Proceedings of the 14th Mechatronics Forum International Conference Mechatronics 2014

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(1)Proceedings of The 14th Mechatronics Forum International Conference. Mechatronics 2014 June 16-18, Karlstad University, Sweden. In cooperation with IMechE, supported by City of Karlstad, and co-organised by University of Skövde.

(2) Disclaimer The papers published in these proceedings reflect the opinion of their respective authors. Information contained in the papers has been obtained by the editors from sources believed to be reliable. Text, figures, and technical data should have been carefully worked out. However, neither the publisher nor the editors/authors guarantee the accuracy or completeness of any information published herein, and neither the publisher nor the editors/authors shall be responsible for any errors, omissions, or damages arising out of this publication. Trademarks are used with no warranty of free usability.. Copyright ©2014 Mechatronics 2014. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the Mechatronics 2014 organisation at Karlstad University. However, authors retain the right to reuse, print, publish or otherwise distribute their own papers or parts thereof.. Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014. Published by Karlstad University, Sweden ISBN 978-91-7063-564-9.

(3) Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Editorial: Welcome to Mechatronics 2014 in Karlstad, Sweden With the 14th Mechatronics Forum International Conference, we celebrate 25 years of Mechatronics Forum conferences. Ever since the first conference in 1989 in Lancaster, the conference has succeeded in bringing together mechatronics experts, academic researchers and industrial practitioners alike, from all over the world in order to present and discuss new results and trends in mechatronics and to act as a stimulus for intensifying mechatronic approaches in research and product development. With its track record, the Mechatronics Forum conferences are the oldest series of mechatronics conferences still running. With the 2014 event, jointly organised by Karlstad University and the University of Skövde with financial support from the City of Karlstad, the conference sets foot on Swedish soil for the second time in its history. This conference would not have been possible without the dedication en enthusiasm of many key players. Philip Moore and Andrew Plummer were among the people guiding the conference from the side of the Institution of Mechanical Engineers. Rudolf Scheidl, chairman of the preceding conference in Linz, provided much useful feedback and stimulated us to continue along the path of mini-symposia. Maria Kull handled all the registration issues as well as the local arrangements. Members of the International Programme Committee took various roles, not only in dedicating valuable time to actively reviewing submitted papers but also in identifying Keynote Speakers and in introducing new faces to the conference community. Through attracting new research communities and groups to the conference, the conference is continuously being renewed and enriched. This also demonstrates the high and ever increasing relevance of mechatronics as a research and applications field, which is the basis for the long-standing success of the conference series. Mechatronics is sometimes associated with large complex systems. While such systems obviously provide some “show cases” for mechatronics, mechatronics becomes more and more important in our everyday life. Today, many consumer products are to some degree mechatronic products. Furthermore, the papers in this conference witness of the increasing role for mechatronics in environmental and social sustainability. Examples of the former are energy harvesting and minimization of energy requirements, for instance miniature sensors that harvest their own energy. Examples of the latter are many papers related to assisted living, which is important for an ageing population and for an inclusive society in which people with impairments can participate actively. The proceedings of the 14th conference contain about 90 papers which are the result of a reviewing process that started off with over 140 abstracts submitted. This shows that the reviewing process has been rigorous to ensure that only papers of highest quality were accepted for publication and oral presentation. At the same time, many of the final papers included in the proceedings are authored or co-authored by research students, showing that the conference not only seeks to include new groups of senior researchers and industrial practitioners, but also embraces talented young researchers. The Keynote talks will be delivered by four distinguished speakers: Prof. David Bradley will present “Mechatronics – Past, Present and Future”, Prof. Robert Gao “Intelligent Mechatronics for Advanced Manufacturing”, Prof. Shigeki Sugano “Human Symbiotic Robot - Design and Human Interaction”, and Prof. Rüdiger Dillmann “Status and recent progress towards interactive cognitive robot systems”. The aim of this publication is to present the research results in mechatronics that are now state of the art, and indicate the possible future lines of development. The reader will appreciate the current challenges in modeling, control, actuation, sensing of mechatronics systems and the associated applications in industry and in society. Leo J De Vin Jorge Solis Editors.

(4) Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. CONFERENCE HISTORY The IMechE Mechatronics Forum The Mechatronics Forum was established in 1990 as a special interest group dedicated to promoting mechatronics. Originally known as the UK Mechatronics Forum, its aim was to provide a means of promoting discussion and active interaction between people in all branches of industry, research and education. The Forum was to enable the exchange of ideas, sharing of experience, setting of standards and direction of initiatives within the increasingly important field. The IMechE Mechatronics Forum, presently one of two working groups within the IMechE MICG, is initiating the Mechatronics Conference every two years.. Previous Mechatronics Forum International Conferences: 2012 - Linz, Austria 2010 - Zurich, Switzerland 2008 - Limerick, Ireland 2006 - Malvern, PA, USA 2004 - Ankara, Turkey 2002 - Enschede, The Netherlands 2000 - Atlanta, Georgia, USA 1998 - Skövde, Sweden 1996 - Minho, Portugal 1994 - Budapest, Hungary 1992 - Dundee, UK 1990 - Cambridge, UK 1989 - Lancaster, UK. 15th Mechatronics Forum International Conference: 2016 - Loughborough, UK.

(5) Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. COMMITTEES Conference Chairs Leo J De Vin (Karlstad University) Jorge Solis (Karlstad University) Amos Ng (University of Skövde) Erik Lundqvist (Robot Valley). Local arrangements Chair Maria Kull (Karlstad University). International Programme Committee Abbas Dehghani, UK Abdelmoumen Norrdine, DE Alberto Finzi, IT Alessandro Gasparetto, IT Alfred Sadlauer, AT Andrew R. Plummer, UK Antonio Frisoli, IT Arild Moldsvor, SE Bernhard Jakoby, AT Christian Smith, SE Chyi-Yeu Lin, TW Daisuke Matsuura, JP Daniel Roper, UK Daniel Toal, IRL David Bradley, UK David Owens, UK David Russell, US Davide Brugali, IT Domenico Prattichizzo, IT Doina Pisla, RU Eiichirou Tanaka, JP Emilio Gonzalez, MX Eric Rogers, UK Faruk Kececi, TR Florian Hammer, AT Giuseppe Carbone, IT Guanglei Wu, DK Harald Wild, CH Hendrik van Brussel, BE Hideaki Takanobu, JP Hiroshi Kobayashi, JP. Hitoshi Arisumi, JP I-Ming Chen, SG Jan Broenink, NL Jan Wikander, SE Jian S Dai, UK Jinming Zhou, SE Job van Amerongen, NL John H Millbank, UK John Isaacs, UK Jong Hyeon Park, KR Jorge Solis, SE Katsu Yamane, US Keiko Homma, JP Ken Rotter, UK Kenji Hashimoto, JP Kenji Suzuki, JP Kiyoshi Komoriya, JP Kristof Berx, BE Leo J de Vin, SE Leonid Freidovich, SE Lihui Wang, SE Magnus Mossberg, SE Maki Habib, EG Marco Ceccarelli, IT Maria Luisa Ruiz de Arbulo, BE Markus Pichler, AT Martin Fabian, SE Martin Grimheden, SE Mauro Onori, SE Memis Acar, UK Michael R Jackson, UK. Mihai Nicolescu, SE Moncef Hammadi, FR Monica Malvezzi, IT Paolo Boscariol, IT Peter Hehenberger, AT Philip Moore, UK Raffaella Carloni, NL Renato Vidoni, IT Rudolf Scheidl, AT Saeed Zahedi, UK Sanjay Sharma, UK Shinya Aoi, JP Sven Rönnbäck, SE Teresa Zielinska, PL Thomas Gustafsson, SE Thorbjörn Jörger, DE Wojciech Szynkiewicz, PL Xiu-Tian Yan, UK Xuping Zhang, DK Yukio Takeda, JP Yusuke Sugahara, JP.

