IEEE Transactions on Industrial Electronics

Volume 50, Number 4, August 2003 Access to the journal on IEEE XPLORE IE Transactions Home Page

Special Section on Robot-Human Interactive Communication

50.4.1	H. Kobayashi, P. Coeffet, "Guest Editorial," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 634- 635, August 2003. Abstract Link Full Text Abstract: Not Available
50.4.2	M. Imai, T. Ono, H. Ishiguro, "Physical relation and expression: joint attention for human-robot interaction," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 636- 643, August 2003. Abstract Link Full Text Abstract: This paper investigates situated utterance generation in human-robot interaction. In addition, we study the achievement of joint attention because a person must have joint attention with a robot to identify the object indicated by a situated utterance description generated by the robot. This paper proposes a joint attention mechanism to achieve such joint attention as well as a speech generation system named Linta-III. By using the joint attention mechanism, Linta-III can omit obvious information in the situation from an utterance description. The joint attention mechanism employs eye contact and attention expression functions. These functions are the robot's physical expressions, and they allow the joint attention mechanism to draw the person's attention to the same sensor information as that noticed by the robot. We have also conducted a psychological experiment to evaluate the joint attention mechanism. The results indicated that the eye contact and attention expression functions were effective methods in the development of joint attention.
50.4.3	A. Green, K.S. Eklundh, "Designing for learnability in human-robot communication," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 644- 650, August 2003. Abstract Link Full Text Abstract: In a future scenario where many devices can be controlled using the voice, easy and intuitive access will be crucial for avoiding cognitive overload when users are faced with many different systems and interaction models. We propose a model for interaction with spoken language interfaces applied to heterogeneous tasks for service robots, based on the idea of using a family of lifelike characters. We argue that we can signal important features of the speech interface by using certain visual cues. The aim is to facilitate learning and transfer between interfaces. We discuss challenges for dialogue design affecting learnability in the light of the speech interface constructed for our full-scale robot prototype CERO.
50.4.4	Jianwei Zhang, A. Knoll, "A two-arm situated artificial communicator for human-robot cooperative assembly," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 651- 658, August 2003. Abstract Link Full Text Abstract: We present the development of a robot system with some cognitive capabilities, as well as experimental results. We focus on two topics: assembly by two hands and understanding human instructions in nonconstrained natural language. These two features distinguish human beings from animals, and are, thus, the means leading to high-level intelligence. A typical application of such a system is a human-robot cooperative assembly. A human communicator sharing a view of the assembly scenario with the robot instructs the latter by speaking to it in the same way that he would communicate with a child whose common-sense knowledge is limited. His instructions can be underspecified, incomplete, and/or context dependent. After introducing the general purpose of our research project, we present the hardware and software components of our robots needed for interactive assembly tasks. We then discuss the control architecture of the robot system with two stationary robot arms by describing the functionalities of perception, instruction understanding, and execution. To show how our robot learns from humans, the implementations of a layered learning methodology, memory, and monitoring functions are introduced. Finally, we outline a list of future research topics related to the enhancement of such systems.
50.4.5	G. Grunwald, G. Schreiber, A. Albu-Schaffer, G. Hirzinger, "Programming by touch: the different way of human-robot interaction," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 659- 666, August 2003. Abstract Link Full Text Abstract: Mobile service robots will share their workspaces, e.g., offices, hospitals, or households, with humans. Thus, a direct contact between man and machine is inevitable. Robots equipped with appropriate sensors can sense the touch. In this paper, we present how an unskilled user can intuitively teach the lightweight robot at the German Aerospace Center (DLR), We/spl szlig/ling, Germany, just by touching the arm. Programming by "touch" is very intuitive as you take the robot by the hand and demonstrate the movements. This feature can also be used to interact with the service robot while executing a task. Therefore, if our seven-degrees-of-freedom robot arm senses a touch, it will react by an evasive motion of the touched links while keeping the orientation of the tool center point.
