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3D trajectory planning for a 6R manipulator robot using BA and ADAMS

3D trajectory planning for a 6R manipulator robot using BA a...

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5th FTRA international conference on Information Technology Convergence and Services, ITCS 2013 and the 3rd international conference on Intelligent robotics, automations, Telecommunication Facilities, and Applications, IRoA 2013

作者： Masajedi, P. Shirazi, Kourosh Heidari Ghanbarzadeh, Afshin Mechanical Engineering Department Shahid Chamran University of Ahvaz Ahvaz Iran

ISBN: (纸本)9789400769953

In this article we will study the end effector motion control for a series robot with 6 rotational joints to move on a predetermined 3-dimensional trajectory. Since for any end effector there are more than a single set of answers regarding to robot parts orientation, finding a method which gives designer all existing states will lead to more freedom of action. Two different methods were used to solve robot inverse kinematic. In the first method ADAMS software was considered, which one of the common software is in order to solve inverse kinematic problems. Then bee algorithm (BA) is used which is an intelligent method. This method is the one of the fastest and most efficient method among existing method for solving non-linear problems. Hence problem of inverse kinematic solution is transformed into an affair of optimization. Comparison of results from both models shows the reasonable performance of BA method in solution of robot inverse kinematic because of its capability in providing the answer from all existing states along with the privilege of no need to 3D modeling. © 2013 Springer Science+Business Media Dordrecht.

关键词： Inverse kinematics

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Considering lifetime of sensors for clusterhead selection in WSN using fuzzy logic

Considering lifetime of sensors for clusterhead selection in...

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作者： Wang, Qi Barolli, Leonard Kulla, Elis Mino, Gjergji Ikeda, Makoto Iwashige, Jiro 3-30-1 Wajiro-Higashi Higashi-Ku Fukuoka 811-0295 Japan 3-30-1 Wajiro-Higashi Higashi-Ku Fukuoka 811-0295 Japan Computer Technology Solution 8B Industrial Way Salem NH 03079 United States

ISBN: (纸本)9789400769953

In Wireless Sensor Networks (WSN), cluster formation and cluster head selection are critical issues. They can drastically affect the network's performance in different environments with different characteristics. In order to deal with this problem, we have proposed a fuzzy-based system for cluster-head selection and controlling sensor speed in Wireless Sensor Networks (WSNs). The proposed system is constructed by two Fuzzy Logic controllers (FLC). We use four input linguistic parameters for evaluating lifetime of a sensor in FLC1. Then, we use the output of FLC1 and two other linguistic parameters as input parameters of FLC2 to control the probability of headcluster selection. By considering the moving speed of the sensor we are able to predict whether the node will leave or stay in the cluster. In this paper, we evaluate FLC1 and FLC2 by simulations and show that they have a good behavior. © 2013 Springer Science+Business Media Dordrecht.

关键词： Feedback

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Deformation modeling of an FGM plate under external force

Deformation modeling of an FGM plate under external force

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2012 3rd international conference on Manufacturing Science and Technology, ICMST 2012

作者： Mortazavi Moghaddam, A.R. Ahmadian, M.T. Sarkeshi, M. Kheradpisheh, A. Center of excellence in design robotics and automation Department of Mechanical Engineering Sharif University of Technology Tehran 11365-8639 Iran Department of Mechanical Engineering Amirkabir University of Technology 424 Hafez Ave Tehran 15875-4413 Iran

ISBN: (纸本)9783037855638

Deformation modeling of an infinite plate of functionally graded materials (FGMs) loaded by normal force to the plate surface is studied. The material properties of FGM plate are assumed to be graded in the thickness direction according to a simple power-law distribution in terms of the volume fractions of the constituents. The governing equations are based on stress-strain relation and the equilibrium force equation. Keeping generality, FGM plate has been assumed as a multilayer with linear material property in each layer while arbitrary exponential material property through the thickness. A plate made of Aluminum and Alumina is considered as an example to illustrate the effects of the volume fraction exponent and number of layers on the plate deformation response. Effects of number of layers on the accuracy of the plate behavior under external load are examined. Results indicate that at every certain power-law (M), there exist a number of layers beyond which no variation can be detected on the plate deformation response. © (2013) Trans Tech Publications, Switzerland.

关键词： Volume fraction

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Attitude monitoring and surveillance system for Lapan payload test rocket

Attitude monitoring and surveillance system for Lapan payloa...