(6) Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis.

(7) Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. TABLE of CONTENTS. Keynotes Keynote abstracts and bio-sketches.........................................................................................................2 Controlled mechanical systems, robots, and adaptronics Preventing the capsize of industrial vehicles: experimental tests on a scaled AGV ................................8 Benedetto Allotta, Fabio Bartolini, Riccardo Costanzi, Roberto Giusti, Niccolò Monni, Marco Natalini, Luca Pugi, Alessandro Ridolfi. Impedance Control in Wave-based Bilateral Teleoperation for Remote Interaction Tasks ................. 16 Marco Mendoza, Isela Bonilla, Emilio González-Galván, Fernando Reyes, Ambrocio LoredoFlores Design of a Ball Screw Drive Wear Compensation Using Shape Memory Alloy Actuators ................... 24 Tom Junker, André Bucht, Iñaki Navarro y de Sosa, Kenny Pagel, Welf-Guntram Drossel Static friction modeling and identification for standard mechatronic systems .................................... 30 Szabolcs Fodor, Leonid Freidovich Haptic Feedback for Touch Displays Using Piezoelectric Actuation of Flexible Plates ......................... 37 Georg Zenz, Manfred Nader, Wolfgang Berger Hierarchical and Coupling Function sliding Mode Control for Underactuated Systems....................... 44 Belal A. Elsayed A Comparison of MRAC and L1- Adaptive Control for a Balancing Chair .............................................. 51 Johannes Reuter, Florian Straußberger, Manuel Schwab Autonomous Path Planning of Spray Painting Application for Bicycle-frame....................................... 61 Chyi-Yeu Lin, Zelalem Abay Abebe, Tao Ngoc Linh Optimal Design of a Balancing System for a Serial Industrial Robot ..................................................... 68 Johan A. Persson, Johan Ölvander, Xiaolong Feng, Daniel Wappling Dynamic Modeling of a Macro-Micro Manipulator Using Transfer Matrix Method............................. 74 Xuping Zhang Uncertainty-based mapping and planning strategies for safe navigation of robots with stereo vision ..................................................................................................................................................... 80 Martim Brandao, Kenji Hashimoto, Atsuo Takanishi Robotic manipulator capable of sorting moving objects alongside human workers using a budget-conscious control system.......................................................................................................... 86 Adela Wee, Christopher Willis, Victoria Coleman, Trevor Hooton, Andrew Bennett.

(8) Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Linear and non linear control of a flexible arm ..................................................................................... 91 Patrick Jodouin, Mohamad Saad, René Wamkeue Power and data transmission in an underwater vehicle for the monitoring of Malta Channel and marine protected areas .................................................................................................................. 97 A. Cammarata, M. Lacagnina, P.D. Maddio, R. Sinatra Posture control of spherical joint antagonistic drive system using rubberless artificial muscle ........ 102 Ayaka Suzuki, Naoki Saito, Toshiyuki Satoh Drives and actuators An Hydraulic Test Rig for the Testing of Quarter Turn Valve Actuation Systems ............................... 110 Luca Pugi, Giovanni Pallini, Andrea Rindi, Nicola Lucchesi Design approach for Solid State Shape Memory Alloy Actuators ....................................................... 118 Pagel K., Drossel W.-G., Zorn W., Bucht A., Kunze H. Case Study on Non-Ideal Current Tracking in Amplifiers for Voltage-Driven Manipulators ............... 126 I Yungy, Stanislav Aranovskiyz, Leonid Freidovich Energy-Efficient High-Pressure Pump ................................................................................................. 132 Stefan Niederberger, Lukas Kurmann Analysis of Transient Processes of Actuator Device in a Hydraulic System With Digital Control ....... 141 Ilcho Angelov, Alexander Mitov A hydraulic Switching Control Concept Exploiting a Hydraulic Low Pass Filter .................................. 151 Rudolf Scheidl, Evgeny Lukachev, Rainer Haas Sensors, measurement systems and signal processing, and pattern recognition Cleaning Module for Hospital Robots ................................................................................................. 159 Tamas Szecsi, A.S.M. Mojahidul Hoque, Ciaran McCann, Andy Lau Embedded gait parameter acquisition system for hemiplegic persons – HemiGaitEm...................... 167 Tong Li, Gilbert Pradel On-board navigation based on accelerometers and vision system .................................................... 175 S.M.Sokolov, A.A. Boguslavsky, V.V. Sazonov, O.V. Triphonov Winding fault diagnosis of a 3-phase induction motor powered by frequency-inverter drive using the current and voltage signals.................................................................................................. 182 Agusmian P. Ompusunggu, Zongchang Liuy, Hossein D. Ardakaniy, Chao Jiny, Frederik Petré, Jay Leey MOEMS based micro-mechatronic module with closed-loop control ................................................ 190 A. Tortschanoff, D. Holzmann, M. Lenzhofer, T. Sandner Intelligent Automation Aiding Rapid Surface Defect Quantification in 3D ......................................... 197 Mitul Tailor, Jon Petzing, Michael Jackson, Robert Parkin.

(9) Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Control of mechatronic systems Experimental validation of iterative learning control for power shifts on a transmission with wet clutches in a heavy duty forklift ................................................................................................... 203 Maarten Witters, Arnout De Maré, Steve Vandenplas, Mark Versteyhe Efficient State Estimation for Linear Multirate Sampled-Data Systems in a Linear Time-Invariant State Representation........................................................................................................................... 210 Thorsten Voigt, Sebastian van de Hoef, Ulrich Konigorski Model Predictive Control for Electro-hydraulic Actuated Dry Clutch in AMT Transmissions ............. 218 Mario Pisaturo, Adolfo Senatore, Vincenzo D’Agostino, Nicola Cappetti Experimental and Simulation-based Investigation of a Velocity Controller Extension on a Ball Screw System....................................................................................................................................... 226 Rico Münster, Michael Walther, Holger Schlegel, Welf-Guntram Drossel Super-capacitors for load-leveling of industrial machines executing periodic tasks .......................... 233 Julian Stoev, Kris Vanvlasselaer, Wim Symens Design and Development of a Quadrotor Flight Control System ........................................................ 239 Abubakar Surajo Imam, Robert Bicker Automatic commissioning of machine tool drives with flexible load and state space control extension ............................................................................................................................................. 247 Oliver Zirn, Lukas Katthän, Volkmar Welker Model Predictive Control for Mechatronic Systems Based on Disturbance Observer and TimeVariant Input Constraints .................................................................................................................... 255 Toshiyuki Satoh, Rié Abe, Naoki Saito, Jun-ya Nagase & Norihiko Saga Dynamic straightness and position errors in machine tools due to axes acceleration ....................... 263 Minh Hop Nguyen, Natanael Lanz, Sascha Weikert, Konrad Wegener Industrial wireless communications in mechatronics A Testbed for Embedded Industrial Wireless Sensor and Actuator Networks Using Real Time Ethernet ............................................................................................................................................... 270 Albert Pötsch, Gerhard Müller, Georg Möstl, Achim Berger, Andreas Springer Mechatronic design Holistically Integrated Design of a Haptic Steering Wheel.................................................................. 278 Daniel Malmquist, Jan Wikander Hierarchical system modeling for an industrial gantry robot ............................................................. 286 Andreas Kellner, Peter Hehenberger Applicability of Model-based System Lifecycle Management for Cyber-Physical Systems ................ 294 Martin Eigner, Torsten Gilz, Andrea Denger, Johannes Fritz.