50.4.6	K. Ogawara, J. Takamatsu, H. Kimura, K. Ikeuchi, "Extraction of essential interactions through multiple observations of human demonstrations," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 667- 675, August 2003. Abstract Link Full Text Abstract: This paper describes a new approach on how to teach a robot everyday manipulation tasks under the "Learning from Observation" framework. In this approach, human demonstrations, which are made up of mutual interactions between a grasped object and an environmental object, are observed and a reusable manipulation task model is automatically generated. Most of the similar approaches so far assume that a demonstration can be well understood from a single demonstration. However, a single demonstration contains ambiguity, in that interactions which are essential to complete a task cannot be discerned without prior task dependent knowledge, which should be obtained from observation. To address these issues, a technique to integrate multiple observations of demonstrations is proposed. The demonstrations differ, but are virtually the same task. The shared interactions among all the demonstrations are considered to be essential and a task model is generated from their symbolic representations. Then, the relative trajectories corresponding to each essential interaction are generalized by calculating their mean and variance, and they are also stored in the task model, which is used to reproduce skilled behavior. This approach is examined by using a human-form robot, which successfully imitates human demonstrations of everyday tasks.
50.4.7	E. Ueda, Y. Matsumoto, M. Imai, T. Ogasawara, "A hand-pose estimation for vision-based human interfaces," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 676- 684, August 2003. Abstract Link Full Text Abstract: This paper proposes a novel method for a hand-pose estimation that can be used for vision-based human interfaces. The aim of this method is to estimate all joint angles. In this method, the hand regions are extracted from multiple images obtained by a multiviewpoint camera system. By integrating these multiviewpoint silhouette images, a hand pose is reconstructed as a "voxel model." Then, all joint angles are estimated using a three-dimensional model fitting between the hand model and the voxel model. The following two experiments were performed: (1) an estimation of joint angles by the silhouette images from the hand-pose simulator and (2) hand-pose estimation using real hand images. The experimental results indicate the feasibility of the proposed algorithm for vision-based interfaces, although the algorithm requires faster implementation for real-time processing.
50.4.8	R. Chellali, V. Fremont, C. Maaoui, "A new approach to 3-D modeling of objects with axial symmetry," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 685- 691, August 2003. Abstract Link Full Text Abstract: This paper describes a new method for building a three-dimensional geometrical model of objects from a single image. This method is based on a new concept, namely, the cylindrical projective geometry, which allows us to automatically compute the shape of objects with axial symmetry from one image and without any knowledge about the camera used. Mathematical concepts as well as their use in the modeling process are presented. Some results to show efficiency and accuracy of this method are included.
50.4.9	P. Chedmail, D. Chablat, C. Le Roy, "A distributed approach for access and visibility task with a manikin and a robot in a virtual reality environment," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 692- 698, August 2003. Abstract Link Full Text Abstract: This paper presents a new method, based on a multi-agent system and on a digital mock-up technology, to assess an efficient path planner for a manikin or a robot for an access and visibility task taking into account ergonomic constraints or joint and mechanical limits. In order to solve this problem, the human operator is integrated in the process optimization to contribute to a global perception of the environment. This operator cooperates, in real time, with several automatic local elementary agents. The result of this work validates solutions through the digital mock-up; it can be applied to simulate maintainability and mountability tasks.
50.4.10	T. Fong, C. Thorpe, C. Baur, "Multi-robot remote driving with collaborative control," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 699- 704, August 2003. Abstract Link Full Text Abstract: Multi-robot remote driving has traditionally been a difficult problem. Whenever an operator is forced to divide his limited resources (attention, cognition, etc.) among multiple robots, control becomes complicated and performance deteriorates as a result. Thus, we need to find ways to make command generation and coordination efficient, so that human-robot interaction becomes transparent and tasks are easy to perform. In this paper, we discuss how human-robot collaboration and dialogue provide an effective framework for achieving this. Letters to the Editor
50.4.11	A. Stopp, S. Horstmann, S. Kristensen, F. Lohnert, "Toward interactive learning for manufacturing assistants," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 705- 707, August 2003. Abstract Link Full Text Abstract: The aim of the research presented in this paper is to develop a robot which can easily be instructed how to either perform tasks autonomously or in cooperation with humans. We describe the prototype of our Manufacturing Assistant and the methods developed for teaching new tasks and environments. The functionality has been demonstrated in a number of factory settings. In this paper, some application examples of our methods are presented. Drive Control
50.4.12	Gubae Kang, Junha Kim, Kwanghee Nam, "Parameter estimation scheme for low-speed linear induction motors having different leakage inductances," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 708- 716, August 2003. Abstract Link Full Text Abstract: Linear induction motors (LIMs) are characterized by a large air gap and, as a result, large leakage inductances. Moreover, due to its unslotted structure and the absence of end rings in the secondary part, the primary leakage inductance is much larger than the secondary leakage inductance. Such differences prevent us from using parameter estimation methods developed for the rotary motors. We propose a parameter estimation scheme for a LIM that utilizes a pulsewidth-modulation inverter. It yields mutual inductance by numerically solving a third-order polynomial. Direct estimation of mutual inductance enables us to calculate the leakage inductances separately. The proposed estimation scheme is tested with various example models and with a real 20-kW single-sided LIM.
