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55th Meeting of the Italian Electronics Society

作者： Dini, Pierpaolo Saponara, Sergio Basso, Giovanni Romano, Claudio Univ Pisa Dept Informat Engn Via G Caruso I-56100 Pisa Italy Ideas & Mot Via Moglia 19 I-12062 Cherasco Italy

ISBN: (纸本)9783031715204;9783031715181;9783031715174

The article presents an innovative methodology for the design and validation of monitoring and anomaly detection algorithms, focused on the aging phenomenon linked to the anomalous modification of the R-dson in the switching devices of electronic systems of power in high-performance electric vehicles. The case study concerns an electric traction system with a three-phase axial flux synchronous motor integrated into a drive wheel (Elaphe) and a high-efficiency three-phase inverter with SiC (silicon carbide) technology. The methodology is developed in four phases: 1) creation of a real-time model of electric traction, validated with experimental data from WLTP tests;2) Generation of a virtual dataset representing aging, via anomaly injection emulating the phenomenon with a scaling factor based on the R-dson on the motor phase current;3) design of an estimator of the R-dson using an Artificial Neural Network (ANN) regression model, including feature extraction and reduction techniques. 4) Experimental validation of the method through PIL (Processor-In-the-Loop) tests, integrating the monitoring algorithm on the NXPs32k144 embedded platform, making it interact with the electric traction model with anomaly injection.

关键词： Power Electronics Automotive model-based design Simulation Embedded Devices Artificial Neural Networks

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model-based design of Variable Stiffness Soft Gripper Actuated by Smart Hydrogels

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SOFT ROBOTICS 2024年第6期11卷 924-934页

作者： Chen, Qianyi Schott, Dingena Jovanova, Jovana Delft Univ Technol Fac Mech Engn NL-2628 CD Delft Netherlands

Soft grippers have shown their ability to grasp fragile and irregularly shaped objects, but they often require external mechanisms for actuation, limiting their use in large-scale situations. Their limited capacity to handle loads and deformations also restricts their customized grasping capabilities. To address these issues, a model-based soft gripper with adaptable stiffness was proposed. The proposed actuator comprises a silicone chamber with separate units containing hydrogel spheres. These spheres exhibit temperature-triggered swelling and shrinking behaviors. In addition, variable stiffness strips embedded in the units are introduced as the stiffness variation method. The validated finite element method model was used as the model-based design approach to describe the hydrogel behaviors and explore the affected factors on the bending performance. The results demonstrate that the actuator can be programmed to respond in a desired way, and the stiffness variation method enhances bending stiffness significantly. Specifically, a direct correlation exists between the bending angle and hydrogel sphere layers, with a maximum of 128 degrees achieved. In addition, incorporating gap configurations into the chamber membrane results in a maximum threefold increase in the bending angle. Besides, the membrane type minimally impacts the bending angle from 21.3 degrees to 24.6 degrees. In addition, the embedded variable stiffness strips substantially increase stiffness, resulting in a 30-fold rise in bending stiffness. In conclusion, the novel soft gripper actuator enables substantial bending and stiffness control through active actuation, showcasing the potential for enhancing soft gripper performance in complex and multiscale grasping scenarios.

关键词： soft gripper model-based design temperature-sensitive hydrogel stiffness variation FEM

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model-based design of an Active Suspension for the Improvement of In-Wheel Motor Drive Electric Vehicle

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IEEE ACCESS 2024年 12卷 45597-45615页

作者： Xu, Haolun Liu, Jianjian Luo, Tongqiang Yao, Yifan Lv, Chen BYD Auto Ind Co Ltd Shenzhen 518118 Peoples R China