(10) Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Synthesis and Analysis of the Mechanism for Walking Assist Machine for Persons with Hemiplegia........................................................................................................................................... 303 Daisuke Matsuura, Ryuhei Funato, Yuta Chounan, Kunat Tharasrisuthi, Yukio Takeda Mechatronic Design Optimization using Multi-agent Approach......................................................... 310 Moncef Hammadi, Andreas Kellner, Jean-Yves Choley, Peter Hehenberger Design Aspects Of An Open Platform For Underwater Robotics Experimental Research .................. 318 Carlos R. Rocha, Rogério M. Branco, Lais A. da Cruz, Marcos V. Scholl, Matheus M. Cezar, Felipe D. Bicca Design of Finger Rehabilitation Device for Pinching Motions using Pneumatic Actuator .................. 326 Jun-ya Nagase, Kazuki Hamada, Takumi Ikeda, Toshiyuki Satoh, Norihiko Saga Criteria for controller parameterization in the frequency domain by simulation based optimization ........................................................................................................................................ 332 Kevin Hipp, Arvid Hellmich, Holger Schlegel, Welf-Guntram Drossel Combining a Non-Invasive Identification Approach with Simulation Based Optimization for Accuracy Improvement ....................................................................................................................... 339 Arvid Hellmich, Kevin Hipp, Stefan Hofmann, Holger Schlegel, Welf-Guntram Drossel Managing mechatronic products variability with a domain specific approach .................................. 347 Amir Hossein Ebrahimi, Pierre E. C. Johansson, Kristofer Bengtsson, Knut Åkesson Basic Experiments on Four-Flapping-Wing Type Robot ...................................................................... 354 Norihiko Saga, Yu Kinoshita, Jun-ya Nagase, Toshiyuki Satoh Mechatronic education Complex System Development for Mechatronics Education.............................................................. 362 István Nagy, Attila L. Bencsik Embodied robotics Embodying a gesture recognition system into a human friendly robot vehicle designed for carrying-medical tools ......................................................................................................................... 370 Jorge Solis, Teshome Delellegn Teshome Development of automatic system to optimize the sound quality and sound pressure of the Waseda Flutist Robot .......................................................................................................................... 377 Jorge Solis, Kenichiro Ozawa, Klaus Petersen, Atsuo Takanishi Mechatronics in manufacturing A minimum energy trajectory algorithm for mechatronic systems with regenerative braking ......... 385 Paolo Boscariol, Andrea Gasparella, Alessandro Gasparetto, Renato Vidoni.

(11) Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. A new Guidance- and Trackingsystem to improve the accuracy of industrial robots used in inline measurement applications ........................................................................................................ 391 Michael Kreutzer, Klaus Rinn, Klaus Wüst, Oliver Zirn Utilizing Assembly Features for determination of Grasping Skill in Assembly System ....................... 399 Baha Hasan, Jan Wikander, Mauro Onori Mechatronics in forestry and agriculture On the design of a Mechatronic Mobile System for Laser Scanner Based Crop Monitoring .............. 406 Marco Bietresato, Paolo Boscariol, Alessandro Gasparetto, Fabrizio Mazzetto, Renato Vidoni Mechatronics in heavy and process industry Preliminary Design and Validation of a Real Time Model for Hardware In the Loop Testing of Bypass Valve Actuation System ........................................................................................................... 413 Carlo Carcasci, Emanuele Galardi, Luca Pugi, Andrea Rindi, Nicola Lucchesi Advanced industrial applications of mechatronics Advanced modeling and parameter identification of an automatic panel bender ............................ 422 Ch. Zehetner, R. Eder, F. Hammelmüller, W. Kunze, H.J. Holl, H. Irschik Model-based design optimization of a press tending robot system ................................................... 427 Rajendra Patel, Johan Wallmark, Daniel Zylberstein, Johan Ölvander, Roger Pons, Ramon Casanelles, Xiaolong Feng, Daniel Wäppling Mechatronics for environmental sustainability Current collector for heavy vehicles on electrified roads ................................................................... 436 Mohamad Aldammad, Anani Ananiev, Ivan Kalaykov Other topics related to mechatronics MEMS-Based Multi-Modal Vibration Energy Harvesters for Ultra-Low Power Autonomous Remote and Distributed Sensing ......................................................................................................... 443 J. Iannacci, E. Serra, G. Sordo, M. Bonaldi, A. Borrielli, U. Schmid, A. Bittner, M. Schneider, T. Kuenzig, G. Schrag, G. Pandraud, P. M. Sarro Controlling Pneumatic Artificial Muscles in Exoskeletons with Surface Electromyography ............... 451 Vincent Groenhuis, Stefano Stramigioli, Mervin Chandrapal, XiaoQi Chen Scaled test track: A novel approach for active safety system development, testing, and validation ............................................................................................................................................. 458 Krister Wolff, Ola Benderius, Mattias Wahde Adoption of model-based development for machine controller software ......................................... 466 Johan Van Noten, Davy Maes Function Block Approach for Adaptive Robotic Control in Virtual and Real Environments. .............. 473 Göran Adamson, Lihui Wang, Magnus Holm, Philip Moore.

(12) Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Mechatronics & Design for All (Mini-symposium) The Impact on System Design Strategies of the concepts of Cyber-Physical Systems and the Internet of Things ................................................................................................................................ 481 David W Russell, David A Bradley Assisting the Autistic To Reduce Anxiety Caused By Their Environment ............................................ 487 K R G Rotter, M A Atherton Sustainability, Mechatronics and the Internet of Things .................................................................... 493 Allan MacLeod, Crina Oltean-Dumbrava, David Russell, David Bradley Wireless Positioning (Mini-symposium) Wireless distance estimation with low-power standard components in wireless sensor nodes ....... 502 Thorbjörn Jörger, Fabian Höflinger, Gerd Ulrich Gamm, Leonhard M. Reindl Around and Around: An Investigation of Signals for Acoustic Position Estimation of Moving Objects................................................................................................................................................. 510 Florian Hammer, Markus Pichler, Harald Fenzl, Andreas Gebhard Multi-tag IR-UWB Wireless Positioning of a Badminton Robot .......................................................... 518 Risang Yudanto, María Luisa Ruiz de Arbulo Gubía, Frederik Petré Robust positioning of livestock in harsh agricultural environments ................................................... 527 Markus Pichler, Branislav Rudic, Sandra Breitenberger, Wolfgang Auer An Alternative Positioning Method Against Indoor Fading Effects ..................................................... 535 Joerg Blankenbach, Abdelmoumen Norrdine Sensor Fusion and Kalman Filter Tuning in GPS/INS Integration: Simulations and Hardware Implementation ................................................................................................................................... 542 Arild Moldsvor, Teo Jörlén, Anders Birgersson Simplified Robot Mechanisms for Complex Tasks (Mini-symposium) Biologically-inspired mechanism design for anthropomorphic musical performance robots ............ 549 Jorge Solis, Klaus Petersen, Atsuo Takanishi Mechanism Design and Control of a Simple and Low-Cost Walking Assist Machine ......................... 555 Yukio Takeda, Daisuke Matsuura, Masaru Higuchi, Shuta Sato, Tatsuro Iwaya, Makoto Ogata, Ryuhei Funato Casting Manipulation: Grasping Motion with Obstacle Avoidance .................................................... 563 Hitoshi Arisumi, Shin Kato Assistance Apparatuses for the Elderly, Patients, and Care Workers by Inclusive Design ................. 569 Eiichirou Tanaka Kinetostatics Analysis and Motion Planning of Underactuated Wire-driven Mechanisms ................ 577 Nobuyuki Iwatsuki, Naoki Itabashi.

