Advances in Motion Sensing and Control for Robotic Applications: Selected Papers from the Symposium on Mechatronics, Robotics, and Control (SMRC’18)- CSME International Congress 2018, May 27-30, 2018 Toronto, Canada PDF
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Lecture Notes in Mechanical Engineering Farrokh Janabi-Sharifi William Melek Editors Advances in Motion Sensing and Control for Robotic Applications Selected Papers from the Symposium on Mechatronics, Robotics, and Control (SMRC’18)—CSME International Congress 2018, May 27–30, 2018 Toronto, Canada Lecture Notes in Mechanical Engineering LectureNotesinMechanicalEngineering(LNME)publishesthelatestdevelop- ments in Mechanical Engineering—quickly, informally and with high quality. Originalresearchreportedin proceedings andpost-proceedings represents thecore of LNME. Volumes published in LNME embrace all aspects, subfields and new challenges of mechanical engineering. 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More information about this series at http://www.springer.com/series/11236 fi Farrokh Janabi-Shari William Melek (cid:129) Editors Advances in Motion Sensing and Control for Robotic Applications Selected Papers from the Symposium on Mechatronics, Robotics, and Control ’ — (SMRC 18) CSME International Congress – 2018, May 27 30, 2018 Toronto, Canada 123 Editors Farrokh Janabi-Sharifi William Melek Department ofMechanical andIndustrial DepartmentofMechatronicsandMechanical Engineering Engineering Ryerson University University of Waterloo Toronto, ON,Canada Waterloo, ON,Canada ISSN 2195-4356 ISSN 2195-4364 (electronic) Lecture Notesin MechanicalEngineering ISBN978-3-030-17368-5 ISBN978-3-030-17369-2 (eBook) https://doi.org/10.1007/978-3-030-17369-2 ©SpringerNatureSwitzerlandAG2019 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained hereinorforanyerrorsoromissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregard tojurisdictionalclaimsinpublishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Organization SMRC2018wasorganizedasapartofCSMEInternationalCongress2018,which was held in York University, Toronto, Canada, during May 27–30, 2018. The congress is the flagship conference of the Canadian Society for Mechanical Engineering. Organizing Committee Symposium Chair Farrokh Janabi-Sharifi, Ryerson University, Canada Symposium Co-chair William Melek, University of Waterloo, Canada Conference Chair Aleksander Czekanski, York University, Canada Technical Chairs Dan Zhang, York University, Canada Zheng Hong (George) Zhu, York University, Canada Program Chair Garrett Melenka, York University, Canada Workshop Chair Pouya Rezai, York University, Canada Financial Chair Ali Ahmadi, University of PEI, Canada Plenary and Keynote Chair Solomon Boakye-Yiadom, York University, Canada v vi Organization Sponsorship Chair Andrew Maxwell, York University, Canada Inclusivity and Diversity Chair Marisa Sterling, York University, Canada Logistics Co-chairs Sunny Leung, York University, Canada Hossein Rouhani, University of Alberta, Canada Marketing and Communications Chair Costas Armenakis, York University, Canada Referees M. Abdelmotalib A. Abdel Rahman M. Biglarbegian H. Bonyan A. Dakibay B. DeHart W. Guaeiab G. Gungor M. Mehrandezh H. Najjaran A. Rezaeian I. Umay A. Vakanski B. Sahoo M. Shahriari Sponsoring Organizations ABC Group Inc., Toronto, ON, Canada Ayva Educational Solutions, Oakville, ON, Canada Delta Photonics, Ottawa, ON, Canada Hoskin Scientific Ltd., Burlington, ON, Canada Instron, Norwood, MA, USA Quanser, Markham, ON, Canada SFR Magnifying Nanoscience (The Biophysics Society of Canada) Transactions of Canadian Society of Mechanical Engineering High Speed Imaging Inc., Uxbridge, ON, Canada Organization vii University of Calgary, Calgary, AB, Canada University of Waterloo, Waterloo, ON, Canada The University of British Columbia, Vancouver, BC, Canada York University, Toronto, ON, Canada Preface Robotics continues to have a remarkable impact on our world. Robots are not limitedtofactoriesanymoreandhaveenteredintoourlivesindifferentshapesand angles. As robotic technology advances, they assist humans in very critical areas, ranging from medical interventions to planetary missions. With the advents of information technology and artificial intelligence, to meet emerging applications’ needs, robotics is entering the truly intelligent robotics era after a long time treat- ment of electrical and mechanical issues. Despite technological advancements, sensingandcontrolremainkeyelementstobefurtherdevelopedfortherealization of truly intelligent robotic systems. For this book, we have invited selected papers from submissions to 2018 SymposiumonMechatronics,Robotics,andControl(SMRC’18)whichwaspartof CSME International Congress 2018, held in