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检索条件"任意字段=4th International Conference on Robotics and Control Engineering, RobCE 2024"

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Adaptive dynamic path following control of an unicycle-like mobile robot 11

Adaptive dynamic path following control of an unicycle-like ...

引用

4th international conference on Intelligent robotics and Applications, ICIRA 2011

作者： Andaluz, Victor H. Roberti, Flavio Toibero, Juan Marcos Carelli, Ricardo Wagner, Bernardo Instituto de Automática Universidad Nacional de San Juan Av. San Martín Oeste 1109 J5400ARL Argentina Leibniz Universität Hannover Institute for Systems Engineering Real Time Systems Group D-30167 Hannover Germany

ISBN: (纸本)9783642254857

this work presents a new adaptive dynamic control to solve the path following problem for the unicycle-like mobile robot. First, it is proposed a dynamic modeling of a unicycle-like mobile robot where it is considered that its mass center is not located at the center the wheels' axle. then, the design of the control algorithm is presented. this controller design is based on two cascaded subsystems: a kinematic controller with command saturation, and an adaptive dynamic controller that compensates the dynamics of the robot. Stability and robustness are proved by using Lyapunov's method. Experimental results show a good performance of the proposed controller as proved by the theoretical design. © 2011 Springer-Verlag.

关键词： Mobile robots

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Electronic design for portable electrical capacitance sensor: A multiphase flow measurement

Electronic design for portable electrical capacitance sensor...

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IEEE international conference on Mechatronics

作者： Mohamad, E. Johana Marwah, O. M. Faizan Rahim, Ruzairi Abdul Rahiman, Mohd Hafiz Fazalul Muji, Siti Zarina Mohd Dept of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Malaysia Dept of Manufacturing and Industrial Engineering Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussien Onn Malaysia Pt. Raja Bt. Pahat Johor Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Skudai Johor Malaysia

ISBN: (纸本)9781612844350

the earlier research shows that the electrical capacitance sensor through the tomography technique is applicable in flow visualization or image reconstruction, named as Electrical Capacitance Tomography (ECT). ECT can be used for imaging industrial multi-component processes involving nonconducting fluids and solids in pipelines. the electrical capacitance sensor is a non-invasive device that uses non-intrusive technique to measure the concentration of flow inside a closed pipe by measuring variations in the dielectric permittivity of the material. the capacitance of the sensor changes when the mean dielectric constant between the electrodes varies due to variations in the percentage of gas and liquid flowing in the pipe. the acquired concentration profile that obtains from capacitance measurements is able to imaging liquid and gas mixture in pipelines, meanwhile the system development is designed to attach on a vessel. the electrode plates which act as the sensor previously has been assemble fixed on the pipeline, thus it causes difficulty for the production to have any new process installation in the future. therefore on-board sensing plate offers a new design and idea on ECT system which is portable to be assembled in different diameter sizes of pipeline, and it's flexible to apply in any number due to different size of pipeline without redesign the sensing module. the on-board sensing plate development contains signal conditioning circuit and sensing electrode built in a single module (embedded on single plate). In this paper, the details on fabricating the sensors electrodes, had been described, including signal conditioning circuit/electronic part of measurement, such as stray immune capacitance measurement circuit, amplifying circuit, AC to DC converter circuit and filter circuit. © 2011 IEEE.

关键词： Electrodes

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A Simple and Low Cost Device for Automatically Supervising Urine Output of Critical Patients

A Simple and Low Cost Device for Automatically Supervising U...