This paper presents an advanced vertical control system using active suspension to stabilize the vertical motion of an in-wheel motor-driven electric vehicle. The design of the control system and conceptualization were carried out by mathematical modeling with integration with the quarter car model. A novel active suspension is developed through the model-based design to control the vehicles to move smoothly and continuously. Even though experimental validation is an effective and more accurate method to evaluate the control system, it is important to reduce the dependency on physical testing. Thus, a reliable simulation framework would be beneficial in the vehicle development process. In this paper, the hydraulic system is designed and simulated by using the Simcenter Amesim. For the dynamic vibration absorber, we are seeking to design a skyhook control to control the damping force by an electric damper, whereas the spring stiffness can be switched by opening and closing the fluid passage to the gas chamber. In the spring stiffness control, the stiff suspension can reach a ratio of 1.3 compared to the soft suspension. The objective of this research work was realized with the proposed simulation framework to test the effectiveness of suspension control system to improve ride and handling in a four in-wheel motor-driven electric vehicle.

关键词： Suspensions (mechanical systems) Vehicle dynamics Vibrations Roads Damping Wheels Motors In-wheel motor technology model-based design active suspension vehicle vertical control skyhook control dynamic vibration absorber

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model-based design and validation of food texture of 3D printed pectin-based food simulants

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JOURNAL OF FOOD ENGINEERING 2018年 231卷 72-82页

作者： Vancauwenberghe, Valerie Delele, Mulugeta Admasu Vanbiervliet, Jeroen Aregawi, Wondwosen Verboven, Pieter Lammertyn, Jeroen Nicolai, Bart Katholieke Univ Leuven BIOSYST MeBioS Dept Biosyst Leuven Belgium

A prime interest in 3D food printing consists of controlling the texture of food products by means of structure design. Analytical and finite element models were used to predict the texture properties of printed honeycomb structures. Structures with varying cell size were 3D printed using food-inks composed of three different pectin concentrations and characterized with micro-CT and compression analysis. Porosity and average wall thickness of the samples appeared independent of food-ink composition but structure deviations could be distinguished between actual printed structures and CAD designs. The comparison between the texture properties of printed structures and those predicted by analytical and FE modelling in function of porosity showed that both predicted and actual texture properties matched to the same decreasing trend with increasing porosity. Finally, a good fit of the analytical model to the measured Young's modulus was obtained by using the actual porosity of the printed structures, while the validated finite element model provides a means to design more complex structures. The results emphasize the importance of structure correspondence for reliable design of texture properties of printed food structures. (C) 2018 Elsevier Ltd. All rights reserved.

关键词： Additive manufacturing Cellular food Texture 3D food printing model-based design

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model-based design of supervisory controllers for baggage handling systems

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SIMULATION modelLING PRACTICE AND THEORY 2017年 78卷 28-50页

作者： Swartjes, L. van Beek, D. A. Fokkink, W. J. van Eekelen, J. A. W. M. Eindhoven Univ Technol Control Syst Technol Grp Postbus 513 NL-5600 MB Eindhoven Netherlands Vanderlande Ind BV Postbus 18 NL-5460 AA Veghel Netherlands

The complexity of airport baggage handling systems in combination with the required high level of robustness makes designing supervisory controllers for these systems a challenging task. We show how a state of the art, formal, model-based design framework has been successfully used for model-based design of supervisory controllers for an actual industrial baggage handling system, and for a real-time emulation model of an actual international airport. The high level modeling elements of the applied CIF model-based design framework allow the modeler to concentrate on implementing the baggage handling system design requirements, instead of programming PLC code. It also allows a modular and hierarchical design of the supervisory controller, and provides flexibility in adapting and extending the model. Validation of the controller and the uncontrolled plant by means of simulation and visualization made it possible to catch all modeling errors, leading to very short modeling, testing and error correction iteration loops. To the best of our knowledge, this is the first successful employment of formal, model based design in the context of supervisory control for actual, industrial size baggage handling systems, that covers the entire development process from requirements up to and including validation, real-time PLC code generation and implementation. We give an overview of the model-based design framework, discuss several modeling issues, and analyze the results of the industrial applications. We do not go into full technical detail, due to nondisclosure agreements, but tell the story, and give lessons learned that we consider useful for practitioners. (C) 2017 Elsevier B.V. All rights reserved.

