Authors: None

Abstract:

Keywords:

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00001

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: c1-c1

Authors: S. Thrun

Abstract: The DARPA Grand Challenge was the most significant event in the field of robotics in more than a decade. A mobile ground robot had to traverse 131 miles of punishing desert terrain in less than ten hours. In 2004, the best robot only made 7.3 miles. A year later, Stanford's robot Stanley won this historical challenge, and the Stanford Racing Team cashed the $2M prize. The main technological challenge in the development of Stanley was to build a highly reliable system capable of driving at relatively high speeds through diverse and unstructured off-road environments, and to do all this with high precision. These requirements led to a number of advances in the field of robotic perception and autonomous navigation.

Keywords:

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00002

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 1-1

Authors: Jun Ho Oh

Abstract: World widely, various types of humanoid robots are being on the research, and already became well acquainted with human beings. Also, many people expect these robots will be living together with mankind at work or home in the foreseeable future. Nevertheless, many researchers yet have a pessimistic point of view about the ultimate form of humanoid robot would be impossible to be realized in the real at the technology view. Moreover, they insist that it probably be less practical than other forms of robots. Then, the dilemmas come to us with these questions; "why do we study about the humanoid and why should we do?" "And how would the biped walking be made and what kind of tantalizing problems do we have to face for it?" These issues will be presented throughout this article.

Keywords: humanoid robot,biped walking

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00003

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 2-5

Authors: H. Leffler; M. Schnabel

Abstract: Mechatronic systems in cars are getting more and more common. Reasons for this development are the high flexibility and an easy application for the control engineering despite changing conditions. Mechatronic systems reside in the drive train, combustion engine and more and more in the control system of the chassis. These systems are nowadays still based on electro-hydraulic and/or electro-mechanic actuators.

Keywords:

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00004

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 6-6

Authors: Sebastian Schwandtner; Martin Kortyka; Steffen Leonhardt

Abstract: A model based observer for motor angle estimation and speed control of a permanent magnet synchronous motor is presented which serves to automatically control flow output in a cardiac assist rotary pump. After an introduction to the clinical problem, a model for a three-phase brushless synchronous motor is presented and a concept for sensor-less speed control is derived. Finally, some results for the specific application are given.

Keywords: heart assist devices,blood pump,three-phase synchronous motor,electro-mechanical model,speed control,rotor angle estimation

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00005

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 7-11

Authors: Andrei M. Shkel

Abstract: This paper presents a functional architecture, system level design, and preliminary experimental evaluation of a unilateral vestibular prosthesis. The sensing element of the prosthesis is a custom designed one-axis MEMS gyroscope. Similarly to the natural semicircular canal, the microscopic gyroscope senses angular motion of the head and generates voltages proportional to the corresponding angular accelerations. Then, voltages are sent to the pulse generating unit where angular motion is translated into voltage pulses. The voltage pulses are converted into current pulses and are delivered through specially designed electrodes, conditioned to stimulate the corresponding vestibular nerve branch. Our preliminary experimental evaluations of the prosthesis on a rate table indicate that the device's output matches the average firing rate of vestibular neurons to those in animal models reported in the literature. The proposed design is scalable; the sensing unit, pulse generator, and the current source can be potentially implemented on a single chip using integrated MEMS technology.

Keywords: MEMS,vestibular prosthesis,inertial sensors,biosystems

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00006

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 12-19

Authors: Sunkil Park; Kyo-in Koo; Gil-sub Kim; HyunMin Choi; Myeong-Jun Jung; Seoung Min Bang; Si Young Song; Dongil Dan Cho

Abstract: This paper presents a LiGA (German acronym for LIthografie, Galvanoformung, Abformung) based micro biopsy actuator for the capsular endoscope. The proposed fabricated actuator aims to extract sample tissues inside small gastric intestines, that cannot be reached by conventional biopsy. The actuator size is 10 mm in diameter and 1.8 mm in length. The mechanism is of a slider-crank type. The actuator consists of trigger, rotational module, and micro biopsy tool. The core components are fabricated using the LiGA process, for overcoming the limitations in accuracy of conventional precision machining.