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4th international Joint conference on Biomedical engineering Systems and Technologies, BIOSTEC 2011

作者： Otero, Abraham Palacios, Francisco Apalkov, Andrey Fernández, Roemi Department of Information Systems Engineering University San Pablo CEU 28668 Madrid Spain Critical Care Unit University Hospital of Getafe Getafe Carretera Toledo KM 12.500 28901 Madrid Spain Centre for Automation and Robotics CSIC-UPM Ctra. Campo Real Km. 02 La Poveda Arganda del Rey 28500 Madrid Spain

Nowadays, patients admitted to critical care units have most of their physiological parameters sensed by sophisticated commercial monitoring devices. these devices also supervise whether the values of the parameters lie within a preestablished range of normality set by the clinician. If any of the parameters leaves its normality range, an alarm will be triggered. the automation of the sensing and supervision of physiological parameters discharges the healthcare staff of a considerable workload. It also avoids human errors, which are common in repetitive and monotonous tasks. Urine output is a physiological parameter that, despite being of great relevance in the treatment of critical care patients, is still measured and supervised manually. this paper presents a device capable of sensing and supervising urine output automatically. the device uses reed switches that are activated by a magnet that is attached to a float in order to measure the amount of urine collected in two containers. An electronic unit sends the state of the reed switches to a PC, which supervises the achievement of therapeutic goals. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Reed relays

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Natural trajectory based FES-induced swinging motion control

Natural trajectory based FES-induced swinging motion control

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international conference on Mechatronics (ICOM)

作者： B. S. K. K. Ibrahim M. O. Tokhi M. S. Huq S. C. Gharooni Department of Mechatronics and Robotics Faculty of Electrical & Electronic Engineering University of Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield UK

the use of electrical signals to restore the function of paralyzed muscles is called functional electrical stimulation (FES). FES is a promising method to restore mobility to individuals paralyzed due to spinal cord injury. FES induced movement control is a significantly challenging area, mainly emanating from various characteristics of the underlying physiological/biomechanical system. An approach of fuzzy trajectory tracking control of swinging motion optimized with genetic algorithm is presented. the results show the effectiveness of the approach in controlling FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated to perform the swinging motion by controlling the amount of stimulation pulsewidth.

关键词： Knee Joints Mathematical model Trajectory Genetic algorithms Muscles Optimization

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A novel gait for Toddler biped and its control using PIC 16F877A

A novel gait for Toddler biped and its control using PIC 16F...

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international conference on Mechatronics (ICOM)

作者： Md. Akhtaruzzaman Amir A. Shafie Department of Mechatronics Engineering Kulliyyah of Engineering International Islamic University Malaysia Kuala Lumpur Malaysia

Beside the humanoid platform both in the male and female form, a huge numbers of researches are advancing to design and develop the humanoid robot kits ensuring the educational, research and business value. Because of the smart design with few numbers of actuators, smaller in size and weight, lower power having simplified controller and modest price make the humanoid robot kits more attractive, charismatic and representable to the general public. In this paper the small sized biped robot called TODDLER is delineated intricately. the paper also exemplifies the design strategies of a novel walking gait for this robot kit. A new control architecture is also proposed and designed based on PIC 16F877A which makes the biped system more valuable for educational activities on robotics research especially for humanoid robots. A rudimentary algorithm, that helps the biped kit to perform its gait to navigate, is represented and its simulated results are also scrutinized in this paper.

关键词： Legged locomotion Servomotors Pediatrics Leg Shafts Batteries

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Upper Bounds on Network Lifetime for Clustered Wireless Sensor Networks

Upper Bounds on Network Lifetime for Clustered Wireless Sens...

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New Technologies, Mobility and Security (NTMS)

作者： Maciej Nikodem Bartosz Wojciechowski Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

this paper focuses on the theoretical aspects of clustering in wireless sensor networks, as a mean to improve network lifetime. We investigate whether clustering itself (with no data aggregation) can improve network lifetime in particular application when compared to non-clustered networks. We use integer linear programming to analyse 1D and 2D networks, taking into account capabilities of real-life nodes. Our results show that clustering itself cannot improve network lifetime so additional techniques and means are required to be used in synergy with clustering.

关键词： Wireless sensor networks Routing Upper bound Monitoring Proposals Energy consumption Iris

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Robustness of Reduction Method for Stabilization of Uncertain Input-Delayed Process Plant

Robustness of Reduction Method for Stabilization of Uncertai...