50.4.13	J.A. Solsona, M.I. Valla, "Disturbance and nonlinear Luenberger observers for estimating mechanical variables in permanent magnet synchronous motors under mechanical parameters uncertainties," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 717- 725, August 2003. Abstract Link Full Text Abstract: This paper deals with rotor position and speed estimation of permanent-magnet synchronous motors. Two reduced-order observers, a disturbance observer and a nonlinear one, are considered. It is shown that under exact model assumption the nonlinear observer converges in an exponential way, while a residual estimation error appears when the disturbance observer is used. Therefore, uncertainties in the mechanical submodel are taken into account. Estimation error arises due to the model mismatch; bounds for this error are calculated in both observers. Finally, a comparison of the performance of each observer is presented.
50.4.14	T. Senjyu, K. Kinjo, N. Urasaki, K. Uezato, "High efficiency control of synchronous reluctance motors using extended Kalman filter," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 726- 732, August 2003. Abstract Link Full Text Abstract: High-efficiency control of synchronous reluctance motors (SynRMs) is very important in the sense of energy saving and conservation of the natural environment because the efficiency of the SynRM is generally lower than that of other types of AC motors. This paper presents a high-efficiency control strategy for the SynRMs. In this strategy, the d- and q-axes currents are controlled instantaneously. Since the control performance mainly depends on the accuracy of the machine parameters, online parameter estimation using the extended Kalman filter is incorporated into the control strategy. This control strategy improved the drive efficiency and robust performance against machine parameter variations. The validity of the proposed scheme is demonstrated through experimental results.
50.4.15	Rong-Jong Wai, Rou-Yong Duan, Jeng-Dao Lee, Han-Hsiang Chang, "Wavelet neural network control for induction motor drive using sliding-mode design technique," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 733- 748, August 2003. Abstract Link Full Text Abstract: This paper addresses an adaptive observation system and a wavelet-neural-network (WNN) control system for achieving the favorable decoupling control and high-precision position tracking performance of an induction motor (IM) drive. First, an adaptive observation system with an inverse rotor time-constant observer is derived on the basis of model reference adaptive system theory to preserve the decoupling control characteristic of an indirect field-oriented IM drive. The adaptive observation system is implemented using a digital signal processor with a high sampling rate to make it possible to achieve good dynamics. Moreover, a WNN control system is developed via the principle of sliding-mode control to increase the robustness of the indirect field-oriented IM drive with the adaptive observation system for high-performance applications. In the WNN control system, a WNN is utilized to predict the uncertain system dynamics online to relax the requirement of uncertainty bound in the design of a traditional sliding-mode controller. In addition, the effectiveness of the proposed observation and control systems is verified by simulated and experimental results. Power Electronics
50.4.16	M. Veerachary, T. Senjyu, K. Uezato, "Neural-network-based maximum-power-point tracking of coupled-inductor interleaved-boost-converter-supplied PV system using fuzzy controller," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 749- 758, August 2003. Abstract Link Full Text Abstract: The photovoltaic (PV) generator exhibits a nonlinear V-I characteristic and its maximum power (MP) point varies with solar insolation. In this paper, a feedforward MP-point tracking scheme is developed for the coupled-inductor interleaved-boost-converter-fed PV system using a fuzzy controller. The proposed converter has lower switch current stress and improved efficiency over the noncoupled converter system. For a given solar insolation, the tracking algorithm changes the duty ratio of the converter such that the solar cell array voltage equals the voltage corresponding to the MP point. This is done by the feedforward loop, which generates an error signal by comparing the instantaneous array voltage and reference voltage corresponding to the MP point. Depending on the error and change of error signals, the fuzzy controller generates a control signal for the pulsewidth-modulation generator which in turn adjusts the duty ratio of the converter. The reference voltage corresponding to the MP point for the feedforward loop is obtained by an offline trained neural network. Experimental data are used for offline training of the neural network, which employs a backpropagation algorithm. The proposed peak power tracking effectiveness is demonstrated through simulation and experimental results. Tracking performance of the proposed controller is also compared with the conventional proportional-plus-integral-controller-based system. These studies reveal that the fuzzy controller results in better tracking performance.
