Intelligent mechatronics

INTELLIGENT

MECHATRONICS

Edited by Ganesh R. Naik

Intelligent Mechatronics

Edited by Ganesh R. Naik

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

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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 Katarina Lovrecic

Technical Editor Teodora Smiljanic

Cover Designer Martina Sirotic

Image Copyright 1971yes, 2010. Used under license from Shutterstock.com

First published February, 2011

Printed in India

A free online edition of this book is available at www.intechopen.com

Additional hard copies can be obtained from [email protected]

Intelligent Mechatronics, Edited by Ganesh R. Naik

p. cm.

ISBN 978-953-307-300-2

free online editions of InTech

Books and Journals can be found at

www.intechopen.com

Part 1

Chapter 1

Chapter 2

Chapter 3

Chapter 4

Chapter 5

Part 2

Chapter 6

Chapter 7

Preface IX

Intelligent Robotics 1

A Mechatronic Perspective

on Robotic Arms and End-Effectors 3

Pinhas Ben-Tzvi and Paul Moubarak

A Torque Cancelling System

for Quick-Motion Robots 21

Daigoro Isobe

Locomotion Control for Legged Robot

by Virtual Contact Impedance Method 41

Fumiaki Takemori

Development of a Simulation Environment Applied to

the Study of Fault-Tolerant Control Systems in Robotic

Manipulators. Theoretical and Practical Comparisons 51

Claudio Urrea and John Kern

Kinematic Task Space Control Scheme

for 3DOF Pneumatic Parallel Robot 67

Luis Hernández, Eduardo Izaguirre, Ernesto Rubio,

Orlando Urquijo and Jorge Guerra

System Interfacing, Instrumentation and Control 85

Blind Source Separation Based Classification

Scheme for Myoelectric Prosthesis Hand 87

Ganesh R. Naik and Dinesh Kumar

Feedback Control and Time-Optimal Control

about Overhead Crane by Visual Servo

and These Combination Control 103

Yasuo Yoshida

Contents

VI Contents

Intelligent Methods

for Condition Diagnosis of Plant Machinery 119

Huaqing Wang and Peng Chen

Physical System Modelling and Real Time Applications 141

Methodology for Reusing Real-time HiL Simulation

Models in the Commissioning and Operation Phase

of Industrial Production Plants 143

Sebastian Kain, Frank Schiller, and Sven Dominka

Hybrid Planning for Self-Optimization

in Railbound Mechatronic Systems 169

Philipp Adelt, Natalia Esau, Christian Hölscher, Bernd Kleinjohann,

Lisa Kleinjohann, Martin Krüger and Detmar Zimmer

An Evidence Accrual Data Fusion

Technique for Situational Assessment 195

Stephen C. Stubberud and Kathleen A. Kramer

Intelligent Mechatronic System for Automatically

Evaluating the Training of the Laparoscopic Surgeon 219

Minor A., Lorias D., Ortiz Simon and Escamirosa F.

Reliability of Authenticated Key Establishment

Protocols in a Complex Sensor System 229

Kalvinder Singh and Vallipuram Muthukkumarasamy

Chapter 8

Part 3

Chapter 9

Chapter 10

Chapter 11

Chapter 12

Chapter 13

Preface

Background and motivation

Over the last decade there has been an exponential growth in Mechatronics and in￾telligent systems activity, a growth that has lead to the development of exciting new

products used in every day life. The discipline of Mechatronics is enormous in mag￾nitude. Ideally, it combines mechanics, electronics, soft ware engineering, information

systems, communication, control and artifi cial intelligence.

Mechatronics is defi ned as the fi eld of study involving the analysis, design, synthesis,

and selection of systems that combine electronic and mechanical components with

modern controls and microprocessors. Mechatronics is an engineering fi eld that refers

to mixed systems’ tight integration. Currently, this integration can be viewed as based

on digital computer monitoring and control, but it cannot be denied that integration

can be based on any other signal processing system and any form of raw power that

can be modulated and transferred to the mixed system in accordance with the output

of the digital signal processor. Mechatronics refers to monitoring, control and integra￾tion not only of lumped parameters systems, but also of distributed parameters sys￾tems. This interdisciplinary approach is valuable to students because virtually every

newly designed engineering product is a Mechatronic system.