Toronto, Canada, during May 27–30, 2018.Atotalof25papersweresubmittedtothesymposium.Of25papers,only8 papers(32%)wereinvitedtosubmitanextendedversionoftheirsymposiumpapers for consideration in the book. The invited papers were extended accordingly and wentthrougharigorouspeer-reviewprocess.Inadditiontotwoeditors,eachpaper was at least reviewed by two independent reviewers. The majority of the papers were revised and reviewed again. The papers presented here represent a set of high-quality contributions on modeling, sensing, and control addressing important openissues.Thepapersofthebookwereorganizedintoeightchapterswithdiverse topics related to sensing and control. The first two chapters are related to sensing with the focus on biped robots and motion capture systems. Because of hybrid dynamics of bipedal robots and their often underactuation, estimating their state could be quite challenging. In chapter “Sensor Filtering and State Estimation of a Fast Simulated Planar Bipedal Robot”, several methods are formulated and tested for efficient state estimation of planar biped robots. The advantages of Kalman filter-based technique for sensor fusion and state estimations in planar biped robots are demonstrated. Motion capture systems are widely used in many robotic applications. Among them, OptiTrack motion capture systems have become popular due to their cost effectiveness. However, a comprehensive comparison of different OptiTrack camera systems ix x Preface trackingdynamicobjectsremainstobeconducted.Chapter“ComparativeAnalysis of OptiTrack Motion Capture Systems” focuses on comparing various configura- tionsofOptiTrack motion capturesystems for theirworkspace volume,range, and tracking accuracy. Chapter“OnlineTuningRuleBasedAdaptiveSpeedControlAlgorithmforDC Motors Using Recursive Least Squares with Forgetting” reports on fundamental control for robotic applications. This chapter is related to online tuning of DC motors which are used for actuation of many robotic systems. Due to the involvement of several uncertainties, model-based control methods may fall short, particularly with the applications in unstructured environments. In this chapter, an adaptive speed control algorithm with online tuning is proposed. Additionally, the chapter presents the design of a disturbance observer to approximate dynamics of the system for adaptation to large variations in system characteristics and environmental conditions. The next two chapters (Chapters “Propeller Performance in Presence of Freestream:ApplicationsinModelingMultirotorUAVs”and“RobustCooperative CloseFormationFlightControlofMultipleUnmannedAerialVehicles”)dealwith modeling and control problems for unmanned aerial vehicles (UAVs). Due to the recent advents of science and technology, UAVs have become popular in many applicationsandofferapromisingtopicinmanyresearchareas.Chapter“Propeller PerformanceinPresenceofFreestream:ApplicationsinModelingMultirotorUAVs” discussesthemathematicalmodelsformulti-rotorunmannedaerialvehicles(UAVs) to help with designing advanced control techniques and more stable and power-optimalflight configurations. In particular, the chapter focuses on modeling thrustforceandmomentsgeneratedbyapropellerinthepresenceoffreestream.In chapter“RobustCooperativeCloseFormationFlightControlofMultipleUnmanned AerialVehicles”,closeformationcontrolproblemofmultipleUAVsisinvestigated. CloseformationsofUAVsbringseveraladvantagesandextendtheirapplications.In thischapter,issuesrelatedtopreviousformationcontrolmethodsarediscussedanda cooperative formation control with bidirectional communication topology and an uncertaintyanddisturbanceestimationmethodareproposed. Theremainingchaptersfocusonthedevelopmentofcontrolmethodsforvarious roboticconfigurations from micromanipulators to reconfigurable robots. In chapter “Dry Surface Micromanipulation Using an Untethered Magnetic Microrobot”, the focus is placed on micromanipulation using magnetic microrobots. The idea is to minimize the workspace required by conventional micromanipulation strategies whichneedaccessibleworkspacetoreacheachcomponent.Thischapterpresentsa method using an untethered magnetic microrobot for precise and accurate posi- tioning of microcomponents on dry surface within a remote workspace. Although anopen-loopcontroltechniqueispresented,thepotentialfortheuseofclosed-loop control is established. In chapter “Sliding Mode Control Design of a Two-Wheel Inverted Pendulum Robot: Simulation, Design and Experiments”, robust control design for two-wheel inverted pendulum (TWIP) robot is discussed. Such robots have gained popularity due to their lightweight, small footprint, and good maneuverability. However, their inherent nonlinearity poses severe challenges for
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