Keywords: capsular endoscope,actuator,LiGA,biopsy,x-ray

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00007

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 20-24

Authors: S. Jetzki; M. Kiefer; M. Walter; S. Leonhardt

Abstract:

Keywords: cerebrospinal fluid (CSF),hydrocephalus,CSF-drainage,intracranial pressure (ICP),ICP control

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00008

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 25-29

Authors: H. Bassan; R. V. Patel; M. Moallem

Abstract: The prostate is a small exocrine gland in men responsible for production of the liquid component of the seminal fluid. In North America, prostate cancer accounts to over 300,000 new cases and 40,000 deaths each year and it is the second leading cause of cancer death in men. Low-dose Rate (LDR) brachytherapy is gaining interest as a viable treatment option for prostate cancer due to its low side effects and high benefits. This procedure involves insertion of small seeds of radioactive isotopes into the gland to effect radiation therapy. The present manual approach for needle insertion and the inherent flexibility of brachytherapy needles makes it extremely difficult to achieve accurate and consistent dosimetry. In this paper, we present the design of a new 5 DOF manipulator capable of performing percutaneous needle insertion. The manipulator can perform orientation, insertion and rotation of the needle and linear motion of the plunger to drop radioactive seeds at targeted locations. Some of the key features of the manipulator are backdrivable joints, stationary actuators, redundant sensors and enhanced safety features. The manipulator will become an integral part of a system utilizing real-time 3D ultrasound image guided prostate brachytherapy. In this paper, we describe the mechanical design, construction and assembly of the manipulator.

Keywords: prostate brachytherapy,percutaneous needle insertion,image-guided control

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00009

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 30-35

Authors: Felix Antritter; Peter Maurer; Johann Reger

Abstract: The aim of this contribution is to give a detailed account on the circuit and control design of a buck converter driven DC motor. The steps of design, as for example the choice of the coil, the switching devices employed are discussed at length, all in view of the control objective: tracking control of the DC motor's shaft angular velocity. The dynamic system composed from converter/motor is shown to be differentially flat viewed from the angular velocity, which is a flat output. It is thus possible to derive a flatness-based tracking controller which achieves favorable properties like a smooth starting trajectory for the angular velocity.

Keywords: buck converter,DC motor,tracking control,differential flatness,power electronics,PWM switching,averaged model

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00010

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 36-41

Authors: Roman Czyba; Marian J. Blachuta

Abstract: This paper presents the design of continuous-time controller based on the higher order output derivatives in the feedback loop. The problem of forming desired output transients for nonlinear time-varying plants under conditions of the incomplete information is discussed. The Dynamic Contraction Method is presented where derivative state vector feedback is used. The control task is formulated as a tracking problem for output variables, where decoupled output transients are accomplished in spite of incomplete information about varying parameters of the system and external disturbances. The proposed technique is tested by simulations of a few maneuvers for F-16 aircraft model.

Keywords: nonlinear systems,time-varying systems,multivariable control systems,control system design,decoupling,inverse systems,aerospace control

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00011

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 42-47

Authors: Johannes Reuter

Abstract: This paper presents first results in the attempt to control a dual coil solenoid valve by means of a flatness based approach. First the modeling effort is described, then the differential flatness of the system is shown. The modeling results revealed that the system lacks controllability, when considering one coil only for actuating the valve. Therefore a suitable strategy for energizing both coils has been developed. The flatness property then is used to design feasible reference trajectories for the spool motion with the following properties: soft-landing of the spool, minimal driving current, feasible subject to voltage constraints. Simulation results demonstrate the usefulness and robustness of the approach.

Keywords: solenoid valve control,differential flatness,motion planning,soft-landing

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00012

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 48-54

Authors: Lei Ma; Klaus Schilling; Christian Schmid

Abstract: This paper is concerned with the adaptive backstepping sliding-mode control of nonlinear dynamic systems with model uncertainties. The proposed control method suitable for mechatronic systems combines the advantages of sliding-mode control and backstepping methodology, such that the requirement of the matching condition is removed, which seriously clams the application of sliding-mode control. In the control scheme, networks of Gaussian radial basis functions with variable weights are used to compensate the model uncertainties. The adaptive law developed using the Lyapunov synthesis approach guarantees the stability of the control scheme. The performance is illustrated by experimental studies with a flexible-joint manipulator.

Keywords: adaptive control,sliding-mode control,backstepping,Gaussian radial-basis-function networks,nonlinear systems

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00013

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 55-60

Authors: Antonio Sala

Abstract: Control with binary sensors and actuators is an appealing possibility for low-cost automation setups in mechatronic systems. In this paper, a set-valued observer is designed to allow state estimation on a plant with sensors whose output is an interval, i.e., the actual plant output is assumed to lie inside it. The observer uses ellipsoidal approximations of the estimated state set. Then, sliding control is used to close the loop using a three-position actuator. A mechanical system simulation illustrates the possibilities of the approach.

