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Mechatronics Systems and Materials (MSM)

作者： Sylvester Sedem Djokoto Egidijus Dragašius Vytautas Jūrėnas Arkadiusz Mystkowski Department of Production Engineering Kaunas University of Technology Studentu 56 Kaunas Lithuania Institute of Mechatronics Kaunas University of Technology Studentu 56 Kaunas Lithuania Department of Automatic Control and Robotics Bialystok University of Technology Wiejska 45C Bialystok Poland

The following topics are dealt with: mobile robots; autonomous aerial vehicles; vibrations; neural nets; control engineering computing; finite element analysis; design engineering; learning (artificial intelligence); ... 详细信息

ISBN: (数字)9781728169569

ISBN: (纸本)9781728169576

关键词： Three-dimensional displays Fluids Rotors Electric fields Vibrations Laser beams Mechanical engineering

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Hierarchical control of a Quadcopter under Stuck Actuator Fault

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IFAC-PapersOnLine 2020年第2期53卷 4258-4263页

作者： Ngoc Thinh Nguyen Ionela Prodan Felix Petzke Stefan Streif Laurent Lefèvre Univ. of Luebeck Institute for Robotics and Cognitive Systems 23562 Luebeck Germany Univ. Grenoble Alpes Grenoble INP Institute of Engineering and Management Univ. Grenoble Alpes. LCIS Valence France Technische Universität Chemnitz Automatic Control and System Dynamics (ACSD) Lab 09107 Chemnitz Germany

We propose a hierarchical FTC (Fault Tolerant control) scheme for trajectory tracking by a quadcopter system under stuck actuator fault and actuator saturation. Both the FDI (Fault Detection and Isolation) and control reconfiguration modules are implemented at the low-level associated with the rotation dynamics through a NMPC (Nonlinear Model Predictive control) strategy. The uncontrolled (when under fault) yaw torque is predicted and compensated by the NMPC. It is shown that the overall control scheme succeeds in maintaining trajectory tracking for various fault events (both in the sense of having various stuck values and in the sense of changing the actuator under fault).

关键词： FTC Stuck actuator fault Trajectory tracking Hierarchical control Feedback linearization NMPC Quadcopter

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Neuromorphic system development based on adaptive neuronal network to modulate synaptic transmission in hippocampus 3

Neuromorphic system development based on adaptive neuronal n...

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3rd International Conference "Neurotechnologies and Neurointerfaces", CNN 2021

作者： Lebedeva, Albina Gerasimova, Svetlana Fedulina, Anastasiya Mishchenko, Mikhail Beltyukova, Anna Matveeva, Mariya Mikhaylov, Alexey Pisarchik, Alexander Kazantsev, Victor Neurotechnologies Department N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Laboratory of Physics and Technology of Thin Films Department of Solid State Electronics and Optoelectronics Research Institute of Physics and Technology N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Department of Theory of Oscillations and Automatic Control Faculty of Radiophysics N.I. Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod Russia Center for Biomedical Technology Technical University of Madrid Pozuelo de Alarcón Madrid Spain Center for Technologies in Robotics and Mechatronics Component Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665424745

The project presents fundamental research on the development of concept and basic components of physical circuit based on optoelectronic elements (neuromorphic generators, memristors, optical fibers). This network can replace some functions of brain’s neural networks (such as memory) through adaptive stimulation of neural interfaces at the cellular and cellular networks level. Developing learning system will perform the electrical stimulation of brain areas based on the neural activity recorded and will include electronic devices for recording and processing signals. In addition, this system will include electronic devices for generating electrical stimuli based on hardware models of neurons and memristive devices. The basic idea is to integrate an artificial network with living microcircuits of the brain. The artificial network is capable of adaptively generating electrical output signals and can stimulate a given area of the brain according to the recorded pattern of input signals. We suppose that such a network will be able to reproduce the functions of brain systems, based on the use of learning algorithms. It can be used to expand the functionality of these brain systems and to replace lost functions in pathology or trauma. © 2021 IEEE.

