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Fault Tolerance Of A Flexible Manipulator

Fault Tolerance Of A Flexible Manipulator

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Chee Pin Tan Maki K. Habib School of Engineering Monash University Malaysia Department of Electrical and Computer Systems Engineering Korea Advanced Institute of Science and Technology Taejon South Korea

this paper presents an application of a sensor fault tolerant control (FTC) scheme on a flexible joint and flexible link. A linear observer is used to reconstruct the faults. then the reconstruction is subtracted from the faulty sensors to form a 'virtual sensor' and this signal (instead of the normally used faulty output) is then used to generate the control input. this minimizes performance degradation. A design method to make the virtual sensor insensitive to system uncertainties is presented. Two fault conditions are tested; total failure and incipient faults. then the robustness is tested by implementing the joint's FTC scheme on the link. Excellent results have been obtained for both cases; the FTC scheme caused the system performance is almost identical to the fault-free scenario, even for simultaneous faults

关键词： Fault tolerance Degradation Sensor systems Uncertainty Fault detection Fault tolerant systems Design methodology control systems Signal generators Testing

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Multi-objective Decision Algorithm Based on Adaptive Genetic Algorithm and Grey Relation Degree

Multi-objective Decision Algorithm Based on Adaptive Genetic...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Junfeng Li Wenzhan Dai Department of Automatic control Zhejiang University of Science and Technology Hangzhou Zhejiang China Information & Electronic Engineering Zhejiang Gongshang University Hangzhou Zhejiang China

Based on adaptive genetic algorithm and grey relation degree, a new algorithm for multi-objective decision is put forward. First, the multi-objective problem is divided up into multiple single-objective problems. then the optimal results of these single-objective problems are respectively solved and unified which consist of referenced vector. Second, the grey relation degree between each individual and the referenced vector is calculated, and the grey relation degree is assigned as the fitness of the individual. At last, the Pareto optimal sets are selected by using adaptive genetic algorithm so that variety of population is saved. Simulation examples show the effectiveness of the proposed approach.

关键词： Genetic algorithms Pareto optimization Genetic engineering Evolution (biology) Linearity Programmable control Adaptive control Educational institutions Costs Biological system modeling

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Research on CAPP Technology Oriented to CNC

Research on CAPP Technology Oriented to CNC

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Sheng Lu Tao Yu Tan Liu School of Computer Science and Information Engineering Chongqing Technology and Business University Chongqing China CIMS & Robot Center Shanghai University Shanghai China

this paper is based on a new philosophy of CNC (computer numerical control), which is named as INC (integrated numerical control or intelligent numerical control). CAPPoCNC (CAPP oriented to CNC) is an important technology of INC. First the paper has a brief introduction of INC and describes important characteristics of INC. Second it focuses on introducing and analyzing one of three key technologies of INC: CAPP technology oriented to CNC, which has mended and advanced general process planning functions to facilitate manufacturing process. It mainly includes nesting optimization, motion expression based on characteristics, interactive CAD&APP technology and fuzzy information expression and evaluation. It also discusses the principle and application of them further. Finally, a case is given to illustrate how to realize CAPP technology oriented to CNC of a narrow-sense INC in engineering area

关键词： Computer numerical control Computer integrated manufacturing Computer aided manufacturing Materials requirements planning Process planning CADCAM Design automation Intelligent control Manufacturing processes Telecommunication computing

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Nanorobot Communication Techniques: A Comprehensive Tutorial

Nanorobot Communication Techniques: A Comprehensive Tutorial

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Adriano Cavalcanti Tad Hogg Bijan Shirinzadeh Hwee C. Liaw Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Melbourne VIC Australia Hewlett Packard Laboratories Palo Alto CA USA

this work presents chemical communication techniques for nanorobots foraging in fluid environments relevant for medical applications. Unlike larger robots, viscous forces and rapid diffusion dominate their behaviors. Examples range from modified microorganisms to nanorobots using ongoing developments in molecular computation, sensors and motors. the nanorobots use an innovative methodology to achieve decentralized control for a distributed collective action in the combat of cancer. A communication approach is described in the context of recognize a single tumor cell in a small venule as a target for medical treatment. thus, a higher gradient of signal intensity of E-cadherin is used as chemical parameter identification in guiding nanorobots to identify malignant tissues. A nanorobot can effectively use chemical communication to improve intervention time to identify tumor cells

关键词： Tutorial Cancer Tumors Medical services Biomedical equipment Robot sensing systems Medical robotics Microorganisms Chemical sensors Micromotors

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A Flexible Microassembly System for Automated Fabrication of MEMS Sensors

A Flexible Microassembly System for Automated Fabrication of...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Hui Xie Weibin Rong Lining Sun Liguo Chen Robotics Institute Harbin Institute of Technology Harbin China

Batch microassembly of MEMS sensors is limited by the manual manipulation required specially trained technicians. To reduce the production costs and simultaneously obtain high production quality, a flexible microassembly system for automated bonding of MEMS sensors is developed. the system consists of a set of autonomous modules that can adapt their structures and functions to various sizes of MEMS sensors, including positioning stages, a microscopy imaging system, a flexible micromanipulator, a heater, a fixture, a supply station and auxiliary systems. Optomechatronic design is essential to the development of integrated systems due to the basic importance of microscope optics to microassembly. In this paper, major methodology issues in optomechatronic design of this system are introduced. A wavelet-based microscopic focus measure and a control scheme with a modified Smith predicator to decrease the inherent time delay of vision system are presented. A smart force sensor with one dimension is employed to sense and control the interactive force. To perform manipulations automatically, a control system, including a task planning level and a real-time execution level, is developed. the productivity of the flexible microassembly system is validated by further experiments

