Advances in Mechatronics Part 1 doc

ADVANCESIN MECHATRONICS  EditedbyHoracioMartínez‐Alfaro              Advances in Mechatronics Edited by Horacio Martínez-Alfaro Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2011 InTech All chapters are Open Access articles distributed under the Creative Commons Non Commercial Share Alike Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited. After this work has been published by InTech, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Mia Devic Technical Editor Teodora Smiljanic Cover Designer Jan Hyrat Image Copyright Tonis Pan, 2010. Used under license from Shutterstock.com First published August, 2011 Printed in Croatia A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechweb.org Advances in Mechatronics, Edited by Horacio Martínez-Alfaro p. cm. ISBN 978-953-307-373-6 free online editions of InTech Books and Journals can be found at www.intechopen.com   Contents  Preface IX Part 1 Automatic Control and Artificial Intelligence 1 Chapter 1 Integrated Control of Vehicle System Dynamics: Theory and Experiment 3 Wuwei Chen, Hansong Xiao, Liqiang Liu, Jean W. Zu and HuiHui Zhou Chapter 2 Integrating Neural Signal and Embedded System for Controlling Small Motor 31 Wahidah Mansor, Mohd Shaifulrizal Abd Rani and Nurfatehah Wahy Chapter 3 Artificial Intelligent Based Friction Modelling and Compensation in Motion Control System 43 Tijani Ismaila B., Rini Akmeliawati and Momoh Jimoh E. Salami Chapter 4 Mechatronic Systems for Kinetic Energy Recovery at the Braking of Motor Vehicles 69 Corneliu Cristescu, Petrin Drumea, Dragos Ion Guta, Catalin Dumitrescu and Constantin Chirita Chapter 5 Integrated Mechatronic Design for Servo Mechanical Systems 109 Chin-Yin Chen, I-Ming Chen and Chi-Cheng Cheng Part 2 Robotics and Vision 129 Chapter 6 On the Design of Underactuated Finger Mechanisms for Robotic Hands 131 Pierluigi Rea Chapter 7 Robotic Grasping and Fine Manipulation Using Soft Fingertip 155 Akhtar Khurshid, Abdul Ghafoor and M. Afzaal Malik VI Contents Chapter 8 Recognition of Finger Motions for Myoelectric Prosthetic Hand via Surface EMG 175 Chiharu Ishii Chapter 9 Self-Landmarking for Robotics Applications 191 Yanfei Liu and Carlos Pomalaza-Ráez Chapter 10 Robotic Waveguide by Free Space Optics 207 Koichi Yoshida, Kuniaki Tanaka and Takeshi Tsujimura Chapter 11 Surface Reconstruction of Defective Point Clouds Based on Dual Off-Set Gradient Functions 223 Kun Mo and Zhoupin Yin Part 3 Other Applications and Theory 245 Chapter 12 Advanced NO x Sensors for Mechatronic Applications 247 Angela Elia, Cinzia Di Franco, Adeel Afzal, Nicola Cioffi and Luisa Torsi Chapter 13 Transdisciplinary Approach of the Mechatronics in the Knowledge Based Society 271 Ioan G.Pop and Vistrian Mătieş   Preface  The community of researchers claiming the relevance of their work to the field of mechatronicsisgrowingfasterandfaster,despitethefactthatthetermitselfhasbeen inthescientificcommunityformorethan40years.Numerousbookshavebeenpub‐ lishedspecializingin anyoneofthewellkn own areas  that comprised it:mechanical engineering,electroniccontrolandsystems,butattemptstobringthemtogetherasa synergisticintegratedareasarescarce.Yetsomecommonapplicationareasclearlyap‐ pearsincethen. Thegoalofthisbookistocollectstate‐of‐the‐artcontributionsthatdiscussrecentde‐ velopmentsthatshowmoremoresy nergisticintegrationamongtheareas.Thebookis dividedinthreesectionswithoutandspecificspecialorder.Thefirstsectionisabout AutomaticControlandArtificialIntelligencewithfivechapters,thesecondsectionis RoboticsandVisionwithsixchapters,andthethirdsectionisOtherA pplicationsand Theorywithtwochapters. The first chapter on Automatic Control and Artificial Intelligence by Wuwei Chen, HansongXiao,LiqiangLiu,JeanW.Zu,andHuiHuiZhouissometheoryandexperi‐ ments of integrated control vehicle dynamics. The second chapter by Wahidah Mansor,SaifulrizalAbRani,andNu rfatehahWahiis about integratingneuralsignal and embedded system for controlling a small motor. Ismaila B. Tijani, Akmeliawati Rini, and Jimoh E. Salami Momoh inthe third  chapter shows anartificial intelligent based friction modelling and compensation for motion control system. The fourth chapter by Corneliu Cristescu, Petrin Drumea, Dragos Ion Guta, and Catalin Dumi‐ trescuisaboutamechatronicsy stemsforkineticenergyrecoveryatthebrakingofmo‐ torvehicles.ThefifthchapterandlastofthissectionbyChin‐YinChen,I‐MingChen, and Chi‐Cheng Cheng is about integrated mechatronic design for servo‐mechanical sy stems. FortheRoboticsandVisionsection,thefirstchapteris onthedesi gnofunderactuat‐ edfingermechanismsforrobotichandsbyPierluigiRe a.  