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Design of a grasp force adaptive control system with tactile and slip perception

Design of a grasp force adaptive control system with tactile...

2012 IEEE International Conference on automation Science and engineering: Green automation Toward a Sustainable Society, CASE 2012

作者： Huang, Zhao-Xiang Zhang, Xiao-Dong Li, Yao-Nan Suzhou Academy Xi'An Jiaotong University Soochow Jiangsu Province 215123 China School of Mechanical Engineering Xi'An Jiaotong University Shaanxi Province 710049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Province 110016 China

ISBN: (纸本)9781467304283

This paper realizes the tactile and slip perception of prostheses finger by using of PVDF (Polyvinylidene Fluoride) piezoelectric membrane. The mathematics model of brushless DC motor is constructed and the characteristics of PVDF tactile and slipping sensor are analyzed. The PID controller is adaptive by designing the control system with tactile and slip feedback. The feedback system implements adaptive control. The simulink dynamic model of the control system is modeled. The simulation results show the control system can satisfy the requirements and has good response characteristics. © 2012 IEEE.

关键词： Adaptive control systems

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Stability and transparency improvement in haptic device employing both MR-brake and active actuator

Stability and transparency improvement in haptic device empl...

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2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012

作者： Baser, Ozgur Konukseven, E. Ilhan Gurocak, Hakan Mechanical Engineering Department Middle East Technical University Universiteler Mah. Dumlupinar Blv. No:1 06800 Çankaya Ankara Turkey Robotics and Automation Laboratory Washington State University Vancouver WA United States School of Engineering and Computer Science Washington State University Vancouver WA 98686 United States

ISBN: (纸本)9781467346054

An ideal haptic device should transmit a wide range of stable virtual model impedances (Z-width) with high transparency. Magneto-rheological fluid (MR) brakes are advantageous in haptic devices since they are passive actuators. However, they cannot provide high transparency and smooth interaction due to high viscous friction, residual torque, slow response, sticking and hysteresis effects. On the other hand, active actuators cannot simulate high virtual impedances stably, but provide high transparency with a closed loop control algorithm. In the proposed hybrid actuation a task divider control (TDC) algorithm was developed for torque sharing between two actuators to provide a large Z-width and improve both transparency and smoothness. The algorithm employs two parameters which were estimated experimentally and extended to entire achievable impedance range by artificial neural network (ANN) and curve fitting techniques. A 1-DOF device having an excitation motor at the user side and brushless DC motor and MR-brake in the haptic side was used in the experiments. The excitation motor is used to generate a white noise torque input to simulate a user for frequency domain transparency tests. Results of the proposed and conventional closed loop impedance control (CLIC) algorithms were compared. The proposed algorithm improves the transparency of MR-brake by eliminating its drawbacks and presents a larger Z-width than the active actuator alone. © 2012 IEEE.

关键词： Hysteresis

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Data-driven fractional PID control: application to DC motors in flexible joints

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IFAC Proceedings Volumes 2012年第3期45卷 709-714页

作者： Jorge Villagra Blas Vinagre Inés Tejado AUTOPIA Program Center for Automation and Robotics (CAR UPM-CSIC) 28500 Arganda del Rey Madrid Spain Industrial Engineering School University of Extremadura 06006 Badajoz Spain.

Recent advances in data-driven (or model-free) control have permitted to enhance the closed loop behavior of linear and especially nonlinear systems using very simple control structures. As a result, unknown or badly known dynamics are compensated and disturbances are rejected without any learning or on-line identification procedure. However, the ultra-local phenomenological models on which this control technique rely have not yet exploited the fractional nature of many processes and the nonlocal nature of the fractional integrodifferential operators. In this paper, fractional derivatives are used in the so called model free control structure in order to explore the advantages they provide in terms of robustness and dynamic response. Fractional and integer order data driven PIDs will be compared for a DC motor in a robot flexible joint control application in a simulation environment.

关键词： PID control fractional control data-driven control

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Research on the ground control system of quadrotor unmanned aerial vehicles

Research on the ground control system of quadrotor unmanned ...

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World Congress on Intelligent Control and automation (WCICA)

作者： Tingting Zhao Bin Xian Yungao Yang Fang Guo Guoping Huang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground control system (GCS) is an important part of the quadrotor UAV flight control system, and it can promote the flight performance and safety of quadrotor UAVs. In this paper, a quadrotor UAV GCS is designed and implemented, and the GCS realizes the following functions, including receiving and storing of the flight data, the real-time localization utilizing the customization of electronic maps like MapX and Google Earth, the visual display of flight states via virtual instruments and the waypoint planning. Outdoor experiments have been done to verify the GCS's performance. It can be concluded that the proposed GCS in this paper can work stably, and it can guarantee the integrity of the flight data, the accuracy of the instruments display and map localization.

关键词： Google Earth Sockets Unmanned aerial vehicles XML HTML automation

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Design of a grasp force adaptive control system with tactile and slip perception

Design of a grasp force adaptive control system with tactile...

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IEEE International Conference on automation Science and engineering

作者： Zhao-Xiang HUANG Xiao-Dong ZHANG Yao-Nan LI Suzhou Academy Xi'an Jiaotong University School of Mechanical Engineering Xi'an Jiaotong University Xi'an State Key Laboratory of Robotics Shenyang Institute of Automation

ISBN: (纸本)9781467304290

This paper realizes the tactile and slip perception of prostheses finger by using of PVDF (Palyvinylidene Fluoride) piezoelectric membrane. The mathematics model of Brushless DC motor is constructed and the characteristics of PVDF tactile and slipping sensor are analyzed. The PID controller is adaptive by designing the control system with tactile and slip feedback. The feedback system implements adaptive control. The simulink dynamic model of the control system is modeled. The simulation results show the control system can satisfy the requirements and has good response characteristics.

