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3rd international Symposium on Instrumentation, control, Artificial Intelligence, and robotics, ICA-SYMP 2023

作者： Wongwaisayawan, Sirawich Phiphobmongkol, Pakapol Sriuranpong, Dhibadi Chaichaorawat, Ronnapee International School of Engineering Chulalongkorn Univeristy Bangkok Thailand

ISBN: (纸本)9781665473538

This research aims to design and develop a new experimental instrument that can test a scaled wheel in any desired scenario. In this paper, the scenario will be the scaled wheel dynamic during braking. Since the common cause of car accident is the inability to brake the vehicle in time by the driver. Hence, the research will focus on pinpointing the maximum braking force at a certain slip ratio. However, due to the limited access to high-precision apparatus, only the experimental instrument and the testing of the braking system design are achieved. Hence, the main outcome of the project is to validate that the relationship between the wheel dynamic and forced occurred during braking can be studied through the project design and can be used to create future improvement based on the system for commercial use. © 2023 IEEE.

关键词： Wheels

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Improvement of overcurrent protection for control rod drive mechanism power system

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ENERGY REPORTS 2023年 9卷 263-270页

作者： Zhu, Lingjin Yin, Xianggen Tan, Liming Wang, Yikai Ma, Tiejun Deng, Yang Li, Zhen Lu, Qinghui Huazhong Univ Sci & Technol State Key Lab Adv Electromagnet Engn & Technol Wuhan 430074 Peoples R China Fujian Fuqing Nucl Power Co LTD Fuzhou 350318 Peoples R China Univ Liverpool Int Coll Liverpool L69 3BX England

关键词： control rod drive mechanism Loss-of-excitation protection Overcurrent protection Phase difference

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Research on Fuzzy control of Two-stage ISD Suspension Based on Variable Inerter 3

Research on Fuzzy Control of Two-stage ISD Suspension Based ...

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3rd international conference on control and Intelligent robotics, ICCIR 2023

作者： Linhao, Jin Jingjing, Fan Fu, Du Ming, Zhan School of Electrical and Control Engineering North China University of Technology Beijing100144 China School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781510671867

In order to better balance the driving safety and ride comfort of the car, a new two-stage semi-active suspension structure is designed with three elements of variable inerter, spring and damper as the suspension structure. Firstly, the ISD semi-active suspension is set up in Matlab/Simulink;Besides both the road model and fuzzy controller model are set up to simulate the dynamics of three schemes, namely passive ISD suspension, inerter PID control and inerter fuzzy control respectively. The results indicate that the performance of ISD suspension adopting the fuzzy control strategy is better, compared with the passive ISD suspension and the ISD PID-controlled suspension. thus it verifies the superiority of using fuzzy control strategy. © 2023 SPIE.

关键词： Fuzzy control

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Research on Fabrication and Flight Performance of Minitype Robotic Butterfly with Visual Recognition 3

Research on Fabrication and Flight Performance of Minitype R...

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3rd international conference on Innovations and Development of Information Technologies and robotics, IDITR 2024

作者： Jiang, Qi Chen, Yihan Sun, Zhibo Jia, Jiao Zhao, Zi-Long Shi, Chengkun Li, Zhilong Engineering Training Center Beihang University Beijing China Flying College Beihang University Beijing China School of Aeronautic Science and Engineering Beihang University Beijing China

ISBN: (纸本)9798350385694

Based on the aerodynamic principles of butterfly flight, the mechanical butterfly in small-scale is designed to investigate its biomimetic structure and flight performance in this paper. In order to achieve the collaboration mechanism among four wings, a novel flexible hinge is designed and developed. The robotic butterfly is manufactured with a maximum wingspan of 30 cm and a weight of 12 g, who can fly 5 m with a flight endurance of 3 min and a turning radius of 1.5 m. Equipped with a miniature monitoring camera, it could categorize the captured images during flight through picture processing and machine learning techniques based on support vector. This robotic butterfly is expected to be applied in tasks such as aerial monitoring, earthquake relief, and complex terrain surveying. © 2024 IEEE.