关键词： Microassembly Fabrication Micromechanical devices Sensor systems Automatic control Batch production systems Microscopy control systems Force sensors Force control

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the Method of Data Pre-processing in Grey Information Systems

The Method of Data Pre-processing in Grey Information System...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： S.X. Wu S.F. Liu M.Q. Li School of Economics and Management Nanjing University of Aeronautics and Astronautics Nanjing China Center for Systems and Control Xiamen University Xiamen Fujian China Department of Electrical & Computer Engineering National University of Singapore Singapore

In this paper, a method of data pre-processing in grey information systems was proposed to deal with grey information. the binning technique was introduced to smooth noisy data used for grey relative analysis. It constructed the function of grey relative coefficient for each null value and filled up the null value with the solution of the function. It also can be used to detect noisy data. this method is an application of grey system theory in data pre-processing. It has great significance in filling up null values and detecting noisy data in the "poor" information database

关键词： Information systems Data mining Databases Engineering management control systems Null value Filling Management information systems Statistical distributions Smoothing methods

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Robust Sensor Fault Reconstruction Using A Reduced Order Linear Observer

Robust Sensor Fault Reconstruction Using A Reduced Order Lin...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Chee Pin Tan Christopher Edwards Ye Chow Kuang School of Engineering Monash University Malaysia Engineering Department Leicester University UK

this paper presents an observer based robust sensor fault reconstruction scheme. A popular observer based robust fault detection method is eigenstructure assignment; where the observer has certain eigenvectors, resulting in the fault detection scheme being decoupled from disturbances. this paper firstly investigates the existence conditions for the right eigenvector assignment method. then an alternative scheme using reduced order observers is presented, with existence conditions that are less restrictive than that of right eigenvector assignment, whilst still being decoupled from disturbances. Following that, it proposes a design method for the observer using linear matrix inequalities. A design example validates the work in this paper; where the fault reconstruction scheme is totally decoupled from any disturbances

关键词： Robustness Fault detection Observers Uncertainty Design methodology State estimation Linear matrix inequalities Robust control Sensor systems control systems

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Nonlinear System Identification Based on TS-GFNN

Nonlinear System Identification Based on TS-GFNN

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Ruihua Wei Lihong Xu Department of Control Science and Engineering University of Tongji Shanghai China

A new design of GFNN (generalized fuzzy neural network) based on T-S (Takagi-Sugeno) model and its corresponding off-line and on-line architecture and parameter identification algorithm are presented. the TS-GFNN, which integrates the advantages of neural network into that of the fuzzy logic system, is a powerful method in the modeling of the nonlinear system. Clustering based membership function is introduced in the premise of TS-GFNN, which make the architecture more concise. the on-line identification algorithm can make the TS-GFNN to be more adaptive in the design of controller. the simulation shows that the identifier based on TS-GFNN can approach the non-linear function in any precision, and it is more effective than the ordinary method

关键词： Nonlinear systems Algorithm design and analysis Power system modeling Clustering algorithms Fuzzy neural networks Takagi-Sugeno model Parameter estimation Neural networks Fuzzy logic Programmable control

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A New control Scheme for the Speed control of PMBLDC Motor Drive

A New Control Scheme for the Speed Control of PMBLDC Motor D...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： P. thirusakthimurugan P. Dananjayan Department of Electronics and Instrumentation Engineering Pondicherry Engineering College Pondicherry India

the design of current and speed controllers for permanent magnet brushless DC (PMBLDC) motor drive remains to large extent a mystery in the motor drives field. A precise speed control of PMBLDC motor is complex due to non linear coupling between winding currents and rotor speed as well as non-linearity present in the developed torque due to magnetic saturation of the rotor. this paper presents a new control scheme to the conventional PMBLDC motor, aimed at improving control system robustness via complete decoupling of the design and performance of the control loops that ensures robustness by minimizing the mutual influence among the speed and current control loops. this robust decoupling control scheme would be applicable to both static and dynamic aspects. the effectiveness of the proposed robust speed control scheme is verified by simulation at different values of inertial load variations

关键词： Velocity control Motor drives Robust control control systems Rotors Permanent magnet motors Couplings Saturation magnetization Current control Load management

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A Clustering-Based Bounded-Error Approach for Identification of PWA Hybrid Systems

A Clustering-Based Bounded-Error Approach for Identification...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： M. Tabatabaei-Pour M. Gholami K. Salahshoor H. R. Shaker Department of Automation and Instrumentation Petroleum University of Technology Tehran Iran Department of Electrical Engineering Shahid Beheshti University Kerman Iran

A new bounded-error approach for the identification of discrete time hybrid systems in the piece-wise affine (PWA) form is introduced. the PWA identification problem involves the estimation of the number of affine submodels, the parameters of affine submodels and the partition of the PWA map from data. By imposing a bound on the identification error, we formulate the PWA identification problem as a MIN PFS problem (partition into a minimum number of feasible subsystems) and propose a greedy clustering-based method for tackling it. the proposed approach yields to better results than the greedy randomized relaxation algorithm used in previous methods. Also, it is not sensitive to the overestimation of model orders and changes in the tuning parameters and therefore finding a right combination of the tuning parameters of the algorithm to get a model with prescribed bounded prediction error is simple

关键词： Clustering algorithms Predictive models automation Instruments Petroleum Partitioning algorithms Nonlinear equations Logic control system synthesis Bayesian methods

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