50.4.17	H.L. Cheng, C.S. Moo, W.M. Chen, "A novel single-stage high-power-factor electronic ballast with symmetrical topology," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 759- 766, August 2003. Abstract Link Full Text Abstract: This paper proposes a novel single-stage high-power-factor high-efficiency electronic ballast with symmetrical topology for fluorescent lamps. The circuit topology originates from the integration of two half-wave rectifiers with buck-boost power-factor-correction converters and a half-bridge series-resonant parallel-loaded inverter. A high power factor at the input line is assured by operating the buck-boost converters in discontinuous conduction mode. With symmetrical operation and carefully designed circuit parameters, zero-voltage switching on the active power switches of the inverter can be retained to achieve high circuit efficiency. The design equations are derived from the analyzed results based on fundamental approximation, and then an easy-to-use design tool is provided accordingly under considerations of filament heating and ignition. A prototype circuit designed for two T9-40W rapid-start fluorescent lamps is built and tested to verify the analytical predictions. Satisfactory performance is obtained from the experimental results.
50.4.18	Dylan Dah-Chuan Lu, D.K.-W. Cheng, Yim-Shu Lee, "A single-switch continuous-conduction-mode boost converter with reduced reverse-recovery and switching losses," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 767- 776, August 2003. Abstract Link Full Text Abstract: A single-switch continuous-conduction-mode boost converter with reduced reverse-recovery and switching losses is proposed. By utilizing the leakage inductances of a pair of coupled inductors and two additional rectifiers, the turn-off rates (di/dt) of the boost output rectifier and the additional rectifiers are slowed down to reduce the reverse-recovery loss. The boost power transistor is also operated under a low-voltage turn-on condition to reduce the switching loss. Experimental results are presented to confirm the theoretical analysis and the performance of the proposed converter. Robotics and Vision
50.4.19	Z. Kemeny, "Redundancy resolution in robots using parameterization through space," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 777- 783, August 2003. Abstract Link Full Text Abstract: This paper deals with the solution of the inverse kinematic problem for kinematically redundant robots. After summarizing the most widespread methods currently used, a new algorithm is proposed which finds the solution with a constrained optimization, using a parameterized form of the kinematic equation's space. Along with the derivation of the new algorithm, extension possibilities (e.g., singularity handling) are also described. Further comparison then shows the relation between gradient projection and optimization methods through a special case. Finally, application examples are presented for an eight-degrees-of-freedom arm and a mobile manipulator. Signal Processing and Control
50.4.20	Kyung Chang Lee, Suk Lee, Man Hyung Lee, "Remote fuzzy logic control of networked control system via Profibus-DP," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 784- 792, August 2003. Abstract Link Full Text Abstract: This paper focuses on the feasibility of fuzzy logic control for networked control systems (NCSs). In order to evaluate its feasibility, a networked control system for servo motor control is implemented on a Profibus-DP network. The NCS consists of several independent, but interacting, processes running on two separate stations. By using this NCS, the network-induced delay is analyzed to find the cause of the delay. Furthermore, the fuzzy logic controller's performance is compared with that of conventional proportional-integral-derivative controllers. Based on the experimental results, it is found that the fuzzy logic controller can be a viable choice for an NCS due to its robustness against parameter uncertainty.
