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检索条件"任意字段=3rd International Conference on Robotics and Control Engineering, RobCE 2023"

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An Experimental Study on the Failure Tolerant control of a Redundant Planar Serial Manipulator via Pseudo-inverse Approach

An Experimental Study on the Failure Tolerant Control of a R...

引用

RSI/ISM international conference on robotics and Mechatronics

作者： Mojtaba Yazdani Roya Sabbagh Novin Mehdi Tale Masouleh Mohammad Bagher Menhaj Hamid Abdi Department. of Mechanical Engineering University of Utah Department of Mechanical Engineering University of Utah Department of Electrical Engineering AmirKabir University of Tech Human and Robot Interaction Lab. Faculty of New Science and Technology University of Tehran Center for Intelligent Systems Research (CISR) Deakin University Australia

ISBN: (纸本)9781467372350

In this paper, fault-tolerant control of redundant planar serial manipulators has been investigated experimentally via an offline method called psuedo-inverse reconfiguration method. Minimizing the end-effector's velocity jump via an optimal mapping of joint failures into healthy joints velocity space can be regarded as the main contribution of this reconfiguration approach. This algorithm has been simulated and implemented on a four-link serial manipulator named as TaArm. It should be mentioned that for simulation and practical tests, C++ programming language in QtCreator environment has been used which provided high computational speed. Two scenarios has been selected for simulation and implementation studies and results shows that the algorithm considerably removes the velocity jump of the end-effector in both simulation and experimetal studies.

关键词： Experimental Study Failure Tolerant control Redundant Planar Serial Manipulator

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Parameter Identification of Nonlinear Systems using Indirect Solution of Optimal control Problem

Parameter Identification of Nonlinear Systems using Indirect...

引用

RSI/ISM international conference on robotics and Mechatronics

作者： M. Moradi M. Naraghi A. Nikoobin Department of Mechanical Engineering Amirkabir University of Technology Tehran Iran Faculty of Mechanical Engineering Semnan University Semnan Iran

ISBN: (纸本)9781467372350

This paper describes a novel offline approach to estimate the parameters of a nonlinear system using the optimal control theory. In the conventional methods, only the output is considered in the identification process and the problem is stated as a nonlinear optimization problem. Nevertheless, the proposed method here is based on the least square error of both output and input. To do this, the problem is first stated as a tracking problem with some unknown parameters. The necessary and sufficiency conditions of optimality conditions are derived using the fundamental theorem of variational calculus. The problem is deployed as an effort optimal control problem which finally leads to a two point boundary value problem. To solve the resultant equations, a secondary optimal control problem is deployed to be solved using the homotopy algorithm. So the parameters are gradually converged to the real values. The proposed algorithm is analyzed for a one-link manipulator with the full measurements. Thereafter, the proposed method is applied on a real one-link manipulator and nonlinear model of permanent magnet dc motor. Application of the method for the identification of a few test beds at the AUT proves the validity and efficiency of the proposed approach.

关键词： identification optimal control Pontryagin maximum principle homotopy method indirect solution

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Enhancing agent-based electricity purchase forecasting accuracy comprehensively supports power supply and electricity spot trading

Enhancing agent-based electricity purchase forecasting accur...

引用

Energy, Power and Electrical Technology (ICEPET), international conference on

作者： Rui Zhang Yujie Tang Yanning Wang School of Information and Control Engineering Shenyang Jianzhu University Shenyang Liaoning China State Grid Dalian Pulandian District Power Supply Company Pulandian Dalian Liaoning China

ISBN: (数字)9798350352658

ISBN: (纸本)9798350352665

Guided by the State Grid Corporation's 'Guidelines for Excellent Performance Management and Evaluation,' we apply the principles of excellent performance evaluation and lean management. Our main focus is on analyzing and forecasting the company's electricity sales market and power supply-demand balance, with the aim of enhancing the overall accuracy of the company's power purchase *** the basis of the LSTM model, this article adopts a method called Adaptive Noise Complete Set Empirical Mode Decomposition (CEEMDAN) to decompose the original power sequence into multiple intrinsic mode components and residuals. An improved CNN layer is added to further extract data features, which are then input into the improved LSTM model for *** the end of December 2023, it is anticipated that the annual forecast error rate for residential agricultural power supply will be no higher than 4.8%, the forecast error rate for power purchase agency will be no higher than 5.1%, and the comprehensive error rate will be no higher than 5%, ranking among the top in the province.

关键词： Accuracy Error analysis Power supplies Electricity Predictive models Feature extraction Data models

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An Improvement on Impedance control Performance of an Exoskeleton Suit in the Presence of Uncertainty 3rd

An Improvement on Impedance Control Performance of an Exoske...