关键词： robotics

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Platoon Stability for Cooperative Adaptive Cruise control Systems with Communication Delay 3

Platoon Stability for Cooperative Adaptive Cruise Control Sy...

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3rd international conference on robotics, Automation and Intelligent control, ICRAIC 2023

作者： Duan, Chunsun Yu, Weiwei Han, Shiyuan Fan, Yuling Unviersity of Jinan School of Information Sciences and Engineering Jinan China Shandong Big Data Center Jinan China University of Jinan Quancheng Laboratory School of Information Science and Engineering Jinan China

ISBN: (纸本)9798350360813

The platoon stability problem of Cooperative Adaptive Cruise control (CACC) system with wireless network communication delay is discussed in this paper. From the unidirectional strong coupling characteristics standpoint, the longitudinal system model problem for platoon vehicles equipped with CACC functionality is formulated as the constraints of large-scale discrete interconnected systems with communication delay and correlation properties, in which each vehicle can be set as a control center. After that, by using the partial decomposition method, a large scale systems with strong coupling is divided into the subsystems with unidirectional decoupling. Thus the stability of CACC system for platoon vehicles under communication delay is proved, and the upper limit of communication delay of the platoon is obtained based on Lyapunov function and linear matrix inequality. Finally, simulation analysis demonstrate that the feasibility of the proposed stability results of CACC system with communication delay and vehicle correlation characteristics. © 2023 IEEE.

关键词： Lyapunov functions

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Research on Trajectory Tracking control of Forklift-Type AGV Based on Fuzzy MPC 3

Research on Trajectory Tracking Control of Forklift-Type AGV...

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3rd international conference on Service robotics, ICoSR 2024

作者： Liu, Yuxing Zhu, Xiaojing Wang, Yuhuai School of Mechanical and Electrical Engineering China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

In order to address the problem of achieving high tracking precision for forklift-type Automated Guided Vehicle (AGVs) along variable curvature trajectories, this paper proposes a trajectory tracking control method based on fuzzy MPC for forklift-type AGVs. Firstly, a kinematic model of the forklift-type AGV with single-wheel steering is established, and the kinematic equations of single-wheel steering are derived. Subsequently, a traditional linear MPC controller based on Model Predictive control theory is established to control the steering angle of the single-wheel. Furthermore, the impact of different weighting coefficients Q and R on the tracking accuracy of variable curvature trajectories are investigated. Finally, a fuzzy MPC controller is designed to adaptively adjust the weighting coefficients according to actual working conditions. Simulation results demonstrate that when tracking at speeds of 1 m/s and 2 m/s, maximum lateral errors were reduced by 79.5% and 76.4% respectively. Compared with traditional MPC, the adaptive weighting coefficient MPC achieves superior tracking performance, which bears practical significance in real-world applications. © 2024 IEEE.

关键词： Predictive control systems

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Comparitive Analysis of Deep Learning Techniques for Assistive Soft Wearable Robots 3

Comparitive Analysis of Deep Learning Techniques for Assisti...

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3rd international conference on Advances in Computing, Communication, Embedded and Secure Systems, ACCESS 2023

作者： Chandran, Ranjeesh R Chakrapani, V Yogeshwar Krishnan, Sreedeep Dharmaraj, D Ganeshaperumal Kalasalingam Academy of Research and Education Deptartment of Instrumentation and Control Engineering Tamil Nadu Srivilliputhur India

ISBN: (纸本)9798350346169

A new innovation called wearable assistive robotics has the potential of assisting those with sensorimotor disabilities in doing routine tasks. A lot of research is done on soft robots because of its adaptability, deformability, and flexibility. In contrast to soft robots and rigid robots, face obstacles in control, calibration, and modelling because the properties of soft materials which result in complex behaviors due to hysteresis and non-linearity. The use of deep learning techniques in real-time poses additional challenges for researchers when it comes to accuracy and equipment cost. Recent research has used various deep learning algorithms to address these constraints. This paper gives deep insight and analysis of existing deep learning techniques in the area of assistive soft wearable robotics and classifies their applicability in various soft robotic applications. The current constraints in the study field, along with an analysis of various deep learning models with regard to various types of assistive soft wearable robot applications, are provided, followed by a description and implementation of the available deep learning techniques for assistive soft wearable robotics. © 2023 IEEE.

