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Development of a Mechatronic Adaptive Belt Force Control from the Aspect of Safety and Comfort

IFAC Proceedings Volumes 2002年第2期35卷 395-400页

作者： Carsten Hass Torsten Bertram Institute of Mechatronics and System Dynamics Faculty of Engineering Gerhard Mercator University of Duisburg Lotharstr. 1 D-47057 Duisburg Germany Phone (+49) (0)203 / 379-2199 Fax (+49) (0)203 / 379-4143 Mechatronics Laboratory Faculty of Mechanical Engineering Ilmenau Technical University Max-Planck-Ring 12 D-98693 Ilmenau Germany

Reversible adaptive safety systems will become much more important with the implementation of an extensive pre crash sensing. With early detection of critical driving situations it will be possible to reduce, for instance, belt slack with the belt pretensioner. Furthermore, the prevention of Out Of Position (OOP) situations will be possible by “pulling“ the passengers out of the danger zones of the airbags with an active belt system. The usual belt force limitation used up until now can be extended in the direction of a passenger specific belt force control. This means pretensioning and limiting the belt force depending on specific passenger data, such as weight. In this paper a MADYMO vehicle model with an occupant and a finite element modelled belt system will be presented. The mechatronic belt system is equipped with an actuator and sensors measuring the current belt force. Using the measured belt force an adaptive command variable can be calculated. The actuator applies the force to the belt system. The simulation results show the reduction in occupant injuries. Furthermore modelling extensions and possible fields of application are shown in this paper.

关键词： Out Of Position Mechatronic Belt Pretensioner Reversible Restraint systems Adaptive Belt Force Control

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A new kind of singularity in redundant manipulation: semi algorithmic singularity

A new kind of singularity in redundant manipulation: semi al...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Ki-Cheol Park Pyung-Hun Chang Sukhan Lee Institute of Intelligent System Mechatronics Center Samsung Electronics Company Limited Suwon Kyunggi South Korea Department of Mechanical Engineering KAIST South Korea Samsung Advanced Institute of Technology Kiheung Kyunggi South Korea

Reports the discovery of a new type of singularity that is as significant as other singularities like kinematic singularity, algorithmic singularity, and semi-singularity. This singularity, named semi algorithmic singularity (SAS), occurs when a redundant manipulator, faced with inequality constraints arising from kinematic limits such as joint angle limits and obstacles, proceeds to conduct optimization of a performance measure. Through mathematical analysis, we have proved its existence and proposed an analytic matrix function to identify its presence. In conjunction, we have exposed its relationship with the other singularities above. More specifically, SAS is similar to the algorithmic singularity in that it is an artificial singularity coming from an endeavor for performance optimization. They are different in that the former occurs in one direction in the C-space, whereas the latter occurs bidirectionally. Besides, we have also found an analogy in the real singularities that while the semi-singularity is unidirectional in the workspace, the kinematic singularity is bi-directional. Through a simulation for a three DOF planar manipulator we have visualized the existence of SAS and its relationship with the other singularities.

关键词： Kinematics Synthetic aperture sonar Power generation Intelligent systems mechatronics Mechanical engineering Mathematical analysis Linear matrix inequalities Transmission line matrix methods Bidirectional control

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Design guidelines for disturbance observer's filter in discrete time

Design guidelines for disturbance observer's filter in discr...

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International Workshop on Advanced Motion Control (AMC)

作者： I. Godler H. Honda K. Ohnishi Faculty of Environmental Eng. Information and Media Sciences University of Kitakyushu Kitakyushu Japan Corporate R&D Center Mechatronics R&D Department Yaskawa Electric Corporation Kitakyushu Japan Faculty of Science and Eng. System Design Engineering Department Keio University Yokohama Japan

Control by using a disturbance observer is one of the widely recognized servomotor robust control techniques. It is generally known that higher robustness is achieved by higher bandwidth of the low-pass filter, which is used in the disturbance observer. However, control engineers in practice face problems with realization of the high bandwidth filter. It was considered that the high frequency noise, which is amplified by the time derivative in the observer, causes instability. However, in our paper we show that the vibration and instability of the control system are rather caused by inappropriate sampling time than by the generated noise. We study both the low pass filter and the disturbance observer in discrete time, and give the guidelines to set the filter's cut-off frequency, nominal parameters of the observer, and gain of the speed loop controller, all in relation to the sampling time, to achieve stable and nonvibrational response. Results are verified by simulation and experiments.