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international conference on Instrumentation control and automation (ICA)

作者： Angga Irawan Hanif Rizal S. Sambya Aryasa Widyawarna Adiprawita School of Electrical Engineering and Informatics Institut Teknologi Bandung Bandung Indonesia Institut Teknologi Bandung Bandung Jawa Barat ID

This paper describes the design and implementation of a rocket payload system that functions as an attitude monitoring and surveillance systems. The system is designed to monitor rocket's dynamics and take aerial photographs. The measured data is sent via radio frequency (RF) modem to a ground control system (GCS) in real-time. The rocket dynamics comprises of rocket's linear acceleration and orientation data. The rocket's orientation is represented in the roll, pitch, and yaw angles. The Attitude and Heading Reference System (AHRS) integrate accelerometer, gyroscope, and magnetometer data to obtain accurate attitude angles. Unlike Inertial Navigation System (INS) which also provide position estimation, AHRS only provide attitude estimation. INS suffer accumulated error on position estimation so that the system need correction which is solved by global measurement such as GPS. AHRS also suffer accumulated error on orientation estimation due to gyroscope drift. This problem on this case is solved by drift correction block. Additionally, the payload system is capable for aerial surveillance in the form of a still image. In June 2012, the system is fitted to the Indonesian National Aeronautics and Space Agency (LAPAN) RUM-70 payload test rocket and is successfully launched. The monitored data clearly shows the five stages of the launch. Moreover, the imagery system managed to take a clear picture of the Congot coastline in 52,63 second with 2.075 % data losses.

关键词： Rockets Payloads Surveillance Acceleration Accelerometers Gyroscopes

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Modeling of electrical and technological parameters of industrial precipitators 35

Modeling of electrical and technological parameters of indus...

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35th international Telecommunications Energy conference, Smart Power and Efficiency, INTELEC 2013

作者： Popa, Gabriel Nicolae Deaconu, Sorin Ioan Diniş, Corina Maria Department of Electrical Engineering and Industrial Informatics Politehnica University of Timişoara Revolutiei str. no. 5 Hunedoara331128 Romania

ISBN: (纸本)9783800735006

To optimal control of the dust emission at the precipitators' output it is important to know the dependency between electrical and technological parameters. For an industrial precipitator were measured the total active (P), reactive (Q) and apparent (S) powers of precipitator from one section power supplies, mass-flow rate of steam (M) at the output of boiler, and dust emission (E) at the output of precipitator. To establish a mathematical model of a dependent parameter on other independent parameters, it can use the least squares method, which establishes minimum sum of square deviations for a certain mathematical function. To modeling of above parameters it was used least squares method to evaluate the evolution of dust emission E (dependent variable) depending the other parameters (from electrical power supplies: the active P, reactive Q and apparent S powers, and from the boiler: mass-flow rate of steam M). It was determined the mathematical modeling for E=f(Q,P), E=f(Q,M) with three types of equations: 2nd 3rd,4th degrees equations. Also, it will be present E=f(Q,S,M). In this case, for function with three dimensional representation, the third parameter Q, S, or M it will be using the average value. The root-mean square deviations and correlations coefficients are presented for the three cases. © VDE VERLAG GMBH · Berlin · Offenbach.

关键词： Functions

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PSO optimization of Integral Backstepping controller for Quadrotor attitude stabilization

PSO optimization of Integral Backstepping Controller for Qua...

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international conference on Systems and control (ICSC)

作者： F. Yacef O. Bouhali M. Hamerlain A. Rezoug Productique and Robotics Laboratory Center for Development of Advanced Technologies (CDTA) Algiers Algeria Mechatronic Laboratory Jijel University Jijel Algeria

This paper deals with the attitude stabilization problem for an under-actuated Quadrotor UAV system. We propose the use of Particle Swarm Optimization (PSO) algorithm for tuning Integral Backstepping controller (IBC) which is applied for the stabilization of a Quadrotor UAV model. The method is used to minimize a Square Error (SE) fitness function which quantifies the performance of the whole control system. controller parameters are tuned respecting some nonlinear constraints for step response of the system. Numerical simulation results are given to show the validity and the good performances of the proposed method.

关键词： Adaptation models TV Numerical models Rotors Propellers Adaptive control Robustness

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Robust trajectory tracking control of a quadrotor UAV

Robust trajectory tracking control of a quadrotor UAV

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international conference on Systems and control (ICSC)

作者： Karima Benzaid Noura Mansouri Ouiddad Labbani-Igbida Laboratory of Automatic Control and Robotics Constantinel University Constantine Algeria Modeling Information & Systems lab. University of Picardie Jules Verne Amiens France

In this paper, we present two control strategies of a quadrotor Unmanned Aerial Vehicle (UAV). The dynamics of the system is controlled to achieve a complex trajectory tracking. A controller using the integral backstepping is developed for the stabilization of the six degrees of freedom (6DoF) of the system. Furthermore, we propose a hybrid strategy by combining the integral backstepping and the PID linear controller. For this, we divide the dynamic system into two subsystems; each one with 3DoF. For the stabilization of the rotational dynamics, the PID controller is proposed. The Integral Backstepping is applied for the longitudinal, lateral and vertical position stabilization. Finally, some numerical simulations are conducted to illustrate the robustness of both strategies.