(13) Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Intelligent Robots (Mini-symposium) Actuation of Artificial Muscle Wire for MEMS Microrobot Using Current Output-Type Artificial Neural Networks IC Bare Chip ............................................................................................................. 585 Ken Saito, Tomohiro Hidaka, Yuki Ishihara, Minami Takato, Shinpei Yamasaki, Kazuaki Maezumi, Yuka Naito, Kei Iwata, Yuki Okane, Yohei Asano, Fumio Uchikoba Dynamic Modeling and Control of a Quadrotor Unmanned Aerial Vehicle........................................ 589 Heba ElKholy, Maki K. Habib Mechatronic System Design (Mini-symposium) Model-based gearbox synthesis .......................................................................................................... 599 Kristof Berx, Klaas Gadeyne, Michiel Dhadamus, Goele Pipeleers, Gregory Pinte Polynomial control integrated to mechatronic concept optimization................................................ 606 Daniel Frede, Jan Wikander, Daniel Malmquist Model Dependency Maps for transparent concurrent engineering processes .................................. 614 Michael Friedl, Lukas Weingartner, Peter Hehenberger, Rudolf Scheidl Agent-Based Approach for Partitioning the Mechatronic Design ....................................................... 622 Moncef Hammadi, Fäida Mhenni, Jean-Yves Choley, Andreas Kellner, Peter Hehenberger SysML Geometrical profile development for physical integration of mechatronic systems .............. 629 Aude Warniez, Olivia Penas, Régis Plateaux, Romain Barbedienne Model based conceptual mechatronic design – reflections concerning research versus industrial needs for high performance systems .................................................................................. 636 Carl During, Jan Wikander.

(14) Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis.

(15) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. Keynotes. 1. Eds. Leo J De Vin and Jorge Solis.

(16) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Mechatronics – Past, Present and Future Professor David Bradley. Abstract It is now some 45 years since the term Mechatronics was introduced by Tetsuro Mori to express the increasing integration between electronics and mechanical hardware. It is also 25 years since the first of what became the Mechatronics Forum conference series was held at Lancaster University. This ‘lifetime’ of the mechatronics concept also corresponds almost exactly with the academic career of the speaker, and the content is therefore very much a personal expression and view of the changes that have taken place in technology and education over the period, and how these changes have impacted on the ways in which mechatronics is perceived and viewed. These changes are illustrated by reference to specific technologies and systems, and the way in which they have and are being deployed across a range of applications. These include autonomous and semi-autonomous systems and associated technologies along with the rise of cloud-based technologies and the Internet of Things, each of which impacts on the way mechatronic systems are to be likely to be conceived, designed and implemented in coming years. However, consideration is not only given in the presentation to the ways in which mechatronics and its associated technologies have evolved, but also to the challenges facing it in the future. A number of these, ranging from ethical issues to the changing nature of education, are put forward in the later part of the presentation to stimulate, and perhaps provoke, discussion.. Bio-sketch Professor David Bradley has been involved with mechatronics and engineering design since the mid-1980s when he was a co-founder of what is now the Mechatronics Forum. His research interests over this time have generally been concerned with the application of mechatronic principles to applications ranging from physiotherapy to power station operation. He is currently a professorial consultant at the University of Abertay Dundee and a consultant to a research programme on lower limb prostheses at Leeds University.As one of the founders of the Mechatronics Forum, David Bradley has been involved in research and education in mechatronics since the mid-1980s when he was at Lancaster University. In 1989, he organised the first in the series of Mechatronics Forum conferences and was responsible for establishing one of the first mechatronics study programmes in the UK. Prof. Bradley’s diverse research interests have focused on the development of mechatronic systems including advanced robotics in construction and physiotherapy and mechatronics design principles. Current research includes the design of intelligent and mechatronic systems, system modelling, automated systems for physiotherapy and applications in telecare and telehealth. He has acted as a consultant on mechatronics education and has been a speaker at international conferences and workshops, most recently in China, South Africa and South America. Currently, Prof. Bradley is a Professorial Consultant in Mechatronic Systems at the University of Abertay Dundee, a visiting professor at Sheffield University and a member of the Mechatronics Forum Committee as well as being a Fellow of the IET. He is the co-author of two textbooks on mechatronics as well as many papers on its underlying philosophy, the nature of mechatronics education and technical issues such as construction robotics and telecare systems.. 2.

(17) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Status and recent progress towards interactive cognitive robot systems Professor Rüdiger Dillmann. Bio-sketch Prof. Dr.-Ing. Rüdiger Dillmann received his Ph. D. at the University of Karlsruhe in 1980. Since 1987 he has been Professor of the Department of Computer Science and Director of the Research Lab. Humanoids and Intelligence Systems at KIT. 2002 he became director and president of the Research Center for Information Science (FZI), Karlsruhe. Since 2009 he is spokesman of the Institute of Anthropomatics at the Karlsruhe Institute of Technology and founder of the KIT – Focus Anthropomatics and Robotics. Professor Dillmann’s research interest is in the areas of humanoid robotics with special emphasis on intelligent, autonomous and interactive robot behaviour based on machine learning methods and programming by demonstration (PbD). Other research interests include machine vision for mobile systems, man-machine interaction, computer supported intervention in surgery and related simulation techniques. He is author/co-author of more than 300 scientific publications and several books. He is Coordinator of the German Collaborative Research Center ”Humanoid Robots”, SFB 588, Editor-in-Chief of the journal ”Robotics and Autonomous Systems”, Elsevier, and Editor in Chief of the book series COSMOS, Springer. He is IEEE Fellow.. 3.

(18) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Advanced Mechatronics for Intelligent Manufacturing Prof. Dr. Robert Gao Department of Mechanical Engineering University of Connecticut Storrs, CT 06269, USA. Abstract Mechatronics describes the synergistic integration of precision engineering with advanced sensing, embedded control, and intelligent computation to enable advanced production technologies that automatically adapt to changing environments and varying requirements when manufacturing a variety of products with little assistance from the operators, which is the hallmark of intelligent manufacturing. Advanced sensing, as a key element in the mechatronic paradigm, presents the prerequisite for realizing intelligent manufacturing. Sensors monitors production operations in real-time, often in harsh environment, providing input for diagnosing the root cause of quality degradation and fault progression such that subsequent corrective measures can be formulated and executed online to control a machine’s deviation from its optimal state. With the increasing convergence among measurement science, information technology, wireless communication, and system miniaturization, sensing has continually expanded the contribution of mechatronics to intelligent manufacturing, enabling functionalities that were not feasible before in terms of in-situ state monitoring and process control. New sensors not only acquire higher resolution data at faster rates, but also provide local computing resources for autonomously analyzing the acquired data for intelligent decision support. This talk presents research on advanced sensing for improved observability in manufacturing process monitoring, using polymer injection molding and sheet metal microrolling as two examples. The design, characterization, and realization of multivariate sensing and acoustic-based wireless data transmission techniques in RF-shielded environment are first introduced. Next, computational methods for solving an ill-posed problem in data reconstruction are described. The talk highlights the significance of advanced mechatronics, represented by advanced sensing and data analytics, for advancing the science base and state-of-the-technology to fully realize the potential of intelligent manufacturing.. Biographical Sketch Robert Gao is the Pratt & Whitney Chair Professor of Mechanical Engineering at the University of Connecticut. Since receiving his Ph.D. from the Technical University of Berlin, Germany in 1991, he has been working in the areas of physics-based sensing methods, smart structures and materials, energy harvesting, multi-resolution signal analysis, wireless communication, and energy-efficient sensor networks. He has published two authored and edited books and over 290 scientific papers in archival journals and peer-reviewed conference proceedings, graduated over 30 Ph.D. and M.S. students, and holds 4 patents. For the past 20 years, his research has been continually funded by federal agencies and the industry, including major initiatives such as Sensors and Sensor Networks, Emerging Frontier in Research and Innovation and Cyber Physical Systems by the National Science Foundation (NSF), and Genes, Environment, and Health Initiative by the National Institutes of Health (NIH). Professor Gao is currently an Associate Editor for the IFAC Journal of Mechatronics and ASME Journal of Manufacturing Science and Engineering. He was an Associate Editor for the IEEE Instrumentation and Measurement and ASME Journal of Dynamic Systems, Measurement, and Control. He is a recipient of multiple awards, including the 2013 IEEE Instrumentation and Measurement Society Technical Award, 2012 IEEE Transactions on Instrumentation and Measurement Outstanding Associate Editor award, 1996 NSF CAREER award, and multiple best paper awards. He is a Fellow of the IEEE and ASME, an elected Associated Member of the International Academy for Production Engineering (CIRP), and an elected Member of the Connecticut Academy of Science and Engineering (CASE). 4.