Keywords: set-membership estimation,ellipsoid algorithms,observer design,low-cost sensors

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00014

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 61-66

Authors: Juergen Schuller; Marnix Lannoije; Michael Sagefka; Wolfgang Dick; Ralf Schwarz

Abstract: Audi dynamic steering is a safety relevant electronic steering system. In order to achieve functional safety for this system a structured development process including all safety process aspects and several support processes have been defined and installed. Furthermore, the compliance of the implemented processes with the defined processes is strictly monitored by the internal quality assurance. Additionally, an external assessor is accompanying the product development in order to assure the functional safety of the product according to the requirements of international safety standards. Besides the enforcement of the processes, the challenge in this project is the coordination and monitoring of three suppliers together with the quality assurance and the external assessor.

Keywords: safety,quality,processes,process models,requirements analysis,chassis control

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00015

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 67-72

Authors: Jan Schenk; Thomas Tentrup; Rainer Muller; Burkhard Corves

Abstract: In the foreseeable future the integration of more and more mechatronic systems, environment sensors and driver assistant systems in modern vehicles based on a singular CPU set-up philosophy will lead the common testing- and adjusting procedures to their limits or at least it will make them uneconomic or inefficient. This present paper will introduce a new highly economic fully integrated and fully automatic InLine concept for vehicle testing and adjusting which is able to cope with the needs of new vehicle concepts from today's common configuration up to a future fully integrated Drive-by-Wire vehicle architecture shown within the EU- Projects PEIT an SPARC.

Keywords: integrated InLine vehicle testing,integrated InLine vehicle adjusting,end of line test,fully automated test concept,cycle time,reproducibility,driver assistant systems,chassis frame setting,driverless vehicle testing

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00016

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 73-78

Authors: Zhengxin Weng; Ron Patton; Ping Cui

Abstract: This paper concerns active fault-tolerant control (FTC) for unstable systems. A major obstacle to this problem is that the time delay between the fault appears and the FTC controller becomes active may destabilize the system. In this paper, an active FTC scheme based on gain-scheduled H-infinity controller and neural network is proposed. Under the assumption that the effects of faults on system matrices can be of affine parameter dependence, a reconfigurable robust H-infinity controller is developed, which is a function of the fault effect factors that can be derived on-line from the residual vector of the fault detection and isolation (FDI) mechanism. The proposed method is used for successful FTC control of a double inverted pendulum system with a fault in the tachometer loop of the motor.

Keywords: fault diagnosis,fault identification,active fault-tolerant control,robust control,H-infinity optimization,LMI,double inverted pendulum

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00017

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 79-84

Authors: Massimiliano Ruggeri; Stefano Marzani; Cesare Fantuzzi; Roberto Montanari

Abstract: This paper concerns the safety and system integrity analysis of a typical ISOBUS implementation for the communication network of a distributed mechatronics system for agricultural machines. Despite ISOBUS, described by the international standard communication network, is standardized under the norm ISO11783, we will make an analytical overview of a hybrid network for off-highway vehicles where ISOBUS and FlexRay protocols co-exist. A functional analysis has been conducted and a methodology for a quantitative evaluation of the overall system (in terms of performance and reliability) is carried out. The experiments described here (including the timeframe for future works) take the move from the framework depicted by the regional-funded project Pro-Tract: a lab has been set up to investigate these items related to off-highway vehicles.

Keywords: distributed control,communication networks,safety analysis,system integrity,man/machine interaction

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00018

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 85-90

Authors: M. Wedel; H. C. P. Gohner

Abstract: Mechatronic systems are by nature very complex and their development requires knowledge of different domains. Hence, the reliability assessment of programmable mechatronic systems must take these domains into account. Based on holistic qualitative models, a reliability analysis method for early development phases is presented. The method aims at identifying system failures and eliminating their causes.

Keywords: failure detection,fault identification,reliability analysis,qualitative analysis,qualitative simulation,software reliability,system reliability,system models,system failures

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00019

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 91-96

Authors: C. Hierold; C. Stampfer; T. Helbling; A. Jungen; D. Sarangi

Abstract: Sensors are key components in mechatronic systems. Further system miniaturization will demand for continuous down-scaling of sensor functions in such systems most likely towards nano scale. Then new sensor device concepts will emerge to maintain performance, e.g. sensitivity, or to utilize unique functional properties of nano scale structures. This paper presents concepts to create nano electro mechanical sensors based on carbon nanotubes (CNTs). Suspended single walled CNT based cantilever and bridge structures and a membrane based CNT pressure sensor are introduced and discussed. Measurements on the pressure sensor prove metallic single walled CNTs as exceptional piezoresistive electro mechanical transducers with gauge factors above 200.