50.4.21	S.H. Ling, F.H.F. Leung, H.K. Lam, Yim-Shu Lee, P.K.S. Tam, "A novel genetic-algorithm-based neural network for short-term load forecasting," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 793- 799, August 2003. Abstract Link Full Text Abstract: This paper presents a neural network with a novel neuron model. In this model, the neuron has two activation functions and exhibits a node-to-node relationship in the hidden layer. This neural network provides better performance than a traditional feedforward neural network, and fewer hidden nodes are needed. The parameters of the proposed neural network are tuned by a genetic algorithm with arithmetic crossover and nonuniform mutation. Some applications are given to show the merits of the proposed neural network.
50.4.22	I.W.C. Lee, P.K. Dash, "S-transform-based intelligent system for classification of power quality disturbance signals," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 800- 805, August 2003. Abstract Link Full Text Abstract: In this paper, a new approach is presented for the detection and classification of nonstationary signals in power networks by combining the S-transform and neural networks. The S-transform provides frequency-dependent resolution that simultaneously localizes the real and imaginary spectra. The S-transform is similar to the wavelet transform but with a phase correction. This property is used to obtain useful features of the nonstationary signals that make the pattern recognition much simpler in comparison to the wavelet multiresolution analysis. Two neural network configurations are trained with features from the S-transform for recognizing the waveform class. The classification accuracy for a variety of power network disturbance signals for both types of neural networks is shown and is found to be a significant improvement over multiresolution wavelet analysis with multiple neural networks.
50.4.23	A. Willig, "Polling-based MAC protocols for improving real-time performance in a wireless PROFIBUS," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 806- 817, August 2003. Abstract Link Full Text Abstract: The idea of having a wireless PROFIBUS is appealing, since this can bring benefits like reduced cabling need and mobile stations to the factory floor. However, unfortunately, wireless transmission is error prone, which affects the timeliness and reliability behavior users expect from a fieldbus system (hard real time). In this paper, we compare two different approaches for the medium access control (MAC) and link layer of a wireless PROFIBUS system with respect to their so-called real-time performance in the presence of transmission errors. Specifically, we compare the existing PROFIBUS MAC and link layer protocol with a simple round-robin protocol. It is shown that round-robin delivers significantly better real-time performance than the PROFIBUS protocol under bursty error conditions. In a second step, we propose three add-ons to round-robin and we show that they further increase the real-time performance of round-robin. The add-ons take certain characteristics of the wireless medium into account. Letters to the Editor
50.4.24	M. Hinkkanen, J. Luomi, "Modified integrator for voltage model flux estimation of induction motors," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 818- 820, August 2003. Abstract Link Full Text Abstract: This letter deals with voltage model flux estimators for sensorless induction motor drives. In order to eliminate the drift problems, the pure integrator of the voltage model is replaced with a first-order low-pass filter, and the error due to this replacement is compensated in a very simple way.
50.4.25	R.T. Novotnak, J. Chiasson, "Comments on "Passivity-based control of saturated induction motors"," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 820, August 2003. Abstract Link Full Text Abstract: The authors comment on the paper by L.U. Gokdere et al. (see ibid., vol. 48, p.870-2, 2001). A review of the experimental evidence shows that passivity-based control of saturated induction motors does not provide superior performance over input-ouput linearization. Higher tracking errors can be observed and traced to the open-loop nature of the flux controller. In contrast, input-output linearization controllers achieve close tracking of flux, speed, and position references for the most demanding trajectories.
50.4.26	S. Cavalieri, "Definition of a fault recovery protocol compliant with Interbus-S standard," IEEE Trans. on Industrial Electronics, vol. 50, no. 4, pp. 821- 823, August 2003. Abstract Link Full Text Abstract: Fieldbuses are communication systems used in industrial environments to convey information on which process control is based. Due to the nature of this information, the presence of fault tolerance mechanisms is required. This letter proposes a fault recovery protocol compliant with Interbus-S, one of the most widely used fieldbuses.