(19) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Human Symbiotic Robot - Design and Human Interaction Shigeki SUGANO, Prof. Dr., Waseda University, Tokyo, Japan. Abstract The development of humanoid robots which can support human labor and assist human daily activities by several combined communication channels, such as physical interaction and information interaction, is expected to play an important role in aging societies. Such robots are distinctively called "human symbiotic robots". In designing of human symbiotic robots, capabilities of ensuring safety and friendliness while interacting with human must be given top priority. Also the dexterity is required to perform various tasks with human. Under this concept, many kinds of human symbiotic robots have been developed. However, the robot technology including safety, communication ability, intelligence and dexterity has not been unfortunately yet to advance. This is because conventional robotics research has mainly focused on advanced functions of robot software. We should have more research on robot hardware. Robot intelligence is deeply related to the robot hardware structure what we call “embodiment”. In addition, if we envisage the harmonious symbiosis of human and robots in the future, we must establish the system by integrating robot technology and environments, especially the dexterity of robots and structures, and functions of houses and facilities. From the above point of view, we have studied human symbiotic robots, human-robot interaction from the point of view of emergence of mind and intelligence, and the structured environment in the Humanoid Robot project, the WAMOEBA project and the WABOT-HOUSE project in Waseda University. In this presentation, I will introduce a concept and design of future robots in human daily life, human-robot interaction and a design of the structured environment for human and robots. Bio-sketch Shigeki SUGANO, Dr. Associate Dean School/Graduate School of Creative Science and Engineering Professor Department of Modern Mechanical Engineering School of Creative Science and Engineering Waseda University. Shigeki Sugano received the B.S., M.S., and Dr. of Engineering degrees in mechanical engineering in 1981, 1983, and 1989 respectively from Waseda University. From 1986 to 1990, he was a Research Associate at Waseda University. Since 1990, he has been a faculty member in the Department of Mechanical Engineering at Waseda, where he is currently a Professor. From 1993 to 1994, he was a visiting scholar in the Mechanical Engineering Department at Stanford University. From 2001 to 2012, he served as the director of the Waseda WABOT-HOUSE laboratory. Since 2012, he has been the director of the Institute for Techno-Innovation in Chubu-Area Industries. Since 2000, He has been a member of the Humanoid Robotics. 5.

(20) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Institute of Waseda University. Since 2011, he has served as the Associate Dean of the School of Creative Science and Engineering, Waseda University. Since 2013, he has served as the Program Coordinator of the MEXT Leading Graduate Program: Waseda Embodiment Informatics Program. His research interests include human-symbiotic anthropomorphic robot design, dexterous and safe manipulator design, and human-robot communication. He received the Technical Innovation Award from the Robotics Society Japan for the development of the Waseda Piano-Playing Robot: WABOT-2 in 1991. He received the JSME Medal for Outstanding Paper from the Japan Society of Mechanical Engineers in 2000. He received the JSME Fellow Award in 2006, the IEEE Fellow Award in 2007. He received IEEE RAS Distinguished Service Award in 2008, the RSJ Fellow Award in 2008, and the SICE Fellow Award in 2011. He received RSJ Distinguished Service Award in 2012. He served as the Secretary of the IEEE Robotics & Automation Society (RAS) in 2006 and 2007. He served as a Co-Chair of the IEEE RAS Technical Committee on Humanoid Robotics from 2005 to 2008. He served as the IEEE RAS Conference Board, Meetings Chair from 1997 to 2005. He served as an AdCom member of the IEEE RAS and the Associate VicePresident of the IEEE RAS Conference Board from 2008 to 2013. He served as a Director of RSJ in 1995, 1996, 1999 and 2000. From 2007 to 2012, he served as the Editor in Chief of the International Journal of Advanced Robotics. He served as the Head of the System Integration Division of the Society of Instrument and Control Engineers (SICE) in 2006 and 2007. He serves as a Director of SICE in 2008 and 2009. From 2001 to 2010, he served as the President of the Japan Association for Automation Advancement. He served as the General Chair of the 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2003). He was a General Co-Chair of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006) and a Program Co-Chair of the 2009 IEEE International Conference on Robotics and Automation (ICRA2009). He served as the General Chair of the SICE2011 in 2011. He also served as the General Co-Chair of the 2012 IEEE International Conference on Robotics and Automation (ICRA2012), and the Program Chair of the 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2012). He served as the General Chair of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013) in Tokyo.. 6.

(21) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Controlled mechanical systems, robots, and adaptronics. 7.

(22) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Preventing the capsize of industrial vehicles: experimental tests on a scaled AGV Benedetto Allotta2, Fabio Bartolini1, Riccardo Costanzi1, Roberto Giusti1, Niccolò Monni1, Marco Natalini1, Luca Pugi2, Alessandro Ridolfi1 1. 2. University of Florence: Dept. of Industrial Engineering via di Santa Marta 3 50139, Florence, Italy roberto.giusti@unifi.it. MDM Team S.r.l. via Panconi 12 51100, Pistoia, Italy benedetto.allotta@unifi.it. weight and the position of the carried load can vary in a wide range, while human operators can have only a limited knowledge of the load inertial properties and stability conditions. These kind of vehicles are specifically designed to operate in narrow spaces, privileging manoeuvrability more than stability. Furthermore, they are used in warehouses, factories or other industrial buildings where the presence of vehicles, human operators and physical obstacles may increase the accidents probability. Many forklift manufacturers [3] worked and still work to increase the vehicle safety and performances, to meet customer requirements.. Abstract — The stability of industrial vehicles, such as forklifts and lifters, is very important from a safety point of view: these vehicles are subjected to variable loading conditions and their design is often optimized to privilege handling in narrow spaces instead of stability. To study in deep the problem of vehicle capsize prevention and to have the possibility to perform the necessary related experiments, the authors developed a scaled AGV (Automated Guided Vehicle). It is a three wheels differential drive mobile robot. The forces exchanged among the wheels and the ground are monitored using low cost load cells. MEMS three-axial accelerometers and gyros are installed in order to detect inertial loads and to estimate the vehicle pose and, through a proper filtering, the ground slope. The trajectory of the vehicle can be controlled through the front motorized wheels, driven by speed-controlled drivers. The implemented strategy is able to identify the loading conditions of the vehicle; the dedicated algorithm evaluates the position of the center of mass from static measurements that are then further refined when the vehicle is in motion. Once the vehicle is in motion, the controller, to prevent the vehicle capsize, is able to limit its forward speed without changing the geometry of the assigned trajectory. The paper aims at demonstrating the effectiveness of the anti-capsize proposed approach implemented on low cost real-time hardware. The test trajectory is composed of a straight segments followed by narrow curves; the controller is able to keep stable the vehicle along the curves, reducing its speed. I.. In particular, from the statistics about mortal accidents, three main causes or typology of events can be identified: 1. vehicle instability: wrong load positioning or inappropriate driver manoeuvres may lead to vehicle instability, causing, e.g., the vehicle to capsize; 2. dropping the load: load stability on forks depends on its correct placement/fixing, related to inertial forces arising during the vehicle motion; 3. vehicle impacting on operators or obstacles. Increasing the level of intelligence and automation can reduce fatality occurrence. Many researchers have developed studies concerning suitable control systems, able to assure the stability of material handling vehicles, [4],[5],[6]. Two of the main characteristics of an optimal Automatic Vehicle Protection system (AVP) should be: low cost and flexibility. A control system, easily adjustable by regulating few parameters, could be also appreciated in order to make it applicable to different kinds of vehicles and different vehicle sizes, even if wheel/suspension arrangement could not be modified due to design and specification constraints.. INTRODUCTION. According to the statistical data available in literature [1], [2], industrial forklifts are often subjected to accidents since the. 8.