关键词： Backstepping Trajectory Vehicle dynamics Mathematical model Algorithm design and analysis Rotors Lyapunov methods

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Intelligent reminder system of having medicine for chronic patients

Intelligent reminder system of having medicine for chronic p...

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作者： Lee, Dong-Liang Hsu, Chun-Liang Department of Electrical Engineering St. John's University No. 499 Tang-kin Rd Taipei County Taiwan

ISBN: (纸本)9789400769953

This research is originally creative research, and already applied patent under authority of Patent Bureau of Taiwan (applying case number: 095121418). People living in modern society are full of much pressure from all kinds of environment everyday and with the great change of dining habit people easily have many chronic diseases. In addition to causing huge damage to individual health, it also cost much society medical resource. Most chronic diseases need special care from nursing staff to remind of when to have the correct medicine. It is naturally proceeding in wards but patients usually forget to punctually have medicine once they leave the hospital and get back home, and this situation neglecting or forgetting to have medicine according to doctors' instruction often causes many un-fortunate deaths of patients resulting in offsetting-less for individual and family. Owing to the speedy development of communication technology and semiconductor, GSM communication module can be integrated and embedded into single chip and let GSM be carried into many products to increase the added-value of products. So how to combine microprocessor with communication module to construct a safe, intelligent, and full-purpose monitoring system for individual to have medicine to solve the problem mentioned above becomes an interesting issue for us. The research category of this study are including a medicine box as the main part of product which includes GSM module, speech-functional DSP, control panel displaying all information for patients, medicine detecting function, and a single chip microprocessor to operate the monitoring function. On the other hand, the interface of the commander terminal PC in nursing center, instructing all information for patients to punctually have medicine, is developed by us programing with VB language. The system function was verified completed successful and could be published for commercials for its creativity and practical purpose. © 2013 Springer Sci

关键词： Nursing

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Nonlinear modeling and identification of underwater thruster

Nonlinear modeling and identification of underwater thruster

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2012 3rd international conference on Manufacturing Science and Technology, ICMST 2012

作者： Husaini, A.B. Anam, K. Samad, Zahurin Arshad, M.R. Universiti Kuala Lumpur Malaysian Spanish Institute Lot 13-16 Kulim Hi Tech Park 09000 KulimKedah Malaysia Underwater Robotics Research Group School of Electrical and Electronic Engineering Universiti Sains Malaysia 14300 Nibong Tebal Seberang Perai Selatan Pulau Pinang Malaysia

ISBN: (纸本)9783037855638

Complexity in modeling an underwater thruster analytically, leave system identification approached a good option on developing accurate dynamic model for underwater thruster. Nonlinearity of the system due to fluid solid interaction such as, hydrodynamic force hitting the propeller blade make the system identification became a trivial task. This paper presents nonlinear modeling and identification of the underwater thruster from input-output measurement. The system was fully submerged, and current was varied as the input and the output thrust was measured using load cell. Nonlinear Hammersteinmethodis chosen for identification of the *** results are numerically and graphically presented. The nonlinear system identification with second order linear dynamics gave the best result, where is the model, can fit up to 82% of the real response of the thrust. The finding of the model can be utilized in the future to improve underwater vehicle performance by developing optimum control algorithm. © (2013) Trans Tech Publications, Switzerland.

关键词： Vehicle performance

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The quaternion-based attitude control system with an augmented dynamic

The quaternion-based attitude control system with an augment...

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international conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering (ICICI-BME)

作者： Harry Septanto Bambang Riyanto Trilaksono Arief Syaichu-Rohman Ridanto Eko Poetro Adrianto Ravi Ibrahim School of Electrical Engineering and Informatics Institut Teknologi Bandung Bandung Indonesia Institut Teknologi Bandung Bandung Indonesia

Quaternion-based attitude determination system is considered since it can represent all physical attitudes, but not uniquely. An inappropriate quaternion-based control law would imply to a non-efficient control effort and difficulty in guaranteeing global stability. Many research efforts decide to add complexity in the controller by using jump-discontinuity function and/ or hybrid system. In contrast, this paper proposes a continuous quaternion-based attitude control system with an augmented dynamic that guaranteed to be able to regulate any physical state asymptotically. The effectiveness of the designed system is verified through simulations.

关键词： Space vehicles Kinematics

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