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4th international conference on Vehicle Technology and Intelligent Transport Systems, VEHITS 2018

作者： Kampker, Achim Sefati, Mohsen Abdul Rachman, Arya S. Kreisköther, Kai Campoy, Pascual Chair of Production Engineering of E-Mobility Components RWTH Aachen University Aachen Germany Delft Center for Systems and Control Delft University of Technology Delft Netherlands Computer Vision and Aerial Robotics Group Centre of Automatics and Robotics Universidad Politécnica de Madrid Madrid Spain

ISBN: (纸本)9789897582936

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. the recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance the vehicle perception. We present a real-time integrated framework of multi-target object detection and tracking using 3D LIDAR geared toward urban use. Our approach combines sensor occlusion-aware detection method with computationally efficient heuristics rule-based filtering and adaptive probabilistic tracking to handle uncertainties arising from sensing limitation of 3D LIDAR and complexity of the target object movement. the evaluation results using real-world pre-recorded 3D LIDAR data and comparison with state-of-the-art works shows that our framework is capable of achieving promising tracking performance in the urban situation. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved.

关键词： Autonomous vehicles

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2019年第四届控制与机器人工程国际会议(ICCRE 2019)（英文）

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智能系统学报 2019年第1期14卷 70-70页

Welcome to the official website of the 4th international conference on control and robotics engineering (ICCRE 2019). the conference will be held in Nanjing, China during April 20—23, 2019. the aim as well as objective of ICCRE 2019 is to present the latest research and results of scientists related to control and robotics engineering topics. ICCRE2019 is Sponsored by Hohai University, China and Jiangsu Key Laboratory of Power Transmission and Distribution Equipment Technology.

关键词：国际会议机器人 website 工程控制 aim is be

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Fuzzy adaptive synchronized sliding mode control of parallel manipulators 2018

Fuzzy adaptive synchronized sliding mode control of parallel...

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4th international conference on Mechatronics and robotics engineering, ICMRE 2018

作者： Le, Tien Dung Doan, Quang Vinh University of Danang - University of Science and Technology 54 Nguyen Luong Bang street Danang Viet Nam

ISBN: (纸本)9781450363655

control of parallel manipulators is a challenging and difficult task. In this paper, we propose a new adaptive synchronized sliding mode controller for planar parallel manipulators by using fuzzy logic system. the proposed controller is based on the combination of the definition of synchronized control, sliding mode control and online self-tuning fuzzy logic system. Firstly, the dynamic model of parallel manipulators is presented in active joint space. Based on this dynamic model, a synchronized sliding mode controller is developed. And then, in order to compensate the uncertainties of the control system, an online self-tuned fuzzy logic system is adopted. the self-tuning law is proposed by using the cross-coupling error of the parallel manipulator. the stability of the closed loop system is guaranteed by using Lyapunov theory. the simulations were conducted on Matlab/Simulink to verify the effectively of the proposed control algorithm. © 2018 Association for Computing Machinery.

关键词： controllers

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Dynamic modeling and balancing control of a cubical robot balancing on its corner 2018

Dynamic modeling and balancing control of a cubical robot ba...

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4th international conference on Mechatronics and robotics engineering, ICMRE 2018

作者： Chen, Zhigang Ruan, Xiaogang Li, Yuan Bai, Yingliang Zhu, Xiaoqing Faculty of Information Technology Beijing University of Technology Beijing China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China

ISBN: (纸本)9781450363655

Aiming at the problem of self-balancing control of a cubical robot, this paper researched the dynamic modeling of the cubical robot balancing on its corner. Using the prototype of cubical robot built as the research subject, the dynamic model was derived with Lagrangian method. the correctness of the model was verified in theory by comparison of numerical simulation and virtual prototype simulation. A balancing controller is proposed, which parameters were confirmed based on the mathematic model, and was used in balance control of the cubical robot virtual prototype. the effectiveness of the model was verified again with the obtained expect effect. this dynamic model and controller can provide a base for further study for balancing control of a cubical robot. © 2018 Association for Computing Machinery.

关键词： Dynamic models

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Design and Analysis of A Novel AFPM with Opposite-Rotation Dual Rotors

Design and Analysis of A Novel AFPM with Opposite-Rotation D...

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international Future Energy Electronics conference (IFEEC)

作者： Mengfei Wei Chi Zhang Jinhua Chen Chenxia Xu University of Chinese Academy of Sciences Beijing China Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology of Zhejiang Province Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China Phase Motion Control Ningbo Ltd.

ISBN: (数字)9781728131535

ISBN: (纸本)9781728131542

this paper proposes a novel opposite-rotation dual-rotor axial flux permanent-magnet machine (ORDR-AFPM) for underwater vehicle counter-rotation propeller propulsion system. the structure of the machine mainly consists of dual identical surface-mounted PM rotors, dual sets of concentrated windings and single stator sandwiched in between the dual rotors. the dual rotors operate independently like dual conventional machines but toward opposite directions. For the purpose of exploring the interaction between the dual rotors and verify the feasibility of the machine, the flux distribution in the dual air gaps is analyzed by magnetic equivalent circuit (MEC). Meanwhile, finite-element method (FEM) is also used to confirm the validity of the theoretical analysis. During the process of machine design, the axial magnetic force is analyzed by using Maxwell stress tensor and the main design parameters of the machine get optimized.

关键词： Rotors Air gaps Stator windings Magnetic circuits Windings Finite element analysis

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Comparative analysis of EMG signal features in time-domain and frequency-domain using MYO gesture control 2018

Comparative analysis of EMG signal features in time-domain a...