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international conference on Modeling, Simulation and Applied Optimization

作者： Adha I. Cahyadi Rubiyah Yusof Marzuki Khalid Yoshio Yamamoto Center of Artificial Intelligent and Robotics (CAIRO) International Campus Universiti Teknologi Malaysia Department of Precision Engineering School of Engineering Tokai University

ISBN: (纸本)9781457700033

this paper proposes a nonlinear controller for the stabilization of input delayed plants as well as to prove the robustness property of the reduction method. the plants considered are all of Linear Time Invariant (LTI) plants with input delay, which usually appear in process control in the industry. the core of this paper cames from the Dissipativity concept of Functional Differential Equation (FDE) systems. It is shown that FDE dissipativity is a sufficient condition of the solution to be bounded. In this paper, in order to access the non-delayed control law, the reduction method is firsly applied. By considering uncertainty in the delay, the transformed system will be in the form of 'real' FDE. this makes the FDE tool works nicely. It is proved that the controller is robust to the variation of time delay. To verify the effectiveness of the concept, numerical studies on the delayed level system is given in the end of the paper.

关键词： REDUCTION MEthODS Robustness Process control controllers paper plants control law Plant uncertain

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Electronic design for portable electrical capacitance sensor: A multiphase flow measurement

Electronic design for portable electrical capacitance sensor...

引用

international conference on Mechatronics (ICOM)

作者： E. Johana Mohamad O. M. Faizan Marwah Ruzairi Abdul Rahim Mohd Hafiz Fazalul Rahiman Siti Zarina Mohd Muji Department of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Department of Manufacturing and Industrial Engineering Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Process Tomography Research Group (PROTOM) Department of Control & Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

关键词： Electrodes Capacitance Capacitance measurement Pipelines Sensors Materials Permittivity measurement

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A low cost, open source, single board heater system

A low cost, open source, single board heater system

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4th IEEE international conference on E-Learning in Industrial Electronics, ICELIE 2010

作者： Arora, Inderpreet Moudgalya, Kannan M. Malewar, Sachitanand Systems and Control Engineering IIT Bombay Mumbai 400076 India Chemical Engineering IIT Bombay Mumbai 400076 India Nex Robotics Bhavani Industrial Estate Powai Mumbai 400076 India

ISBN: (纸本)9781424472529

A single board heater system to provide a handson capability to control system students is presented. Using this device, it is possible to carry out all experiments that one typically needs in a first control course. It is made accessible by enabling it to work with the free software Scilab. Results from a few experiments are listed. Remote access of this device using LabVIEW is also presented. the details and the logic of the design of this device is presented. Its design is released as open source and is also available for purchase at $50. ©2010 IEEE.

关键词： Open source software

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Effect of variable geometric piezoelectric patches on vibration of FG plate under constant electric charge 4th

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4th international conference on Structural engineering, Mechanics and Computation, SEMC 2010

作者： Khalili, S.M.R. Zoohor, H. Pourrostami, H. Viliani, N.S. Department of Mechanical Engineering Islamic Azad University South Tehran branch Tehran Iran Faculty of Engineering Kingston University London United Kingdom Centre of Excellence in Design Robotics &Automation Sharif University Iran Faculty of Mehanical Engineering Islamic Azad University Science & Research branch Tehran Iran

ISBN: (纸本)9780415584722

In this paper, the vibration control of a simply supported functionally graded rectangular plate with bonded piezoelectric sensor and actuator patches in different geometrical shapes on the top and/ or the bottom surface(s) of the plate are presented and the effect of feedback gain in vibration control is studied. An active vibration control approach is used to control the vibration of the smart plate. the effect of feedback gain and FGM volume fraction on the plate frequency and displacement for trapezoidal, triangular and rectangular shape patches of the sensor and the actuator are studied. Increasing the feedback gain leads to the reduction of the frequency and the displacement and therefore a better control of the plate’s vibration. the rectangular shape patch is more effective than the other patches’ shapes. © 2010 Taylor & Francis Group, London.

关键词： Vibration control

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