引用

RSI/ISM international conference on robotics and Mechatronics

作者： H. Shahi A. Yousefi-Koma M. M. Moghadam Center of Advanced Systems & Technologies (CAST) University of Tehran Tehran Iran Department of Mechanical Engineering Tarbiat Modares University Tehran Iran

ISBN: (纸本)9781467372350

In recent years, different exoskeleton devices have been developed to provide the users with the mechanical power required in augmentation and rehabilitation applications. The exoskeleton control is one of the most challenging issues causes widely attention of researches during recent decade. Although different methods of control have been presented, there are several issues which have not been answered yet. This paper tries to focus on one of them entitling the robustness of impedance control in the presence of uncertainty for an exoskeleton and finds a solution for it. For this purpose, a RBF neural network with adaptive learning algorithm is employed to compensate the model uncertainty. Unlike other research works, the introduced controller is merely based on the robot kinematics. The convergence of the closed loop system to the desired impedance in the presence of uncertainty is verified by Lyapanov theorem. In the following, its implementation feasibility is evaluated by a simulation of an exoskeleton leg in the swing phase.

关键词： Exoskeleton Impedance control Uncertainty RBF Neural Network Lyapanov stability theorem

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Modified Fast-SLAM For 2D Mapping And 3D Localization

Modified Fast-SLAM For 2D Mapping And 3D Localization

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RSI/ISM international conference on robotics and Mechatronics

作者： Soheil Gharatappeh Mohammad Ghorbanian Mehdi Keshmiri Hamid D. Taghirad Mechanical Engineering Dept. Isfahan University of Technology Isfahan Iran Faculty of Electrical Engineering Department of Systems and Control K.N.Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

Fast Simultaneous Localization and Mapping (SLAM) algorithm is capable of real-time implementation due to logarithmic time complexity which results in decrease of computational cost. In this algorithm state vector of a robot merely includes planar location of the robot and its angle to the horizontal plane. It has fewer components comparing to state vector in extended Kalman filter method which consists of location of all environmental features. In existing methods for implementing this algorithm, robot movement is considered to be totally in planar movement;while if moving on a slope changes the pitch angle of the robot, it causes errors in the algorithm. Correcting these errors will lead to a precise 2D mapping and 3D localization. This paper details the modification added to conventional Fast-Slam algorithm to accommodate this requirement by using an IMU. Simulation and experimental results shows the effectiveness of such modification.

关键词： Fast-SLAM 2D localization 3D Mapping pitch angle mobile robot

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Suboptimal Tracking control of Nonlinear Systems via State-dependent Differential Riccati Equation for Robotic Manipulators

Suboptimal Tracking Control of Nonlinear Systems via State-d...

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RSI/ISM international conference on robotics and Mechatronics

作者： Moharam Habibnejad Korayem Saeed Rafee Nekoo Robotic Research Laboratory School of Mechanical Engineering Iran University of Science and Technology (IUST) *** Tehran Iran

ISBN: (纸本)9781467372350

This work investigates state-dependent differential Riccati equation (SDDRE) controller for tracking problem. The system in question is a class of time-varying nonlinear systems with control nonlinearities. Regulation case needs only the solution to the SDDRE to provide suboptimal gain of control law, though derivation of tracking problem generates a feedforward differential equation in addition to the SDDRE. In that case, the SDDRE stabilizes the system towards equilibrium point and feedforward equation keeps the output following desired trajectory. The new structure imposes complexity on analysis of stability and solution method, which are addressed in this work Backward integration (BI) technique is selected to solve the governing equations to obtain suboptimal and feedforward control gains. The application of the proposed controller is applied to robotic field. Trajectory tracking is one of the critical issues in manipulator control area;hence this work is dedicated to it. The BI method released an outstanding precise tracking performance based on its two-round solution in comparison with conventional state dependent Riccati equation (SDRE) controller.

关键词： Tracking control differential Riccati equation SDRE Nonlinear optimal control Manipulator

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Trends in Computer Networking Congestion control: A Bibliometric Analysis 3rd

Trends in Computer Networking Congestion Control: A Bibliome...

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3rd international conference on Advanced Research in Technologies, Information, Innovation and Sustainability, ARTIIS 2023

作者： Nketsiah, Richard Nana Agbehadji, Israel Edem Millham, Richard C. Iwarere, Samuel A. Freeman, Emmanuel ICT and Society Research Group Department of Information Technology Durban University of Technology Durban South Africa Honorary Research Associate Faculty of Accounting and Informatics Durban University of Technology P.O. Box 1334 Durban4000 South Africa Department of Chemical Engineering Faculty of Engineering Built Environment and Information Technology University of Pretoria Hatfield Pretoria0002 South Africa Faculty of Computing and Information Systems Ghana Communication Technology University PMB 100 Accra North Ghana

ISBN: (纸本)9783031488573

Computer networking congestion control is an important area of research. This study presents a bibliometric analysis of trends in computer networking congestion control research over the past decade. A total of 1,156 papers published in top-tier networking conferences and journals were analyzed using various bibliometric techniques. The results of the analysis show that the number of publications in this field has been steadily increasing over the years, with a significant rise in the number of publications related to machine learning-based congestion control techniques. The study identifies the most influential authors, institutions, and countries in this field. The analysis also identifies the most frequently cited papers, which provide valuable insights into the key concepts and developments in this field. This study provides a comprehensive overview of the trends in computer networking congestion control research and highlights the most promising research directions for future work. The outcome of the review highlights issues that are beneficial to reforming policy and informing network practitioners. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Computer networks

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A Novel Miniature Virus-Inspired Swimming Robot for Biomedical Applications

A Novel Miniature Virus-Inspired Swimming Robot for Biomedic...

