Authors: D. Sbarbaro; M. Tomizuka; B. Leon de la Barra

Abstract: In this work, we address the problem when the output of a repetitive controller is subjected to actuator saturation. We provide insight into the effects of saturating actuators on the closed-loop performance of a prototype repetitive controller. In order to improve the dynamic transient we propose an anti wind-up strategy tailored to repetitive controllers.

Keywords: actuator saturation,anti-windup,repetitive control

Identifier: 10.3182/20060912-3-DE-2911.00055

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

Authors: Dankmar Boja; Matthias Becker; Tobias Flaemig-Vetter; Stephan Kraemer

Abstract: Calibrating controller parameters of engine control units is and will become more and more challenging due to increasing volume and complexity of implemented control structures. Since time spans of development cycles will not increase equally, the common practice of manual tuning is therefore reaching a limit of feasibility in near future. Computer aided and partly automated calibration procedures can be a solution for this problem but are mostly designed for one particular application. This paper describes a method open for a wide class of controller tuning applications and shows exemplary optimization results for a throttle valve position controller.

Keywords: calibration,engine control,methodology

Identifier: 10.3182/20060912-3-DE-2911.00135

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

Authors: Gilgueng Hwang; Hideki Hashimoto

Abstract: This paper describes a haptic assisted human-robot shared telemicromanipulation by assisting humans with different skill levels to improve the operability. This research is expected to enhance the teleoperation performance through the use of haptic guidance. A haptic guidant manipulation in a non-contact phase and a novel feedback strategy in a contact phase are integrated into a manipulation strategy to realize the haptic assisted telemanipulation. We testify the proposed algorithms on the developed single-master multi-slave (SMMS) tele-micromanipulation system which has a task to improve human's operability for human-robot shared control. Several pick-and-place experiments of Ikura and modelled stylen block verify the validity of the haptic assited manipulation strategy.

Keywords: tele-micromanipulation,human-robot interaction,virtual fixture,haptic guidance,cooperative control

Identifier: 10.3182/20060912-3-DE-2911.00083

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

Authors: Robert Oleskiewicz; Marcus Neubauer; Tomasz Krzyzynski

Abstract: The paper presents the recent research on power and the energy balance in semi-active vibration control with shunted piezoceramics, where a negative capacitance circuit is involved. The work provides the general description of the piezoceramics as the power source element, which has the ability of converting the mechanical energy of the vibrating structure into the electrical energy, and by delivering it to the external shunt branch dissipates or generates the feedback reaction force damps the system.

Keywords: shunt,damping,piezoceramics,negative capacitance,energy,semi-active control technique

Identifier: 10.3182/20060912-3-DE-2911.00079

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

Authors: Jung-Yup Kim; Jungho Lee; Ill-Woo Park; Jun-Ho Oh

Abstract: This paper presents a control algorithm that reduces the vibrations of a human-riding biped robot, HUBO FX-1 during walking. This kind of robot should handle the payload of at least 100 kg in order to carry a person easily. To secure a sufficient payload, it is important to reduce the weight of the robot. The weight of the robot is mainly composed of motors, reduction gears, and body frames. Reducing the weight of the body frame is more efficient use of power than reducing the capacities of motors and reduction gears. A disadvantage is that the leg structures become flexible, so serious structural vibrations are generated during walking. We solved this problem by using simple theoretical models and experiments based on sensory feedback. This control strategy is very effective for the weight reduction of biped robots.

Keywords: robot,control,algorithm

Identifier: 10.3182/20060912-3-DE-2911.00111

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

Authors: D. Wehner; H. Lausch; S. Helduser

Abstract: The development of pressure valves is characterized by a large amount of lab testing. Virtual prototyping using non-linear simulation allows to make the development process faster and cheaper. The paper presents a concept as well as some selected methods of a virtual prototyping tool of this type. An existing proportional pressure control valve is used to develop a model which contains the entire system. That means to model hydraulics and mechanics as well as magnetics and electrics. The main point of the paper is to show the possibilities of parameter detection using geometrical or material data. First, hydraulic resistances are used to demonstrate how parameters are determined with analytical approaches. More complex geometries require the employment of numerical methods like CFD. A physics-based model of a proportional solenoid is presented. Two typical elements of a reluctance network are used to illustrate parameter detection from geometry. The performance of the entire model is compared with measurements and notes are included about model and parameter quality.