关键词： control systems Touch Adaptive control systems Grasp Sliding Proportional Integral Derivative Control brushless direct current motor senses Perception Simulation results polyvinylidene fluoride Feedback

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LOCAL LINE DERIVATIVE PATTERN FOR FACE RECOGNITION

LOCAL LINE DERIVATIVE PATTERN FOR FACE RECOGNITION

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IEEE International Conference on Image Processing

作者： Zhichao Lian Meng Joo Er Yang Cong School of Electrical and Electronic Engineering Nanyang Technological University Singapore State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China

In this paper, we propose a novel face descriptor for face recognition, named Local Line Derivative Pattern (LLDP). High-order derivative images in two directions are obtained by convolving original images with Sobel Masks. A revised binary coding function is proposed and three standards on arranging the weights are also proposed. Based on the standards, the weights of a line neighborhood in two directions are arranged. The LLDP labels in two directions are calculated with the proposed binary coding function and weights. The labeled image is divided into blocks where spatial histograms are extracted separately and concatenated into an entire histogram as features for recognition. The experiments on the FERET and Extended Yale B show superior performances of the proposed LLDP compared to other existing methods based on the LBP. The results prove that the LLDP has good robustness against expression, illumination and aging variations.

关键词： Lighting Face recognition Histograms Robustness Face Standards Aging

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3R plane robot impedance control based on fuzzy PD controller

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Journal of Convergence Information Technology 2012年第20期7卷 234-241页

作者： Gao, Hongwei Hong, Kun Song, Jian-Hui Yu, Yang School of Information Science and Engineering Shenyang Ligong University Shenyang 110159 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

The impedance control problem of three-link plane robot is investigated. Firstly, the kinematics and dynamics model of robot is derived. Second, the impedance control model is established. Then, the fuzzy PD joint controller is formatted when the fuzzy theory is introduced into the joint PD controller of robot. The combination of controller and the impedance model is taken into the control of position and contact force of robot by taking into account the environmental constraints. Finally, higher control accuracy of fuzzy PD impedance control than traditional algorithms is proved by the simulation of PDimpedance control and fuzzy PD impedance control.

关键词： Kinematics

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Data acquisition and processing of the onboard sensor system of a quadrotor unmanned aerial vehicle

Data acquisition and processing of the onboard sensor system...

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World Congress on Intelligent Control and automation (WCICA)

作者： Fang Guo Bin Xian Haotao Li Guoping Huang Tingting Zhao The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve autonomous flight control for quadrotor UAVs. In this paper, an ARM embedded system is employed as the main controller, and an attitude heading reference system (AHRS) is utilized as the main onboard sensor. By using C++ programming under Linux operation system, the data acquisition and processing of the AHRS is implemented, and then the attitude and position data of the quadrotor UAV are obtained in real time to provide reliable flight state information for the autonomous flight control. The on-board flight data is sent to ground control system and stored via a communication module based on the UDP network protocol.

关键词： Linux Global Positioning System Data acquisition Process control Attitude control Servers automation

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Tool Condition Monitoring based on sound and vibration analysis and wavelet packet decomposition

Tool Condition Monitoring based on sound and vibration analy...

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International Symposium on Mechatronics and Its Applications, ISMA

作者： Hamed Rafezi Javad Akbari Mehdi Behzad School of Science and Engineering Sharif University of Technology Kish Island Iran Department of Mechanical Engineering Center of Excellence in Design Robotics and Automation Sharif University of Technology Tehran Iran

Tool Condition Monitoring (TCM) is a vital demand of advanced manufacturing in order to develop automated unmanned production. Continuing the machining operation with a worn or damaged tool will result in damages to the workpiece. This problem becomes more important in supplementary machining processes like drilling which the workpiece usually has passed a lot of machining processes and any damage to workpiece at this stage results in high production losses. In this research features of sound pressure and vibration signals in drilling process are recorded and analyzed in order to detect tool wear. Signal statistical features are extracted in time domain, and the features trends as the tool becomes worn are extracted. Frequency spectrum of signals is calculated and Wavelet Packet Decomposition (WPD) is applied to focus on specific frequency bands. In this research capability of both sound and vibration signals for drill wear detection are shown and the most informative features of the signals for wear detection are evaluated and introduced. The results showed that the wavelet packets features make a better contrast between the sharp and the worn tool compared to the primary time domain signal.

关键词： Vibrations Wavelet packets Feature extraction Drilling machines Time domain analysis Condition monitoring Wavelet analysis

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Image sub-pixel recognition method for optical precise adjustment

Image sub-pixel recognition method for optical precise adjus...

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2012 9th IEEE International Conference on Mechatronics and automation, ICMA 2012

作者： Ma, Li Zhou, Shasha Ouyang, Hangkong He, Zhengfeng Rong, Weibin Sun, Lining School of Mechatronic Engineering and Automation University of Shanghai Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Cavity adjustment is a critical step for manufacturing laser gyro. Location relation of the laser facula and the aperture images should be detected to provide control information for the movement of the cavity adjustment mechanism. According to the image features, a sequence image variance method is proposed to segment the laser facula image, and maximum variance between clusters method (Ostu algorithm) is adopted to acquire automatic threshold value to segment the aperture image. Use the edge detection of binary image to obtain pixel edge of the laser facula and the aperture images. And sub-pixel edge point information of the images is given by a parameter fitting method. Centre points coordinates of the laser facula and the aperture are achieved by fitting sub-pixel edge utilizing the least square ellipse fitting method. The experimental results of cavity adjustment verify the validity of image recognition method of the laser facula and the aperture. © 2012 IEEE.

关键词： Binary images

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