关键词： Guidelines Low pass filters Bandwidth Sampling methods Servomotors Robust control Noise robustness Frequency Vibration control Control systems

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High-speed wall following and obstacle avoidance of wheeled mobile robots using hybrid behavior specifications

High-speed wall following and obstacle avoidance of wheeled ...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation

作者： Lim, MS Lim, JH Oh, SR Dept. of Mechatronics Kyonggi Institute of Technology South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea Dept. of Electronic Engineering Hanyang University South Korea

ISBN: (纸本)0780372034

In this paper, we propose a new approach to the high-speed wall following of wheeled mobile robots using hybrid control system. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The reference motion commands are translated into the control inputs for each wheel in the continuous state system. The hybrid control system applied for wheeled mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation. In the experiments of the indoor environments, we proved that the performance of the high-speed navigation is excellent.

关键词： Mobile robots

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High Speed Indoor Navigation of Mobile Robots Using Hybrid Dynamic Control Approach

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IFAC Proceedings Volumes 2001年第4期34卷 257-262页

作者： Mee-Seub Lim Sang-Rok Oh Joonhong Lim Dept. of Mechatronics Kyonggi Institute of Technology Intelligent System Control Research Center Korea Institute of Science and Technology Department of Electronic Engineering Hanyang University

In this paper, we propose a new approach to the high-speed navigation of the indoor environments for wheeled mobile robots using hybrid dynamic control approach. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the di crete states are defined by the user-defined constraints and the abstracted motions specify the reference motion commands of mobile robots. The experimental results show that hybrid system approach is an effective method for the autonomous navigation and highspeed maneuvering.

关键词： Mobile Robot High-Speed Indoor Navigation Hybrid Dynamic Control

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Velocity workspace analysis for multi-legged walking robots

Velocity workspace analysis for multi-legged walking robots

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

作者： Jihong Lee Insik Kim Bong-Hwan Jeon Department of Mechatronics Engineering Chungnam National University Daejeon South Korea Department of Ocean Development System KFUSO Daejeon South Korea

ISBN: (纸本)0780367367

In this paper, the analysis of manipulability of multi-legged robotic systems under hard-foot-condition is made. Given bounds on the capabilities of joint actuators of each legs, the purpose of this study is to derive the bounds for body moving velocity achievable by the system. The velocity workspace of robot system is represented as a polytope which is derived from the joint velocity limits through Jacobian matrices of each robot. This concept of manipulability for multiple cooperating robots is transformed into moving velocity analysis of multi-legged walking robots through the so-called reaction velocity. To validate the proposed concept, application examples are presented including continuous walking gaits as well as several different stationary posture of legged walking robots.

关键词： Legged locomotion Robot kinematics Orbital robotics Leg Foot Jacobian matrices Mobile robots mechatronics Oceans Electronic mail

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UML Metamodel Extensions for Specifying Functional Requirements of Mechatronic Components in Vehicles

UML Metamodel Extensions for Specifying Functional Requireme...