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The 3rd international conference of Bionic engineering(ICBE’10)

作者： Arash Taheri Sakineh Orangi Department of Science and Mathematics Rajaei Teacher Training University Faculty of Mechanical Engineering University of Tehran

This paper proposes a novel concept of virus-like swimming robot in the range of nano to micro scales for biomedical applications. Viruses are submicroscopic, intracellular parasites that consist of nucleic acid genome and protein capsid. Their shapes help them to move within the infected host organisms and attach to host cells. In this paper, main geometrical features of the viral structure are utilized for conceptual design of the virus-inspired swimming robot and resultant thorny spherical shaped body is equipped with a new inclined and concentric multi-flagella propulsion system for operation in low Reynolds number fluid flow environment. In off-propulsion situation a theoretical formula is derived for thrust value estimation. On the other hand, to investigate the robot behavior in the fluid media in on-propulsion condition, flow field around the robot is simulated using a numerical strategy consists of surface methods of regularized Stokeslet and Rotlet theory. For propulsion control of the robot a multilayer artificial neural network is designed and employed then flow field of the robot wake is analyzed using Lagrangian Coherent Structure (LCS) concept. Furthermore, potential characteristics and specific features of this kind of miniature robots are discussed as well as its application. The results indicate the capability of the miniature robot to perform complex missions in low Reynolds fluid flow environment especially bodily fluid systems including lymphatic, urinary and cerebrospinal fluid (CSF) system.

关键词： Biomimetic robotics, Virus-Inspired Swimming Miniature Robot, Inclined Multi-Flagella Propulsion, LCS, ANN, Biofluid Flow Simulati

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Development of Automation and control System of Waste Gas Production Process Based on Information Technology 1

引用

3rd international conference on Information Technologies and Intelligent Decision Making Systems, ITIDMS 2023

作者： Toshmamatov, Bobir Karshi Engineering Economics Institute Karshi Uzbekistan

ISBN: (数字)9783031603181

ISBN: (纸本)9783031603174

Achieving energy and resource efficiency through the application of modern information technologies, calculation algorithms, automatic management and control systems to the process of waste gas production from solid household waste is an urgent issue today. In the article, the author analyzed the system of automatic management and control of the process of heliothermic processing of solid household waste based on information technology. The thermal scheme of the automatic and control system of the exhaust gas production process from municipal solid waste is proposed. ATmega8 microcontroller, which allows automatic management and control of all technological and thermochemical processes of waste gas production, was used in the heliothermic waste gas processing unit. At the same time, all technological processes of waste gas production, collection and use are automated, anaerobic fermentation (50 ÷ 55 ℃) in the device, automatic control of heat distribution processes between layers in the waste reactor, waste protection, technological process parameters, order charging and energy saving is ensured. Automation and control of the solid waste heliothermic processing plant is carried out by the application of information technologies, the information resource of the system, working pressure, temperature, temperature range, humidity, consumption of raw materials, the level of the mixture in the waste reactor, the pH indicator, as well as the control of the operation of the valves. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Microcontrollers

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Considering Safety Risk Prediction and Prevention and control under the Influence of Heterogeneous Pedestrian Emotions 23

Considering Safety Risk Prediction and Prevention and Contro...

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Proceedings of the 2023 3rd international conference on Big Data, Artificial Intelligence and Risk Management

作者： Jiangtao Tian Qinghua Guo Xingli Li School of Applied Science Taiyuan University of Science and Technology China School of Safety and Emergency Management Engineering Taiyuan University of Science and Technology China

ISBN: (纸本)9798400716478

Dense and complex crowds are prone to overcrowding and trampling accidents when traveling through a narrow throughway, and it is of practical interest to study the simulation of crowd evacuation under the influence of emotions in a narrow throughway. In this paper, based on the dynamic parameter model, considers different coupling modes for pedestrians with size differences in the crowd, and investigates the effects of the four coupling modes on the pedestrian evacuation process under different input densities. The results show that: the effect of heterogeneous pedestrians on the evacuation efficiency decreases with the increase of input density; setting up a special channel for heterogeneous pedestrians can improve the evacuation efficiency; heterogeneous pedestrians occupying two cells in the longitudinal direction can improve the localization property of the system; and the best evacuation effect is achieved when three types of heterogeneous pedestrians, namely those occupying two cells in the horizontal direction, two cells in the longitudinal direction, and four cells in the horizontal and longitudinal direction, are coupled together. The results can provide theoretical support for safe emergency evacuation of pedestrian flow.

关键词： Heterogeneous populations dynamic parametric modeling emergency management public sentiment risk prevention and control

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