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4th international conference on Mechatronics and robotics engineering, ICMRE 2018

作者： Javaid, Haider Ali Rashid, Nasir Tiwana, Mohsin Islam Anwar, Muhammad Waseem Department of Mechatronics Engineering College of Electrical and Mechanical Engineering National University of Sciences and Technology IslamabadH-12 Pakistan

ISBN: (纸本)9781450363655

Feature extraction is a pronounced method to infer the information utility which is concealed in electromyography (EMG) signal to study the characteristic properties and behavior of signal. this study gives a comparative analysis of thirteen complete and most up-to-date EMG feature signals in Time-domain and Frequency-domain. Particularly, the EMG signals are obtained from a device MYO gesture control on an embedded system. For this purpose, four healthy male volunteers are considered to perform four different hand movements based on stationary, double tap, single finger movement and finger spread. To be a successful classification of these EMG features in both domains, we prefer attribute selected classifier as it gives the better performance and higher rate of accuracy i.e. 93.8%. the experimental results prove that features in time-domain are superfluity and redundant while features in frequency-domain (measured by statistical parameters of EMG power spectral density) show the ultimate dominance and signal characterization. the findings of this study are highly beneficial for further use in order to predict the behavior of EMG in pattern recognition and in classification of EMG signals for assistive devices or in powered human arm prosthetics. © 2018 Association for Computing Machinery.

关键词： Classification (of information)

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A Double-Sided Flat Permanent Magnet Linear Motor with Dual Halbach for Free-Piston Linear Generator

A Double-Sided Flat Permanent Magnet Linear Motor with Dual ...

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international Future Energy Electronics conference (IFEEC)

作者： Feixue Chen Chi Zhang Jinhua Chen Jie Zhang Mengfei Wei ChenXia Xu Guilin Yang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology of Zhejiang Province Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China Phase Motion Control Ningbo Ltd.

ISBN: (数字)9781728131535

ISBN: (纸本)9781728131542

Free-piston linear generator (FPLG) is regarded as a promising power generator system for hybrid electric vehicle. the core component of FPLG, linear motor, requires careful design to match the system performances. In this paper, for required performance, a novel double-sided flat permanent magnet linear motor with dual Halbach is proposed. this motor is composed of four modular unit stators on both sides of the mover. Fractional-slot (7-poles/6-slot) and concentrated windings are adopted to each unit for high power, low thrust ripple. the relationship between the linear motor performance and structure parameters is developed and applied to design the size of linear motor. To verify the design of this motor, the two-dimensional finite-element model is established. the feature of output power in motoring and generating model are analyzed. In addition, a prototype is developed and tested in an experimental platform, which consists of rotating electrical machine and crankshaft connecting rod system. In terms of system output power, the experimental data is in well agreement with the finite-element results.

关键词： Permanent magnet motors Permanent magnets Windings Power generation Hybrid electric vehicles Stators Force

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PLC based flow control system using a motor operated valve

PLC based flow control system using a motor operated valve

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international conference on control, Automation and robotics (ICCAR)

作者： Mandakinee Bandyopadhyay Nirupama Mandal Subrata Chatterjee Department of Electrical Engineering Asansol Engineering College Asansol India

the motor operated control valve as a final control element in any process control loop of a process plant may be controlled according to the set point needed by the process requirement. there are various types of control techniques of a motorized valve are presented by the different investigators. In the present paper, a Programmable Logic controller (PLC) based flow control scheme using a motor [PMDC] operated valve has been described. the final calibration and experimental results reported in the paper reveal the linearity and reliability of the control system.

关键词： Valves DC motors Process control Relays Permanent magnet motors

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Deadbeat control of a DC servo motor at low speed

Deadbeat control of a DC servo motor at low speed

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international conference on control, Automation and robotics (ICCAR)

作者： Mahir Dursun Salim Engin Department of Electrical and Electronic Engineering Gazi University Faculty of Technology Ankara Turkey

In a robot system, it is very important that electrical motor acceleration time, motors run at the desired stability, overshoot and state speed this stability. Especially at low speed of motor control is more difficult because of its nonlinear electromagnetic characteristic. In this study, the parameters of a servo motor were determined, and its dynamic equations were derived. the motor dynamic parameters and speed were determined. It was realized with deadbeat in the PID and MATLAB/Simulink environment, and the performance was compared. It was observed from the obtained results that the rise time of the motor speed controlled by the deadbeat control system was 9% shorter, its initial overflow was 7% smaller and its placement time was 8% shorter. Moreover, the oscillation after the initial overflow did not occur in the PID control method. It was concluded from the obtained results that the deadbeat controlled DC motor could be used in industrial and robotic systems.

关键词： DC motors Servomotors PI control PD control AC motors Transfer functions

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Research on Self-Organizing Target Hunting for Mobile Robot Group

Research on Self-Organizing Target Hunting for Mobile Robot ...

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IEEE international conference on control Science and Systems engineering (CCSSE)

作者： Zeng Liang Yang Wei Key Laboratory of Instrumentation Science & Dynamic Measurement Ministry of Education Science and Technology on Electronic Test & Measurement Laboratory NUC Taiyuan China

ISBN: (纸本)9781538678886

Aiming at the formation of aggregation behavior model of swarm robots, a self-organizing motion model based on particle system mechanics and perceptual state weighting is established to realize the autonomous transfer of robot motion state. Using the selected model, the self-organizing aggregation behavior simulation experiments are conducted for two cases with boundary constraints and no boundary constraints. the maximum coverage of different groups of scale is realized, and the correctness of the trap model is verified by the target hunting test of the group robot with random position.

关键词： Force Swarm robotics Mathematical model Analytical models Mobile robots

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