(23) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. In past research activities the researchers of the University of Florence collaborated with PRAMAC Group and have then decided to design an automated system called AVP able to identify the load inertial properties and the working plane inclination, and, consequently, to automatically limit the vehicle performances to prevent instability [8]. AVP should be very useful to avoid, or, at least, to drastically reduce deadly accidents due to vehicle instability. In addition, the AVP system also involves an acceleration control that may be very useful to prevent load vibration or fall from forks. As concerns the accidents related to the potential vehicle impact on human operators or obstacles, the proposed solution only brings indirect advantages since heavy loaded vehicles are forced to travel with limited speed and acceleration. In these operating conditions, the human operator better controls the vehicle trajectory with the help of assistance systems able to identify protected or potentially dangerous areas [7]. II.. v a. g. v. v. gx. v. gz. OM. z. Eds. Leo J De Vin and Jorge Solis. gz gx. g. OM. (2) a sin i w. v. w. cos. x. a. w. cos. g sin i OM. v 2 sin w OM x. v. w. sin i. g cos O OM. x. cos. g sin O OM. i v 2 sin w. OM. z. g. OM OM. Where: x O = the centre of the motorized wheel the and origin of the local reference system; x (x, y, z) = axes of the local reference system; x M = centre of the front wheels; x C = instantaneous centre of curvature; x β = steer angle with respect to the longitudinal axes; x φ = angle between the direction of the center of mass velocity and the longitudinal axis; x zg, xg = center of mass coordinates; x vw = driving wheel velocity; x vg = center of mass velocity; x Rw, Rg = curvature radii of G and O paths.. THE AVP SYSTEM: PRINCIPLE OF OPERATION. The proposed system was initially installed and tested on a PRAMAC forklift LX45 [8], shown in Figure 1.. Figure 1. The modified forklift PRAMAC LX 45 on which the AVP system was initially installed [8]. The LX45 forklift was modified by adding an IMU (Inertial Measurement Unit), able to measure the vehicle accelerations, and some further sensors (tachometers and potentiometers) able to quantify the steering angle β and the speed of the motorized wheel. The regulator is implemented on an industrial PC with a real time operating system (Matlab XPC-Target™) that is able to control the driver of the motorized wheel. From the above described kinematic measurements it is possible to reconstruct in real time the complete kinematics of the vehicle, described in the scheme in Figure 2. In particular, speed vg and acceleration ag of the center of mass of the vehicle are described by equations (1) ,(2):. vw Rg vg. vgx g vggzz. Rw vw Rg Rw. sin i sin i. vw. OM M. vw cos cos. zg. OM OM. Figure 2. Kinematic scheme of the LX45 forklift. When the vehicle in not in motion, the stability condition is assured whenever the projection of the center of mass along the gravity direction falls inside the support stability area. The same approach can be used in dynamic conditions; in this case the gravity force and the inertial forces sum has to be taken into account in order to determine the capsize condition. This approach, based on simple considerations, is also known in literature [4],[5] as the “action line” method. In particular, once the acceleration ag of the center of mass is known from (2), the vehicle is stable if the projection of the sum Fg of weight mg and inertial forces mag acting on the center of mass of the vehicle lays inside the area described by wheel contact patches, as visible in Figure 3. In particular, a safety factor, taking into account the approximations introduced in the model, should be considered to identify a restricted safety area.. sin i. xg OM O. (1). sinn. 9.

(24) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. The forklift, as other industrial vehicles, will carry a load which may vary a lot: it is thus important to identify the mass and the static properties (e.g. the position of the center of mass) of the carried load. To this aim, the first prototype of PRAMAC LX 45 was equipped with load cells, as displayed in the scheme of Figure 4. This way, it was possible to evaluate the weight of the load and the quotes xq and zq corresponding to the planar projection of the load. However from the static measurement it is impossible to evaluate the quote yq. As a consequence, a first prudential estimation of yq is performed in static conditions and then it is updated during the vehicle motion by imposing the equilibrium (3) according to the static scheme visible in Figure 5.. yq. zq Pq. l z C2. C4. mq az. G. PQ. C1, C3. C2, C4. y. (3). O. where: Pq and mq represent respectively the weight and the mass of the load;. z. Figure 5. Estimation of the quote yq from inertial forces. Ci is the force measured by the i-th load cell. In Figure 6, some results taken from [8] concerning the identification of the load position during an experimental test run are visible.. Figure 6. Identification of a the position of the center of mass of the load. III.. DEVELOPMENT OF SCALED AGV VEHICLE. The experimental activities developed with the cooperation of the PRAMAC were limited to a very specific vehicle architecture and sensor layout. Consequently, the authors tried to generalize the proposed research action line for a generic AGV with an undefined number of wheels and a general architecture. In particular since the capsize of a full scale industrial vehicle proved to be quite dangerous authors developed a scaled low cost demonstrator whose safety should be easily managed on a research laboratory. The scaled vehicle has been developed as a part of the project “Tecniche di monitoraggio e controllo di veicoli basate su sensori e modelli dinamici (PRIN 2009)”; the scaled prototype allowed testing the performance of low cost hardware for real-time applications. The AGV visible in Figure 8. is a differential drive mobile robot (three-wheels). The base is made of polymethacrylate foil with a 390x300 mm size and a thickness of 6 mm. The foil works as frame on which most of the components are assembled. The adopted motors are speed controlled DC ones; and they are connected to the wheels through a plastic gearbox (gear ratio 1:4). If higher torques are required (e.g.. Figure 3. Projection of Fg inside the safety area. Figure 4. Forks equipped with load cells. 10.