Keywords: nano electro mechanical systems,NEMS,carbon nanotubes,sensors,pressure sensor

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00020

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 97-101

Authors: Mustapha Hamdi; Antoine Ferrei

Abstract: This paper presents a molecular mechanics study using a molecular dynamics software (NAMD) coupled to virtual reality (VR) techniques for intuitive bionanorobotic prototyping. Using simulated bio-nano environments in VR, the operator can design and characterize through physical simulation and 3-D visualization the behavior of protein-based components and structures. The main novelty of the proposed simulations is based on the characterization of stiffness performances of passive joints-based proteins (α-helix deca-alanine, repressor of primer protein and immunoglobulin protein) and active joints-based viral protein motor (VPL) in their native environment. Their use as elementary Bio-NanoRobotic components (1 dof platform) are also simulated and the results discussed.

Keywords: nanorobotics,protein-based joints,molecular dynamics,virtual reality

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00021

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 102-107

Authors: St. Fahlbusch; S. Hoffmann; I. Utke; A. Steinecker; J.-M. Breguet; J. Michler

Abstract: Two scanning electron microscopy (SEM) based devices for positioning, manipulation and imaging at the nano-scale have been developed. The control and vision system is based on both a commercial scanning probe microscopy (SPM) controller and a client-server approach to ensure that nanopositioning and SEM image processing are executed in real-time. The evaluation of the two devices has been performed by implementing three different applications: (i) attachment of carbon nanotubes on SPM tips, (ii) investigation of mechanical properties of nanowires and (iii) tensile strength measurements for focused electron beam deposits.

Keywords: Cartesian manipulators,image processing,manipulation tasks,mechanical properties,robot control,robotic manipulators,telemanipulation

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00022

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 108-113

Authors: Lixin Dong; Bradley J. Nelson; Xinyong Tao; Li Zhang; Xiaobin Zhang; Dominic R. Frutiger; Arunkumar Subramanian

Abstract: Basic processes for nanorobotic manipulation of carbon nanotubes (CNTs) inside a transmission electron microscope are investigated experimentally. These processes are fundamental for the characterization of nanoscale materials, for the structuring of nanosized building blocks, and for the prototyping of nanoelectromechanical systems. Multi-walled CNTs, bamboo-structured CNTs, Cutipped CNTs, and quantum dots attached to CNTs have been used as test structures for manipulation.

Keywords: nanorobotic manipulation,transmission electron microscope,carbon nanotube,property characterization,NEMS

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00023

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 114-119

Authors: Peter Boggild; Dirch Hjorth Petersen; Jakob Kjelstrup-Hansen; Kristian Molhave; Karin Nordstrom Andersen; Ozlem Sardan

Abstract: We present a high-aspect ratio three-beam electro-thermally actuated gripper made from single-crystalline, highly doped silicon, and compare the performance to a five-electrode electrostatic gripper in terms of actuation and manipulation capabilities. The electrothermal gripper can be configured in a number of different ways, which leads to a high degree of adaptability to various manipulation scenarios. Finally, we consider different options for customising the gripper microcantilevers by add-on nanotips.

Keywords: nanomanipulation,robotic manipulators,electron microscopy

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00024

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 120-126

Authors: Jeroen Ploeg; John P. M. Vissers; Henk Nijmeijer

Abstract: In order to simulate road vehicles in a hardware-in-the-loop test set-up, TNO has developed a wheeled mobile robot with independently driven and steered wheels. This robot is overactuated, i.e. the number of actuators exceeds the number of spatial degrees of freedom to be controlled. A position controller based on feedback linearization is presented. This controller takes the overactuatedness into account by using the so-called multicycle approach, which essentially regards the robot as a combination of independent unicycles. As a result, the robot is position controlled while the redundant actuators are used to compensate for weight transfer during acceleration and cornering.

Keywords: mobile robots,nonlinear control,position control,robotics

Digital Object Identifier (DOI): 10.3182/20060912-3-DE-2911.00025

Conference: 4th IFAC Symposium on Mechatronic Systems (2006)

Location: Ruprecht-Karls-University, Germany

Start Date: Tue Sep 12 2006 - End Date: Thu Sep 14 2006

Page Numbers: 127-132