关键词： Memristors

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Adaptive tracking control of flapping wing micro-air vehicles with averaging theory

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CAAI Transactions on Intelligence Technology 2018年第1期3卷 18-27页

作者： Chen Qian Yongchun Fang Institute of Robotics and Automatic Information Systems College of Computer and Control Engineering Tianjin 300353People's Republic of China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300353 People's Republic of China

An input constrained adaptive tracking controller is designed for flapping micro aerial vehicles, wherein the moving averaging filter is adopted to estimate the averaged states of the system. Specifically, in the outer loop controller, an observer is constructed to estimate the disturbances within the system. Moreover, the constrained thrust is designed to keep the frequency in a proper region so as to meet the requirement of average estimation. Then, a tracking differentiator is used to provide trackable trajectories for the inner loop. Subsequently, a new quaternion- based hybrid attitude tracking controller is designed which successfully deals with high-frequency noises and avoids possible chattering. As supported by mathematical analysis, the proposed control strategy guarantees the uniform ultimate boundedness of the closed-loop system, and it keeps the control torques within the permitted range to meet the application requirement. At last, numerical simulations are carried out to support the validity of the proposed controller, whose results are satisfactory even when the thrust and torques are saturated.

关键词：飞行器跟踪器人工智能发展现状

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Highly accelerated multi-shot intravoxel incoherent motion diffusion-weighted imaging in brain enabled by parametric POCS-based multiplexed sensitivity encoding

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NMR in Biomedicine 2024年第3期37卷 e5063-e5063页

作者： Chen, Shihui Chu, Mei-Lan Liang, Liyuan Liu, Yi-Jui Chen, Nan-Kuei Wang, He Juan, Chun-Jung Chang, Hing-Chiu Department of Biomedical Engineering The Chinese University of Hong Kong Shatin Hong Kong Department of Diagnostic Radiology Li Ka Shing Faculty of Medicine The University of Hong Kong Pokfulam Hong Kong Graduate Institute of Biomedical Electronics and Bioinformatics National Taiwan University Taipei Taiwan Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Biomedical Engineering University of Arizona TucsonAZ United States Brain Imaging and Analysis Center Duke University Medical Center DurhamNC United States Institute of Science and Technology for Brain-Inspired Intelligence Fudan University Shanghai China Ministry of Education Shanghai China Human Phenome Institute Fudan University Shanghai China Department of Medical Imaging China Medical University Hsinchu Hospital Hsinchu Taiwan Department of Radiology School of Medicine College of Medicine China Medical University Taichung Taiwan Department of Medical Imaging China Medical University Hospital Taichung Taiwan Multi-Scale Medical Robotics Center Shatin Hong Kong

Recently, intravoxel incoherent motion (IVIM) diffusion-weighted imaging (DWI) has also been demonstrated as an imaging tool for applications in neurological and neurovascular diseases. However, the use of single-shot diffusion-weighted echo-planar imaging for IVIM DWI acquisition leads to suboptimal data quality: for instance, geometric distortion and deteriorated image quality at high spatial resolution. Although the recently commercialized multi-shot acquisition methods, such as multiplexed sensitivity encoding (MUSE), can attain high-resolution and high-quality DWI with signal-to-noise ratio (SNR) performance superior to that of the conventional parallel imaging method, the prolonged scan time associated with multi-shot acquisition is impractical for routine IVIM DWI. This study proposes an acquisition and reconstruction framework based on parametric-POCSMUSE to accelerate the four-shot IVIM DWI with 70% reduction of total scan time (13 min 8 s versus 4 min 8 s). First, the four-shot IVIM DWI scan with 17 b values was accelerated by acquiring only one segment per b value except for b values of 0 and 600 s/mm2. Second, an IVIM-estimation scheme was integrated into the parametric-POCSMUSE to enable joint reconstruction of multi-b images from under-sampled four-shot IVIM DWI data. In vivo experiments on both healthy subjects and patients show that the proposed framework successfully produced multi-b DW images with significantly higher SNRs and lower reconstruction errors than did the conventional acceleration method based on parallel imaging. In addition, the IVIM quantitative maps estimated from the data produced by the proposed framework showed quality comparable to that of fully sampled MUSE-reconstructed images, suggesting that the proposed framework can enable highly accelerated multi-shot IVIM DWI without sacrificing data quality. In summary, the proposed framework can make multi-shot IVIM DWI feasible in a routine MRI examination, with reasonable scan time a