关键词： model-based design Formal models Controller Supervisory control Validation Application Implementation

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model-based design of artificial zero power cochlear implant

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MECHATRONICS 2015年 31卷 30-41页

作者： Zak, Jaromir Hadas, Zdenek Dusek, Daniel Pekarek, Jan Svatos, Vojtech Janak, Ludek Prasek, Jan Brno Univ Technol Cent European Inst Technol Tech 10 Brno 61600 Czech Republic Brno Univ Technol Res Ctr 6 Tech 10 Brno 61600 Czech Republic Brno Univ Technol Fac Mech Engn Tech 2 Brno 61669 Czech Republic

This paper deals with a model-based design of an autonomous biomechatronic device for sensing and analog signal processing of acoustic signals. The aim is to develop a biomechatronic artificial cochlear implant for people with hearing loss due to damage or disease of their cochlea. The unique artificial electronic cochlear implant is based on an array of microelectromechanical piezoelectric membranes. Oscillations of membranes detect and filter acoustic signals in individual acoustic frequencies. The proposed biomechatronic device of the artificial cochlear implant consists of an active filters array, signal processing electronics, stimulation nerves electrodes and energy harvesting system for autonomous powering of the device. This solution differs from current cochlear implants solutions, which are bulky electronic systems limited by their high power consumption. The multidisciplinary models of the artificial cochlea implant concept are presented. The mechatronic approach based on model seems to be very useful for development of the full implantable cochlear implant which is designed for the sensing and processing of acoustic signals without external energy source. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Biomechatronics MEMS sensor Energy harvesting Zero power sensor model-based design Signal processing

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model-based design of a multistable origami-enabled crawling robot

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SMART MATERIALS AND STRUCTURES 2020年第1期29卷 015013-015013页

作者： Gustafson, Kim Angatkina, Oyuna Wissa, Aimy Univ Illinois Urbana IL 61801 USA

Origami and kirigami are becoming increasingly more prevalent in robotic systems due to their elegant manufacturability and pseudo-compliant behavior. However, origami-enabled robotic systems are currently designed in an inefficient ad hoc manner due to the complexity of synergistically incorporating compliant origami structures into a system level model. This paper develops a system level dynamic model for the locomotion of an origami-enabled crawling robot. An energy analysis of the primary mechanical components of the robot yields a one-dimensional (1D) equation of motion (EOM) for the robot. The EOM is extended to two dimensions (2D) using a geometric analysis of the origami structures and the constraints imposed by the robotic system. The 2D model is able to represent the robot's forward and directional locomotion. The results of the dynamic model are compared to a kinematics-based model and experimental results. The 2D dynamic model performs similar to the kinematic model of the robot for small forward expansions, but the dynamic model demonstrates superior tracking of the robot locomotion for larger expansions as the system losses increase. The maximum error reported between the dynamic model and experimental results is 10% compared to the 40% error reported for the kinematic model. The paper concludes with a demonstration of how the dynamic model can be used to select the robot design parameters. This paper presents a much-needed framework for the design of origami-enabled robots that can also lead to advances in the control of compliant and pseudo-compliant robots.

关键词： origami robots multistable origami model-based design kresling origami crawling robots

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model-based design Methodology for Rapid Development of Fuzzy Controllers on FPGAs

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2013年第3期9卷 1361-1370页

作者： Sanchez-Solano, Santiago Brox, Maria del Toro, Ernesto Brox, Piedad Baturone, Iluminada Inst Microelect Sevilla IMSE CNM CSIC Seville 41092 Spain Univ Cordoba Dept Comp Architecture E-14071 Cordoba Spain Microelect Res Ctr CIME CUJAE Havana 19390 Cuba Univ Seville Seville 41092 Spain

