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3rd International Conference on Innovative Mechanisms for Industry Applications, ICIMIA 2023

作者： Kuntal, Vishnu Kumar, Ritik Soni, Hrithik Sagarmani Mishra, Shourya Singh, Shailesh Kumar Choudhury, Bishub Dronacharya Group of Institutions Uttar Pradesh Greater Noida201306 India

ISBN: (纸本)9798350343632

Self-balancing electric unicycles have gained significant attention in recent years as a novel and efficient means of personal transportation. This comprehensive review focuses on the recent developments in electric unicycles highlighting key components and sensors utilized in self-balancing electric unicycles which provide essential feedback for the control algorithms. The study explores the application of popular control algorithms such as PID (Proportional-Integral-Derivative), LQR (Linear Quadratic Regulator), ADRC (Active Disturbance Rejection control), and adaptive control algorithms, etc. In the context of self-balancing electric unicycles. This study evaluates the benefits and challenges associated with these control algorithms, including their stability, responsiveness, robustness, and adaptability to different riding conditions. Moreover, the review delves into control algorithms specifically designed for gyroscopic control. The findings indicate that selecting key components based on design requirements is vital to constructing a unicycle that is simultaneously safe, stable, cost-effective, efficient, and environmentally friendly. LQR and ADRC algorithms are found highly effective in enhancing control performance in electric unicycles. When it comes to gyroscopic control, PID controllers, Kalman filters, Complementary filters, and adaptive control algorithms have proven to be effective and efficient in self-balancing electric unicycles. © 2023 IEEE.

关键词： control algorithms controller design electric unicycles gyroscope

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MOTION control algorithms FOR SENSOR-EQUIPPED ROBOTS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1987年第4期109卷 335-344页

作者： SHOHAM, M KOREN, Y UNIV MICHIGAN DEPT MECH ENGNANN ARBORMI 48109

This paper deals with the development of kinematic algorithms for the control of sensor-equipped robots. The kinematics is solved in the sensor coordinate system, which reduces the computation efforts, and allows the elimination of the first joint encoder. Simplification of the algorithms can be obtained when approximations are used to solve the inverse kinematics. Three control algorithms based on approximations are presented. However, with these algorithms, convergence to the target is not always guaranteed. A Theorem which specifies the sufficient conditions required for a trajectory to converge to a target point is proved. Based on this Theorem robot parameters can be selected in the design stage of the manipulator. This is illustrated for several types of manipulators.

关键词： Sensors Robots Motion control algorithms Kinematics Theorems (Mathematics) Approximation Manipulators control algorithms Computation

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The Use of Damping Based Semi-Active control algorithms in the Mechanical Smart-Spring System

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JOURNAL OF VIBRATION AND ACOUSTICS-TRANSACTIONS OF THE ASME 2018年第2期140卷 021011-021011页

作者： Rocha Vieira, Wander Gustavo Nitzsche, Fred De Marqui, Carlos, Jr. Univ Sao Paulo Sao Carlos Sch Engn Dept Aeronaut Engn Ave Joao Dagnone 1100 BR-13563120 Sao Carlos SP Brazil Carleton Univ Dept Mech & Aerosp Engn 1125 Colonel By Dr ME3135 Ottawa ON K1S 5B6 Canada

In recent decades, semi-active control strategies have been investigated for vibration reduction. In general, these techniques provide enhanced control performance when compared to traditional passive techniques and lower energy consumption if compared to active control techniques. In semi-active concepts, vibration attenuation is achieved by modulating inertial, stiffness, or damping properties of a dynamic system. The smart spring is a mechanical device originally employed for the effective modulation of its stiffness through the use of semi-active control strategies. This device has been successfully tested to damp aeroelastic oscillations of fixed and rotary wings. In this paper, the modeling of the smart spring mechanism is presented and two semi-active control algorithms are employed to promote vibration reduction through enhanced damping effects. The first control technique is the smart-spring resetting (SSR), which resembles resetting control techniques developed for vibration reduction of civil structures as well as the piezoelectric synchronized switch damping on short (SSDS) technique. The second control algorithm is referred to as the smart-spring inversion (SSI), which presents some similarities with the synchronized switch damping (SSD) on inductor technique previously presented in the literature of electromechanically coupled systems. The effects of the SSR and SSI control algorithms on the free and forced responses of the smart-spring are investigated in time and frequency domains. An energy flow analysis is also presented in order to explain the enhanced damping behavior when the SSI control algorithm is employed.