(25) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. for higher vehicle loads) also an epicycloidal gearbox, visible in Figure 7, with a higher reduction ratio can be installed.. Eds. Leo J De Vin and Jorge Solis. The applications are uploaded on the microcontroller by using a standard USB port, whereas communication and data acquisition during vehicle motion is performed using Bluetooth. The vehicle is fed using a standard 12V accumulator; its position can be easily modified to simulate different static configurations and, consequently, inertial properties of the vehicle.. Figure 7. Customized epicycloidal gearbox designed and produced in ABS with fast prototyping techniques. The third wheel (rear wheel) is a pivoted one. Additional pivoted wheels could be added in order to simulate vehicles with more than three wheels. The gearboxes and many other ABS components have been internally designed and produced using a fast prototype 3D printer. The frame is connected to the wheels through the load cells, able to directly measure the vertical reaction forces exchanged with the ground. In particular, the cells are self-amplified through a miniaturized conditioning device, calibrated at the MDM Lab. A low cost triaxial accelerometer completes the sensor set of the vehicle, which is controlled using a TI F28335 Delfino Micro-Controller, running at 150 MHz. The board is completely programmable using MatlabSimulink and provides all the inputs and outputs needed to acquire the sensors data (A/D converters, encoder interfaces serial and can bus) and to control the motor drive system (PWM outputs) which is implemented using a commercial L298 H bridge. The main features of the TI F28335 board are visible in TABLE I.. Figure 8. The scaled AGV prototype [9]. The proposed control algorithm is described in Figure 9. . A reference trajectory is generated by a “Trajectory Generator”; the reference trajectory is compared with the current vehicle position which is estimated on the basis of the kinematic model of the vehicle and on the wheel rotational speeds measured by means of two encoders. The Trajectory Controller uses the corresponding trajectory error to generate a command in terms of reference speeds for the two motors. In case of detected dangerous conditions the Anti-Capsize Controller limits the reference speed imposed by the trajectory controller and provides the so obtained reference values to the motor speed controller closing the loop. TABLE I. MAIN FEATURES OF THE TI F28335 DSP MICROCONTROLLER Data Model Processor I/O Design Voltage DMA Controller On-Chip Memory PWM outputs CAN modules SCI modules A/D 12 bit channels GPIO pins Cost (estimated). Value TMS320F28335 150 3.3 SIX Channels 256K x 16 Flash, 18 2 3 16 88 70 (single piece), 20 or less for large series. M. Units [MHz] [V] [€]. Figure 9. Structure of the proposed controller. IV.. KINEMATIC MODEL. The vehicle kinematics is described by the scheme of Figure 10. and the corresponding relationship (4), where the translation speed with respect to x and y axes and the yaw rotation speed are expressed as functions of the rotation. 11.

(26) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. speeds of the right and left wheels, respectively indicated as : d, s. x y. R cos 2 R i sin 2 R 2b 2 b. d. R cos 2 R sin 2 R 2b 2 b. s. (4). Through the kinematic model, it is possible to calculate the vehicle speed with respect to an absolute reference frame (and consequently through integration the corresponding position).. Figure 12. Continuous path produced by the trajectory generator. The control strategy to track the desired trajectory for the AGV can be addressed in the following way. A fixed reference system OXYZ and a second one constrained to the vehicle (body frame), identified as OvXvYvZv, are considered. It is thus possible to define a vector of position errors, with respect to the desired position of the vehicle, (5). e10 (t) () 0 e2 (t) e30 (t) (). 0. e t. The rotation matrix. xd t yd t d t. x t y t t. (5). RVO between the fixed and body. reference frame is defined according to (6): Figure 10. Simplified kinematic model of the vehicle. V.. cos sin. Rv0. TRAJECTORY GENERATOR AND CONTROLLER The inverse of the. The aim of the trajectory generator is to produce a reference time law with continuous forward speed. In particular, the traveling speed profile of the vehicle along the path is designed considering a classical trapezoidal law, visible in Figure 11. Moreover, the path is generated in order to be a continuous a curve; the path is a pattern of straight segments and arcs of circumference, as shown in Figure 12.. sin i cos. (6). RVO matrix is equal to its transposed thus. it is possible to write the error vector as (7):. e(t). RV0. T. e0 (t). (7). By deriving the error expression (7), it is possible to calculate the components of the time derivative of the trajectory error both in terms of longitudinal (vd, v) and turning ( d , ) velocity on the body frame (8):. e1. vd coss e3. v. e2. vd sin e3. e1. e3. Figure 11.. e2 (8). d. In particular the controller is implemented considering two SISO (Single Input, Single Output) PID (Proportional, Integral, Derivative) controllers aiming to regulate separately the vehicle speed v and the yaw/turning angle θ. In particular, in Figure 13. some experimental results concerning a multiple closed loop trajectory are shown: the vehicle describes three times the same closed loop. Despite some dynamic errors (overshoot in the turning angle after a curve), the control is able to compensate the error with respect to the desired position; at the end of the mission the error in terms of vehicle position is negligible or however near zero.. Generated trapeizodal speed profile. 12.

(27) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. x. Eds. Leo J De Vin and Jorge Solis. the speed limitation applied to the vehicle to avoid its capsize; Feedback Controller: the model based controller is affected by robustness troubles, mainly caused by model uncertainties, limited bandwidth and non-idealities of the implemented filters and estimators (e.g. limited slope recognition). Consequently, the authors introduced an additional control term through the definition a penalty state ep which is inversely proportional to the distance between the projections P’ and the external boundaries of the safety area. The value of ep is minimized using a PD (proportional derivative) controller giving as output a corresponding further reduction of the speed limitation.. Figure 13. Experimental results concerning the trajectory controller (reference vs. measured trajectory with a travelling speed of 0.8 m/s). VI.. SPEED MOTOR CONTROLLER. Since the controlled motor is of permanent magnet DC type, the torque Tmotor is assumed to be roughly proportional to the current I according to (9):. Tmotor. kT I. kT R. Ls. V. kT. (9). As visible in (9) the speed disturbance is roughly proportional to the motor speed. So the voltage V applied to the motor has to be increased proportionally to the motor speed and to the delivered torque. Neglecting the contribution of the dynamics of the motor circuit, the speed can be easily adjusted regulating the applied voltage V. The PID controller adjusts the duty cycle of the H bridge proportionally to the speed error of the motor.. Figure 14. Action line method applied to the scaled prototype. VIII. TESTING RESULTS The proposed approach was tested in the laboratory by verifying the performance of the regulator. In particular, in Figure 15. the vehicle trajectory of a benchmark test is shown. The test trajectory is composed of a straight segment where the vehicle accelerates from standstill and performs the identification of the position of its center of mass, followed by a closed loop with narrow curves, producing an appreciable vehicle unbalance.. VII. IMPLEMENTATION OF THE AVP SYSTEM Compared to the solution of their previous works [8], the authors implemented the action line method directly taking into account the measurements of the forces exchanged between the ground and the wheels, as visible in the scheme of Figure 14. A 3D accelerometer is used to identify gravity direction and, consequently the ground slope. Finally, similarly to the original controller applied to the forklift, the inertial unbalance of the loads during accelerations is used to evaluate the real quote of the center of mass, which is supposed cautiously to be initially unknown (i.e. the vehicle load is unknown). The implemented controller is mainly composed of two terms: x Model Based Controller: once the position of the center of mass of the vehicle, the trajectory and the ground slope are known, from the kinematic model of the vehicle it is possible to calculate the maximum speed corresponding to an expected projection of the vector Fg on the borders of the safety area. This value represents. Figure 15. Test path performed by the AGV vehicle. 13.

