing rate control photometric dispersion analyzer fuzzy control fuzzy logic inference optimum water treatment

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