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2001 Object-Oriented Modeling of Embedded Real-Time systems, GI-Workshops OMER-1 and OMER-2, OMER 2001

作者： Petersen, Jörg Bertram, Torsten Lapp, Andreas Knorr, Kathrin Flores, Pio Torre Schirmer, Jürgen Kraft, Dieter Hermsen, Wolfgang Gerhard-Mercator-University Institute of Information Technology Duisburg47048 Germany Gerhard-Mercator-University Institute of Mechatronics and System Dynamics Duisburg47048 Germany Robert Bosch GmbH FV/SLN Stuttgart70442 Germany ASSET Automotive Systems and Engineering Technology GmbH SF/EAS1 Stuttgart70442 Germany

Increasing demands concerning safety, economic impact, fuel consumption and comfort result in a growing utilisation of mechatronic components and networking of up to now widely independent systems in vehicles. The development of networked electronic control units (ECU) as the most frequent mechatronic applications contains three core aspects: the development of the (control) functions itself, and their realisation in hardware and software as embedded systems. A co-ordinated, systematic and concurrent function, hardware and software development process including co-engineering and simulation environments requires a detailed specification in early development phases and a formalised description to improve the clearness of these specifications, decrease contradictions and increase information density. The Unified Modeling Language (UML) offers such a formalised description facility. A UML metamodel will be presented used for a mapping of automotive domain specific functional models onto UML models including constraints formalised by Object Constraint Language (OCL) expressions. The model also comprises the specification of functional interfaces together with a hierarchical decomposition of the system. The UML automotive domain models are basis for the system design and architecture and support aspects like re-use, exchangeability, scalability and distributed development. Particular importance is attached to the implementation of the UML model in a commercial tool together with a prototype checker of OCL expressions realised in Java. © 2001 Gesellschaft fur Informatik (GI). All rights reserved.

关键词： Unified Modeling Language

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A relaxation system adapting to user's condition-identification of relationship between massage intensity and heart rate variability

A relaxation system adapting to user's condition-identificat...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Y. Hasegawa T. Ootsuka T. Fukuda F. Arai M. Kawaguchi Department of Micro System Engineering University of Nagoya Nagoya Japan Center for Cooperative Research in Advanced Science and Technology University of Nagoya Nagoya Japan Daito Mechatronics Company Limited Nagoya Japan

ISBN: (纸本)0780365763

The purpose of the study is to build a relaxation system which can control a user's body condition, changing the operation mode and intensity of the massage seat according to the user's current condition. Heart rate is an index of human conditions which can be easily measured, and it has chaotic dynamics. We show relations between the intensity of the massage operation and two indices which express chaotic properties such as correlation dimension and Lyapunov exponent. These data are indispensable for building a feedback loop between the relaxation system and a user.

关键词： Chaos Feedback loop Heart rate Control systems Nervous system Fatigue Human factors Neurons Heart beat Automatic control

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High-speed wall following and obstacle avoidance of wheeled mobile robots using hybrid behavior specifications

High-speed wall following and obstacle avoidance of wheeled ...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： Mee-Seub Lim Joonhong Lim Sang-Rok Oh Department of Mechatronics Kyonggi Institute of Technology South Korea Department of Electronic Engineering Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

关键词： Mobile robots Control systems Motion control Wheels Motion planning Navigation Discrete event systems Robot control Indoor environments Collision avoidance

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Behaviors blending for intelligent reactive navigation of climbing robot

Behaviors blending for intelligent reactive navigation of cl...

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作者： Al-Jumaily, Adel Ali S. Amin, Shamsudin H. M. Intelligent System Engineering Group Department of Mechatronics Engineering International Islamic University Jalan Gombak Kuala Lumpur53100 Malaysia Center for Artificial Intelligence and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia UTM Skudai Johor81310 Malaysia

The reaction of autonomous mobile robot to the dynamic, uncertain, and changeable environment is one of most difficult issue in the control of intelligent autonomous robot movement. Fuzzy control appears as a very useful tool for handling the intelligent reactive navigation. Present work deals with building of fiizzy? behavior based reactive navigation of goal achieving, obstacle avoidance, and propose new method to blend and coordinate multi behaviors in the same time. This method using fuzzy technique and fix priority value reflects the importance of the behavior We build our simulation and animation programs that can reflect on-line the robot movement and have capability' to using graphical user interface (GUI). © 2000 IEEE.

关键词： Mobile robots

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