关键词： Stress Damping Springs control algorithms

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Virtual Reality-Based Framework to Simulate control algorithms for Robotic Assistance and Rehabilitation Tasks through a Standing Wheelchair

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SENSORS 2021年第15期21卷 5083-5083页

作者： Ortiz, Jessica S. Palacios-Navarro, Guillermo Andaluz, Victor H. Guevara, Bryan S. Univ Zaragoza Dept Elect Engn & Commun Teruel 44003 Spain Univ Fuerzas Armadas ESPE Dept Elect & Elect Sangolqui 171103 Ecuador

The implementation of control algorithms oriented to robotic assistance and rehabilitation tasks for people with motor disabilities has been of increasing interest in recent years. However, practical implementation cannot be carried out unless one has the real robotic system availability. To overcome this drawback, this article presents the development of an interactive virtual reality (VR)-based framework that allows one to simulate the execution of rehabilitation tasks and robotic assistance through a robotic standing wheelchair. The virtual environment developed considers the kinematic and dynamic model of the standing human-wheelchair system with a displaced center of mass, since it can be displaced for different reasons, e.g.,: bad posture, limb amputations, obesity, etc. The standing wheelchair autonomous control scheme has been implemented through the Full Simulation (FS) and Hardware in the Loop (HIL) techniques. Finally, the performance of the virtual control schemes has been shown by means of several experiments based on robotic assistance and rehabilitation for people with motor disabilities.

关键词： control algorithms dynamic model kinematic model rehabilitation robotic assistance standing wheelchair virtual reality

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EFFECT OF control algorithms ON FIXED PITCH WIND TURBINE GENERATORS

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JOURNAL OF SOLAR ENERGY ENGINEERING-TRANSACTIONS OF THE ASME 1990年第3期112卷 147-152页

作者： RIZZI, MP AUSLANDER, DM UNIV CALIF BERKELEY BERKELEY CA 94720 USA

The effect of control upon wind turbine performance is described using actual wind speed data from a wind farm in California. The algorithms studied are currently in use by some turbine manufacturers. The algorithms were studied using a computer model of a fixed pitch, utility connected wind turbine with an induction generator. The algorithm efficiency was found to be robust over a wide range of parameters. However, the number of start/stops varied greatly with different algorithms and parameters. ?1990 The American Society of Mechanical Engineers

关键词： Wind turbines Wind velocity Turbines control algorithms Computers Generators Wind farms Electromagnetic induction algorithms

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Prototyping and evaluation of interactive and customized interface and control algorithms for robotic assistive devices using Kinect and infrared sensor

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2018年第2期15卷

作者： McFassel, Grace Hsieh, Sheng-Jen Peng, Bo George Washington Univ Dept Elect & Comp Engn Washington DC USA Texas A&M Univ Dept Engn Technol College Stn TX 77843 USA Texas A&M Univ Dept Mech Engn College Stn TX 77843 USA

Robotic assistive devices are popular in research and medical fields for their potential to automate tasks or to improve the quality of life of disabled users. They may be used for physical therapy, as exoskeletons, teleoperation devices, or to assist users in tasks in their home. Common methods for controlling these devices use both broad and difficult-to-maintain gesturing or peripherals such as mouse pointers or joysticks which are not designed for the task required of them. In addition, these devices are often not adaptive to the user and can only be minimally customized. This article proposes a fusion of infrared camera data for stress detection with Kinect body tracking to develop a customizable control method for a robotic limb. Devices such as the Microsoft Kinect have seen use in physical therapy applications but only some use in teleoperation. In addition, studies have shown potential in using infrared imaging to detect human stress. The objectives of this study are to design and build an interactive interface and adaptive control system and to evaluate its performance. Stress detection using infrared was tested using a Compix 222 and neural networks to categorize emotional states. Kinect v2 accuracy and reliability was tested by comparing joint positions to detected angles and perceived output angles. Our work suggests that infrared imaging and the Kinect v2 show potential to make a real-time adaptive system in which a control program can adapt its output when it detects stress from its user.

关键词： Interface design control algorithms human stress infrared imaging robotic assistive device Microsoft Kinect

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Exploratory comparison of control algorithms and machine learning as regulators for a personalized climatization system

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ENERGY AND BUILDINGS 2022年第0期255卷 111653-111653页

作者： Metzmacher, Henning Syndicus, Marc Warthmann, Alexander van Treeck, Christoph Rhein Westfal TH Aachen E3D Inst Energy Efficiency & Sustainable Bldg Mathieustr 30 D-52074 Aachen Germany