The complexity reached by current applications of industrial control systems has motivated the development of new computational paradigms, as well as the employment of hybrid implementation techniques that combine hardware and software components to fulfill system requirements. On the other hand, continuous improvements in field-programmable devices today make possible the implementation of complex control systems on reconfigurable hardware, although they are limited by the lack of specific design tools and methodologies to facilitate the development of new products. This paper describes a model-based design approach for the synthesis of embedded fuzzy controllers on field-programmable gate arrays (FPGAs). Its main contributions are the proposal of a novel implementation technique, which allows accelerating the exploration of the design space of fuzzy inference modules, and the use of a design flow that eases their integration into complex control systems and the joint development of hardware and software components. This design flow is supported by specific tools for fuzzy systems development and standard FPGA synthesis and implementation tools, which use the modeling and simulation facilities provided by the MATLAB environment. The development of a complex control system for parking an autonomous vehicle demonstrates the capabilities of the proposed procedure to dramatically speed up the stages of description, synthesis, and functional verification of embedded fuzzy controllers for industrial applications.

关键词： Fuzzy controllers hardware/software codesign industrial control systems model-based design

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model-based design and experimental verification of a monitoring concept for an active-active electromechanical aileron actuation system

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MECHANICAL SYSTEMS AND SIGNAL PROCESSING 2017年 94卷 322-345页

作者： Arriola, David Thielecke, Frank Hamburg Univ Technol Inst Aircraft Syst Engn Nesspriel 5 D-21129 Hamburg Germany

Electromechanical actuators have become a key technology for the onset of power-by-wire flight control systems in the next generation of commercial aircraft. The design of robust control and monitoring functions for these devices capable to mitigate the effects of safety-critical faults is essential in order to achieve the required level of fault tolerance. A primary flight control system comprising two electromechanical actuators nominally operating in active-active mode is considered. A set of five signal-based monitoring functions are designed using a detailed model of the system under consideration which includes non-linear parasitic effects, measurement and data acquisition effects, and actuator faults. Robust detection thresholds are determined based on the analysis of parametric and input uncertainties. The designed monitoring functions are verified experimentally and by simulation through the injection of faults in the validated model and in a test-rig suited to the actuation system under consideration, respectively. They guarantee a robust and efficient fault detection and isolation with a low risk of false alarms, additionally enabling the correct reconfiguration of the system for an enhanced operational availability. In 98% of the performed experiments and simulations, the correct faults were detected and confirmed within the time objectives set. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： Flight controls Electromechanical actuators model-based design Monitoring Uncertainty Verification

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model-based design of a rear axle steering (RAS) system using an electro-hydraulic actuator (EHA)

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JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 2023年第12期37卷 6123-6129页

作者： Park, Jeong Woo Yoo, Chung-Mok Ham, Young-Bog Park, Jung-Ho Chungnam Natl Univ Dept Mech Engn Daejeon 34134 South Korea Korea Inst Machinery & Mat Dept Thermal Energy Solut Daejeon 34103 South Korea Sewon E&C Corp Chang Won 51562 South Korea

The electro-hydraulic actuator (EHA) system applied in rear axle steering (RAS) is used to steer the rear auxiliary wheels of large commercial vehicles and prevent oversteering. For safety reasons, commercial vehicles reduce the steering angle as the load applied to the rear wheels increases or the speed of the vehicle increases. In this study, we present a well-composed model based design (MBD) of an RAS system employing EHA used in large commercial vehicles. In order to apply loads to the rear of the vehicle to validate the legitimacy of the modeling and to replace the actual model's experiments with the simulations, the rotational speed of the motor obtained in the experiment was input to the motor of the simulation model. The organized formulas of the steering angle based on the structural form were defined to compare the steering angle against both the cylinder displacement of the actual model and the simulated model. We also applied load working on the steering wheel to check the angle difference according to the weight. The organized formulas were applied in the MBD system to compare the results of simulation modeling with the actual experimental values to confirm the modeling's validity.

关键词： Electro-hydraulic actuator Load torque model-based design Prefill valve Rear axle steering system Steering angle

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