关键词： Robot applications

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Design and Tracking control of a Robot Arm for Climbing the Outer Wall of a Pipeline 3

Design and Tracking Control of a Robot Arm for Climbing the ...

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3rd international conference on Service robotics, ICoSR 2024

作者： Lei, Chunming Wang, Binrui Wang, Lina College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

Owing to the confined spatial constraints on the exterior of oil pipelines, the capability of a wall-climbing robot to inspect the welds is impeded by its lack of rotational mobility. To address this limitation, the present study initially develops a unidirectional articulated appendage integrated into the robot's design. The manipulator is mainly composed of steering engine, fixed synchronization belt and c ring rack. Secondly, the trajectory control of the needle manipulator in the working process has the disadvantages of large error deviation, poor robustness and low efficiency. A neural network adaptive control method is proposed. Confronted with trajectory deviations stemming from manipulator system inaccuracies and frictional disturbances, this study employs a Radial Basis Function (RBF) neural network for the identification and compensation of dynamic model uncertainties, thereby enhancing the precision of the actuating torque. Subsequently, by fine-tuning the adaptation law coefficients of the neural network weights, the formulated control strategy, inclusive of the identification outcomes, adheres to the Lyapunov stability criteria, thereby substantiating the system's dynamic stability. © 2024 IEEE.

关键词： Stability criteria

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DC-bus voltage balancing control for 3-level DC/DC converters in renewable generation systems

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ENERGY REPORTS 2023年 9卷 210-217页

作者： Zhang, Wenping Wang, Yiming Xu, Po Li, Donghui Liu, Baosong Tianjin Univ 92 Weijin Rd Nankai Dist Tianjin 300072 Peoples R China Ginlong Technol Co Ltd 57 Jintong Rd Ningbo 315712 Peoples R China

This paper investigates the dc-bus voltage balancing for 3-level DC/DC converters. First, the system control diagram is introduced. Then, based on duty cycle and operating modes, four different cases are illustrated. The output voltages under four cases are detailed, and the dc-bus voltage balancing actions for different cases are summarized. The dc-bus voltage balancing situation becomes worse when the system is in the condition of D > 0.5 and DCM. Therefore, three methods are proposed to solve the issue raised. The first method is to limit D <= 0.5. The second method applies an opposite control when D > 0.5 and DCM. The third solution adopts an intelligent control. (c) 2023 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/).

关键词： 3-level converter DC/DC DC-bus balancing

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Automatic Temperature control System for the Firing of Bricks in the Company 'Ladrillera el Toro S.A.C' 3

Automatic Temperature Control System for the Firing of Brick...

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3rd international conference on Computer, control and robotics, ICCCR 2023

作者： Arauco-Quispialaya, Dana Garlet Matos-Cuadrado, Yuliana Milagros Quispe-Mallqui, Gianella Ayline Vilchez-Baca, Herbert Antonio Universidad Continental Department of Industrial Engineering Huancayo Peru

ISBN: (纸本)9781665492126

The 18-hole King Kong bricks represent 55.8% of the material used in the construction of houses in Peru, the brick companies lack temperature controls since the OEFA paralyzed the brick activities due to excessive contamination in the firing stage. This work develops an automatic and manual temperature control system to improve production times in the company 'Ladrillera El Toro S.A.C'. For the mechanical design, SolidWorks was used to place the entry gates of the bricks to the kiln, which inside the kiln thermocouples were installed to monitor temperatures in real time by programming blocks using TIA PORTAL connection adding a PLC S7-1200 1214 DC/DC/DC and a HMI TP700. Finally implementing the improvement proposal eliminated 1 day of assembly in artisan doors and has an adequate management of the required temperature of 950 degrees Celsius for the firing of the bricks having the manual and automatic option that allows to control the sawdust and chips once reached the temperature programmed by the operator, allowing to increase production and eliminating the bottlenecks of the company 'Ladrillera El Toro S.A.C.'. © 2023 IEEE.

关键词： Brick

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