(28) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. In figures 16-18 some results of the experiment are shown. In particular in Figure 16 the amplitude of the distance between the safety area borders and the projection P’ of the vehicle center of mass is displayed in two cases: x Constant Speed (anti-capsize disabled): the vehicle travels with a constant speed of 0.7 m/s; x Anti-Capsize controller enabled: the anti-capsize system is enabled so the speed is reduced to protect the vehicle from excessive unbalance. Looking at the achieved results, it is clearly visible that the controller is able to keep stable the vehicle along the curves (reducing its speed). In order to further increase the comprehension of the results, the position of the projection of the center mass P’ recorded during the test mission is plotted as to the body reference frame, OvXvYvZv... Eds. Leo J De Vin and Jorge Solis. Figure 18. Position of the projection of the center of mass P’ with respect to vehicle base and cautious vehicle safety area when the anti-capsize controller is enabled. IX.. CONCLUSIONS AND FUTURE DEVELOPMENTS. A scaled prototype of an AGV has been successfully built and used to implement and calibrate an anti-capsize control strategy. The current vehicle configuration can be easily adapted to simulate vehicles with different wheel and load layout. Further research activities will be focused on a refinement of the controller, with particular attention to the implementation of an adaptive controller able to self-calibrate, to better compensate un-modelled phenomena, disturbances and uncertainties. ACKNOWLEDGMENTS This work is funded as a part of the project “Tecniche di monitoraggio e controllo di veicoli basate su sensori e modelli dinamici (PRIN 2009)”. The authors wish to thank all the partners of the project and in particular the colleagues of the Politecnico di Milano, which coordinated these research activities.. Figure 16. Amplitude of the distance between the center of mass projection P’ and the borders of the safety area. In particular in Figure 17. the position of P’ when the anticapsize controller is disabled is shown, while in Figure 18. the same plot is given for the controlled case. It is clearly noticeable that in case of activated controller higher fluctuations of the position of P’ projection are measured in longitudinal directions: these are caused by the rapid decelerations/accelerations due to the intervention of the controller.. REFERENCES [1] [2]. [3]. [4]. [5]. [6]. [7] Figure 17. Position of the projection of the center of mass P’ with respect to vehicle base and cautious vehicle safety area when the anti-capsize controller is disabled. 14. Workover (2003) Documents and statistic available at official site of Worksafe Victoria (http://www.worksafe.vic.gov.au). ISPESL (2005) Documents and statistic available on official site of Istituto Superiore per la Prevenzione e la Sicurezza del Lavoro (http://www.ispesl.it). Toyota SAS (2005) Documents and technical documentation available at commercial web sites like (http://www.toyotaforklift.com or http://www.toyota-tiee.com). Bangs, A.L., Pin, F.G. and Killough, S.M. (1992) ‘An implementation of redundancy resolution and stability monitoring for a material handling vehicle’, Proceeding of Intelligent Vehicles ’92 Symposium. DeNinno, V.J. and Uherka, D.J. (1996) ‘Computer analysis of forklift truck stability when operating on side slopes under near static conditions’, Technical Report of Army Natick Labs (MA Mechanical Engineering DIV). Cheema, S. and Sepheri, N. (2002) ‘Computer aided stability and analysis of forklifts’, Proceedings of the 5th Biannual World Automation Congress. Jungk, A., Heiserich, G. and Overmeyer, L. (2007) ‘Forklift trucks as mobile radio frequency identification antenna gates in material flow’, Proceedings of IEEE Intelligent Transportation Systems Conference, ITSC 2007..

(29) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. [8]. [9]. Rinchi, M., Pugi, L., Bartolini, F., Gozzi, L. (2010) ‘Design of control system to prevent forklift capsize’, International Journal of Vehicle Systems Modelling and Testing - Vol. 5, No.1 pp. 35 – 58. Allotta, B., Costanzi, R., Monni, N., Natalini, M., Pugi, L., Ridolfi, A. (2013) ‘Preventing the Capsize of Industrial Vehicles: Experimental. Eds. Leo J De Vin and Jorge Solis. Activities on a Scaled Low Cost Demonstrator’ Procedings of AIMETA2013,http://www.aimetatorino2013.it/cdrom/cdrom_pdf_fullp aper/003260030301.pdf. 15.

(30) Proceedings of the 14th Mechatronics Forum International Conferece, Mechatronics 2014. Eds. Leo J De Vin and Jorge Solis. Impedance Control in Wave-based Bilateral Teleoperation for Remote Interaction Tasks Marco Mendoza∗ , Isela Bonilla∗ , Emilio González-Galván† , Fernando Reyes‡ and Ambrocio Loredo-Flores§ ∗ Facultad. † Centro. de Ciencias Universidad Autónoma de San Luis Potos´ı (UASLP) Av. Salvador Nava S/N, Zona Universitaria San Luis Potos´ı, S.L.P., 78290 Mexico Email: marco.robotica@gmail.com, ibonilla@fc.uaslp.mx. de Investigación y Estudios de Posgrado Facultad de Ingenier´ıa, UASLP Av. Manuel Nava 8, Zona Universitaria San Luis Potos´ı, S.L.P., 78290 Mexico Email: egonzale@uaslp.mx. ‡ Facultad. § Coordinaci´ on. de Ciencias de la Electrónica Benemérita Universidad Autónoma de Puebla Av. San Claudio y 18 Sur S/N, Col. San Manuel Puebla, Pue., 72570 Mexico Email: recf62@gmail.com. Académica Región Altiplano Universidad Autónoma de San Luis Potos´ı Carretera Cedral km 5+600 Matehuala, S.L.P., 78700 Mexico Email: ambrocio.loredo@uaslp.mx. I. I NTRODUCTION. Abstract—This paper presents a wave-based bilateral teleoperation scheme for robot-environment interaction tasks. This bilateral teleoperator is a position-force scheme where the mastermanipulator is controlled by force and the slave-manipulator is controlled by impedance. In interaction tasks, the manipulator encounters environmental constraints and the interaction forces are not negligible. A solution to this problem is to control the dynamic behavior of the manipulator in addition to controlling its position or velocity. In order to guarantee a stable robotenvironment interaction and to compensate the position drift, a motion-based impedance controller is integrated into the wavebased bilateral teleoperator. The controller also allows for a suitable path tracking, despite the constraints imposed by the environment. The impedance control scheme has two control loops. The first loop is an inner kinematic control loop where the reference position for the controller is modified, according to the contact forces measured via a wrist force/torque sensor. The second loop is a motion controller that allows the solution of the path-tracking problem, even when the system is acted upon by environmental forces, enabling the slave-robot to maintain a stable compliant behavior. The asymptotic stability of the closed-loop slave subsystem, composed by nonlinear slave-robot dynamics and the impedance controller, is demonstrated in agreement with Lyapunov’s direct method. The stability, in the presence of time delays in the communication channel, is guaranteed because the wave-variable approach is included to encode the force, position and velocity signals. The performance of the proposed teleoperator is verified through some results obtained from the implementation of tracking and interaction tasks using a pair of robot manipulators. Index Terms—Bilateral teleoperator, Impedance control, Interaction task, Lyapunov stability, Wave variables.. The remote control or teleoperation of robotic systems has become a very interesting topic, because it allows to extend the impact of control-theory advances to several fields [1]. Since the introduction of the first master/slave manipulator in the late 1940’s, teleoperation systems have been used for a number of different tasks. Recently, teleoperators have been used in [2]-[3] inspired by the Mars Rover mission, robot surgery in remote communities [4]-[6] and war zones. Moreover, the use of teleoperation schemes in rehabilitation assisted by robots will become an useful application in the future [7]. Several industrial and medical processes automated by robotic technology, require contact or interaction between the robot manipulator and its environment. The control of this interaction is crucial for the successful execution of many practical tasks where the robot’s end-effector has to manipulate an object or perform some operation on a surface [8]. During interaction, the manipulator is required to be coupled to the object being manipulated, i.e., the manipulator may not be treated as an isolated system. In interaction tasks, the manipulator encounters environmental constraints and the interaction forces are not negligible. A solution to this problem is to control the dynamic behavior of the manipulator in addition to controlling its position or velocity [9]. A teleoperator or teleoperation system consists of a pair of robot manipulators connected in such a way that a human operator, handling the master-manipulator, operates in a remote environment via the slave-manipulator [1]. In order to improve the task performance, the contact force of the slave with the environment can be reflected back to the operator. Adding force feedback to a teleoperation system can considerably. ∗ Corresponding author. The second author was supported by PROMEP/103.5/12/3953 and PIFI, Mexico. The third author was supported by CONACYT and PIFI, Mexico.. 16.

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