Thefollowingchapterby AkhtarKhurshiddealswithroboticgraspingandfinemanipulationusingsoftfinger‐ tip.Inthenextchapter,ChiharuIshiitalksaboutrecognitionoffingermotionsformy‐ oelectric prosthetic hand via surface EMG. Yanfei Liu and Carlos Pomalaza‐Ráez in thefollowingchaptertalksaboutself‐landmarkingforroboticsapplications.Thenext X Preface chapter is about robotic waveguide by free space optics by Koichi Yoshida, Kuniaki Tanaka,andTakeshiTsujimura.AndthelastchapterforthissectionbyKunMoand Zhoupin Yin is aboutsurface reconstruction of defective point clouds based ondual off‐setgradientfunctions. FortheOtherApplicationsandTheorysec tion,thefirstchapterbyAngelaElia,Cinzia DiFranco,AdeelAfzal,NicolaCioffiandLuisaTorsiisaboutadvancedNOxsensors formechatronicapplications.ThelastchapterbutnottheleastbyIoanG.PopandVis‐ trian Mătieş is about a transdisciplinary approach of the mechatronics in the knowledgebasedsoc iety. Idohopeyouwillfindthebookinterestingandthoughtprovoking.Enjoy!  HoracioMartínez‐Alfaro MechatronicsandAutomationDepartment, TecnológicodeMonterrey,Monterrey, México July2011   [...]... Fzi z (6) (i =1, 2,3,4) (7) where   Fz1  ks 1 ( zu1  zs 1 )  c1 ( zu 1  zs 1 )  kaf 2d [  ( zu 2  zu 1 ) ]  f1 2d (8) 6 Advances in Mechatronics kaf ( zu 2  zu 1 ) ]  f2 2d (9)   Fz 3  ks 3 ( zu 3  zs 3 )  c 3 ( zu 3  zs 3 )  kar (z  z ) [  u 3 u 4 ]  f 3 2d 2d (10 )   Fz 4  ks 4 ( zu 4  zs 4 )  c 4 ( zu 4  zs 4 )  kar (z  z ) [  u 3 u 4 ]  f 4 2d 2d (11 )   Fz 2 ... is applied to the steering column, which is connected to the rack-pinion mechanism Fig 3 EPS system The following governing equations for the pinion can be obtained by applying force analysis to the pinion   I p 1  Tm  Tc  Tr  c e 1 where Tc is the torque applied on the steering wheel, which can be calculated by (20) 8 Advances in Mechatronics Tc  ks ( h   1 ) ( 21) Let the speed reduction... Part 1 Automatic Control and Artificial Intelligence 1 Integrated Control of Vehicle System Dynamics: Theory and Experiment Wuwei Chen1, Hansong Xiao2, Liqiang Liu1, Jean W Zu2 and HuiHui Zhou1 1Hefei University of Technology, 2University of Toronto, P R China Canada 1 Introduction Modern motor vehicles are increasingly using active chassis control systems to replace... following approximation can be reached zs1  zs  a  d (12 ) zs 2  zs  a  d (13 ) zs3  zs  b  d (14 ) zs 4  zs  b  d (15 ) Considering the rotational dynamics of the wheel of the vehicle shown in Fig 2, the equation of motion is derived as  I wi  Fxwi Rw  Ti (i  1,  4) (16 ) i Ti Rw Fxwi Fzwi Fig 2 Wheel dynamic model It is noted that the longitudinal and lateral forces acting on... performance including safety, comfort, and economy, application of hierarchical control brings a number of benefits, among which: 1) facilitating the modular design of chassis control systems; 2) mastering complexity by masking the details of the individual chassis control system at the lower layer; 3) favoring scalability; and 4) speeding up development processes and reducing costs by sharing hardware...  Dz sin C z tan 1 ( Bzz )   (25) where Tzwi is the aligning torque acting on the tyre; and Fx 0  Dx sin C x tan 1 ( Bxx )   (26) Fy 0  Dy sin C y tan 1 ( Byy )   (27)    x 2   y 2 ,  x   / (1   ) ,  y   tan  / (1   ) (28) where the coefficients depend on the tyre characteristics and road conditions, the physical definitions of these coefficients can be found in the... hardware -in- the-loop (HIL) experimental investigation is performed to verify the simulation results 2 System model In this study, two types of vehicle dynamic model are established: a non-linear vehicle dynamic model developed for simulating the vehicle dynamics, and a linear 2-DOF reference model used for designing controllers and calculating the desired responses to driver’s steering input 5 Integrated... mass shown in Fig 1( a)   I zz  I xz  a(Fy 1  Fy 2 )  b(Fy 3  Fy 4 ) (1) And the equations of motion in the longitudinal direction and the lateral direction can be written as   m( vx  vyz )  ms hz  Fx 1  Fx 2  Fx 3  Fx 4  f r mg (2)   m( vy  vxz )  ms h  Fy 1  Fy 2  Fy 3  Fy 4 (3) For pitch motion of sprung mass shown in Fig 1( b)  I y  b(Fz 3  Fz 4 )  a( Fz1  Fz 2... motions in vertical, lateral, and longitudinal directions are coupled in nature To overcome the problems, an approach called integrated vehicle dynamics control was proposed around the 19 90s (Fruechte et al., 19 89) Integrated vehicle dynamics control system is an advanced system that coordinates all the chassis control systems and components to improve the overall vehicle performance including safety,... designed to achieve the goal of functional integration of the chassis control systems These control techniques can be classified into two categories, as suggested by (Gordon et al., 2003): 1) multivariable control; and 2) hierarchical control Most control 4 Advances in Mechatronics techniques used in the previous studies fall into the first category Examples include nonlinear predictive control (Falcone et . August, 2 011 Printed in Croatia A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechweb.org Advances in Mechatronics, . of sprung mass and unsprung mass 12 34ss z z z z mz F F F F  (6) () ui ui ti g iui zi mz k z z F    (i =1, 2,3,4) (7) where 21 1 11 111 1 1 () ()()[ ] 22 af uu z sus us k zz Fkzz. free online editions of InTech Books and Journals can be found at www.intechopen.com   Contents  Preface IX Part 1 Automatic Control and Artificial Intelligence 1 Chapter 1 Integrated