Keywords: nonlinear simulation,magnetic modelling,geometric approaches,parameter estimation,flow simulation

Identifier: 10.3182/20060912-3-DE-2911.00040

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

Authors: A. Drivet; R. A. Ramirez-Mendoza; L. Flores; O. Sename; C. Poussot Vassal; L. Dugard

Abstract: The purpose of this paper is to provide an overview of the research that was conducted in the development of a virtual prototype of a real vehicle. For that purpose the ADAMS/CAR software was chosen because it is a sophisticated mechanical dynamic modelling tool typically used by some of the main car manufacturers. The main motivation of this virtual prototyping was to test different control techniques in an active suspension of a full scale vehicle model. This is a preliminary approach to the virtual prototyping process and how it can be used to solve forward and reverse engineering problems.

Keywords: vehicle dynamics,modelling,software tools,vehicle suspension,simulation

Identifier: 10.3182/20060912-3-DE-2911.00169

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

Authors: Yoshikazu Ohta; Yasutaka Baba; Yaodong Pan; Katsuhisa Furuta

Abstract: Commonly contact-type sensors are used in mechanical systems. The state variables of the system, which can not be measured by contact-type sensors should be estimated by an observer or a differentiator. However, some mechanical systems can not be measured by contact-type sensors to avoid friction. In other cases, contact-type sensors may not be mounted spatially. Inevitably a visual measurement system is necessary. In this paper, we propose a visual observer for multi-link mechanical systems. With the proposed observer, the state estimation can be achieved by using one camera while the plant model and camera parameters are known. Moreover we can estimate the state vector in the same way by using two, three or more cameras. Therefore it can be applied even if the occlusion problem occurs.

Keywords: observer,state estimation,visual system

Identifier: 10.3182/20060912-3-DE-2911.00093

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

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:

Identifier: 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

Authors: Bohumil Horak; Vilem Srovnal

Abstract: The application of mobile robot control using multi-agents is executed in a game form within the mechatronic task of robot soccer. The game dynamic nature and the infinite number of possible strategic variations underlie the parameters and execution structure of communications systems between the main control computer and a group of mobile robots. A CCD camera monitors the action on the field. The database of possible strategic formations and movements is the first source of information for control module of programming equipment within the control computer. An advanced communication system becomes a second source of information for influence of the decision processes, allowing distribution of part information on the level of mobile robots.

Keywords: mobile robot,control computer,wireless communication,distributed system

Identifier: 10.3182/20060912-3-DE-2911.00170

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

Authors: Wei-Hao Hsu; Feng-Li Lian

Abstract: This paper presents the wireless networking implementation of a dispersion and concentration movement algorithm for a team of search/rescue robots in an unknown environment. The goal of the dispersion movement is for the multi-robot team to spread out as widely as possible and explore any unknown targets without breaking the communication links among these robots. After one of the team members finding a target, other robots are commanded by the concentration movement to move to the same target location to, for example, retrieve the explored target or transport the target cooperatively. The only information used for designing the movement algorithms is the number of other robots within the communication range of the robot. The movement has its influence from the foraging behavior of the E. coli bacterium. The proposed algorithm is implemented on an 8051 microcontroller with an RF transceiver. The experimental results demonstrate the feasibility and convergence of the proposed algorithms in several typical scenarios.

Keywords: multi-robot system,ad hoc wireless communication,dispersion movement,concentration movement,partition avoidance

Identifier: 10.3182/20060912-3-DE-2911.00116

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