Modern air conditioning makes up a large part of global energy consumption. HVAC systems are the most energy consuming devices in the building sector and also contribute to greenhouse gas emission in the transportation sector when used for vehicle cabin climatization. Conventional HVAC systems are designed to heat or cool air volumes of entire rooms or zones. A much more efficient way is to condition a person directly by generating a microclimate around the body through the use of local conditioning actuators taking into account the respective individual's preference. This work proposes a so called per-sonalized thermal conditioning testing system which offers a server based, modular platform to test actu-ators, control strategies and facilitate monitoring and data collection. The focus of this work lies in the evaluation of control algorithms and machine learning heuristics that are used to train individual thermal comfort models used to adapt the system's actuators to user preferences. Specifically, the control meth-ods ON/OFF, Proportional-Integral-Derivative (PID) and Model predictive control (MPC) are compared. Monte Carlo sampling, regression tree, support-vector machine and multilayer perceptron heuristics are assessed as machine learning techniques for individual model training. A brief introduction of the modular system architecture is given, and results from a controller experiment and preliminary user study are presented. The system was able to successfully train and compare control and machine learning algorithms in real-time, and to integrate sensors, actuators, as well as skin temperature measurement with a thermal camera. (c) 2021 Elsevier B.V. All rights reserved.

关键词： Personalized climatization system Personalized thermal conditioning Thermal comfort control algorithms Machine learning

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MICROCOMPUTER IMPLEMENTATION OF DIRECT DIGITAL control algorithms FOR THERMAL PROCESS-control APPLICATIONS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1977年第4期99卷 233-240页

作者： JACOBS, D DONAGHEY, LF D. Jacobs L. F. Donaghey Materials and Molecular Research Division Lawrence Berkeley Laboratory and Department of Chemical Engineering University of California Berkeley Calif.

The implementation and performance of direct digital control algorithms in a microcomputer-based controller was studied in relation to the control of nonlinear thermal processes. Particular emphasis was given to discrete algorithms such as proportional-integral and finite time settling control algorithms. Experimental studies were carried out with a nonlinear diffusion furnace controlled by an Intel 8080-based microcomputer system, on which the control algorithms were implemented. The performance of different, modified, linear control algorithms were evaluated in thermal process control applications.

关键词： Process control control algorithms Diffusion (Physics) control equipment algorithms Furnaces

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Development, Comparison and Application of Various Parameter-Adaptive Digital control algorithms

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IFAC Proceedings Volumes 1978年第1期11卷 443-452页

作者： H. Kurz R. Isermann R. Schumann Institut für Regelungstechnik Fachgebiet Regelsystemtechnik Technische Hochschule Darmstadt Darmstadt F. R. Germany

Various recursive parameter estimation algorithms and controller design procedures can be combined to build up parameter adaptive control algorithms. Three parameter estimators and seven control algorithms have been selected taking into account good convergence properties and small computational expense and regarding the conditions for closed loop identification. The resulting 21 adaptive control algorithms are compared and tested with a process computer in on-line operation with analog simulated stable and unstable processes for stochastic and deterministic disturbances without and with external perturbation signals. The results are very promising. In many cases a good control performance is achieved. As a priori knowledge only the sampling time, the process model order and time delay and in some cases a weighting factor for the process input signal are required. The best adaptive control algorithms are applied for digital adaptive control of a nonlinear pipeline pilot plant and an air heater. Conclusions are given for the selection of parameter adaptive control algorithms, depending on the type of process and its disturbances. The adaptive control algorithms can be applied for adaptive control of constant and time variant, linear and nonlinear, stable and unstable processes with process computers or micro computers or for self-tuning of control algorithms or tuning of conventional analog PID controllers.

关键词： Process control adaptive control digital control parameter estimation identifiability control algorithms

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control algorithms for 3-DoF Handheld Robotic Devices Used in Orthopedic Surgery

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Journal of Medical Robotics Research 2019年第2期4卷

作者： Klemm, Martin Hanebeck, Uwe D. Hoppe, Harald Faculty of Electrical Engineering and Information Technology Offenburg University Badstrasse 24 Offenburg 77652 Germany Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe 76131 Germany

Nowadays, robotic systems are an integral part of many orthopedic interventions. Stationary robots improve the accuracy but also require adapted surgical workflows. Handheld robotic devices (HHRDs), however, are easily integrated into existing workflows and represent a more economical solution. Their limited range of motion is compensated by the dexterity of the surgeon. This work presents control algorithms for HHRDs with multiple degrees of freedom (DOF). These algorithms protect pre-or intraoperatively defined regions from being penetrated by the end effector (e.g., a burr) by controlling the joints as well as the device's power. Accuracy tests on a stationary prototype with three DOF show that the presented control algorithms produce results similar to those of stationary robots and much better results than conventional techniques. This work presents novel and innovative algorithms, which work robustly, accurately, and open up new opportunities for orthopedic interventions. © 2019 World Scientific Publishing Company.

关键词： control algorithms Handheld robotic device orthopedic surgery

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