Intended Readership

This book is intended for both mechanical and electronics engineers (researchers and

graduate students) who wish to get some training in smart electronic devices embed￾ded in mechanical systems. The book is partly a textbook and partly a monograph. It

is a textbook as it provides a focused interdisciplinary experience for undergraduates

that encompasses important elements from traditional courses as well as contemporary

developments in Mechatronics. It is simultaneously a monograph because it presents

several new results and ideas and further developments and explanation of existing

algorithms which are brought together and published in the book for the fi rst time.

Furthermore, the research results previously scatt ered in many scientifi c journals and

conference papers worldwide, are methodically collected and presented in the book in

a unifi ed form. As a result of its twofold character the book is likely to be of interest to

graduate and postgraduate students, engineers and scientists working in the fi elds of

Mechanical engineering, communication, electronics, computer science, optimisation,

and neural networks. Furthermore, the book may also be of interest to researchers

working in diff erent areas of science, as a number of results and concepts have been

X Preface

included which may be useful for their further research. One can read the book through

sequentially but it is not necessary since each chapter is essentially self-contained, with

as few cross references as possible. Therefore, browsing is encouraged.

Apart from the technical side, I would like to express my thanks to Prof. Aleksandar

Lazinica and Prof. Katarina Lovrecic, of InTech publishing, for their continuous help

and support. Last but not least, I thank all the authors who have put in enormous ef￾forts for the publication of this work.

Dr. Ganesh R Naik

RMIT University,

Melbourne,

Australia

[email protected]

Part 1

Intelligent Robotics

1

A Mechatronic Perspective on

Robotic Arms and End-Effectors

Pinhas Ben-Tzvi and Paul Moubarak

Robotics and Mechatronics Laboratory

Department of Mechanical and Aerospace Engineering

The George Washington University

United States of America

1. Introduction

The robotic industry has constantly strived towards developing robots that harmoniously

coexist with humans. Social robots, as they are often dubbed, differ from their industrial

counterparts operating in assembly lines by almost all aspects except the adjective “robotic”.

Social robots are often classified as robots that interact with humans, suggesting that they

must possess a human-like morphology in order to fit this designation. A broader definition

of the term social robots, however, encompasses any robotic structure coexisting in a society,

capable of bringing comfort or assistance to humans. These robots can range from

housekeeping wheeled rovers to bipedal robots, prosthetic limbs and bionic devices.

The distinction between industrial robots and social robots stems from the different

environments in which they operate. The nature of the interaction with humans and the

surroundings in an urban environment imposes a new stream of requirements on social

robots, such as mobility, silent actuation, dexterous manipulation and even emotions.

Unlike industrial robots where these constraints are alleviated in favor of strength and

speed, the development of social robots for an urban environment is associated with more

extreme specifications that often relate to engineering challenges and social considerations,

including public perception and appeal. The robot will either be accepted by society or

rejected due to unattractive or unfamiliar features. Many of these considerations are

sometimes ignored by researchers although they are critical to the integration of these robots

in the society as an adjunct to human faculty.

In the context of robotic manipulation related to social robots operating in an urban

environment, which constitutes the scope of this chapter, the progress achieved in this field

in terms of hardware implementation is remarkable. Recent developments feature

manipulator arms with seven degrees of freedom and robotic hands with twenty four joints

that replicate the dexterity of a human hand. This level of dexterity is appealing to the end￾user because it brings familiarity to the general conception of robotic limbs, thus making the

technology more acceptable from a social standpoint especially when it comes to bionic

integration and prosthetic rehabilitation.

However, the cost of this technology is high due to hardware complexity and size. Other

urban applications, such as search-and-rescue or police operations, favor higher payload

capabilities of the arm and end-effector over a higher level of manipulation and dexterity.