关键词： Image reconstruction

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Quadrotor Multi-model for control Purposes 7

Quadrotor Multi-model for Control Purposes

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7th International Conference on Mathematical Modeling in Physical Sciences, IC-MSQUARE 2018

作者： Grau, Antoni Bolea, Yolanda Sanfeliu, Alberto Technical University of Catalonia Automatic Control Department Barcelona Spain Robotics Industrial Institute Barcelona Spain

In this work, a multi-model of a quadrotor is developed in order to control this system. The kinematic model of each part of the quadrotor will be derived using the Euler angles, and also the dynamics model of the quadrotor will be calculated based on the first principles of a rigid body using the Newton-Euler formulation. Furthermore, the following assumptions are used :1) The structure is completely rigid and perfectly symmetric. 2) The center of mass is in the origin of the quadrotor fixed frame. 3) The thrusts are proportional to the square of the motors rotational speed. A state-space model (kinematics and dynamics) is developed by physical laws. But, this deduced model presents several no linearities that are produced by three factors: the orientation (Pitch, Roll and Yaw), the control action and the angular velocities. To be able to control the quadrotor system in simple, linear and manageable way, it is necessary to linearize the system. Two method are possible: a classical linearization around several set-points and a multi-model linearization. In this case, a multi-model linearization is proposed due to the obtained control model will be used to compute a multi-model controller using fuzzy techniques. Fuzzy control techniques are suitable for linear parameter varying systems with no linearities, as our quadrotor. © 2018 Institute of Physics Publishing. All rights reserved.

关键词： Fuzzy control

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Information based approach to stochastic control problems

arXiv

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arXiv 2019年

作者： Bania, Piotr Department of Automatic Control and Robotics AGH University of Science and Technology Al. A. Mickiewicza 30 Krakow30-059 Poland

An information based method for solving stochastic control problems with partial observation has been proposed. First, the information-theoretic lower bounds of the cost function has been analysed. It has been shown, under rather weak assumptions, that reduction of the expected cost with closed-loop control compared to the best open-loop strategy is upper bounded by non-decreasing function of mutual information between control variables and the state trajectory. On the basis of this result, an Information Based control method has been developed. The main idea of the IBC consists in replacing the original control task by a sequence of control problems that are relatively easy to solve and such that information about the state of the system is actively generated. Two examples of the operation of the IBC are given. It has been shown that the IBC is able to find the optimal solution without using dynamic programming at least in these examples. Hence the computational complexity of the IBC is substantially smaller than complexity of dynamic programming, which is the main advantage of the proposed method. Copyright © 2019, The Authors. All rights reserved.

关键词： Feedback

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Digital and Analog Design of Fractional PD controller for a Servo System

Digital and Analog Design of Fractional PD Controller for a ...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Waldemar Bauer Jerzy Baranowski Stavroula Kapoulea Costas Psychalinos Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland Department of Physics University of Patras Rio Patras Greece

Paper presents two implementations of a fractional-order proportional-derivative (PD) controller for a position servo system. The first one is an analog one with the offered attractive benefit of using only one second-generation current conveyor (CCII) as an active element, minimizing the active component count compared to the conventional way of implementation where it requires three CCIIs for this purpose. The behavior of the controller is evaluated using the Cadence software and MOS transistor models. The second approach uses a digital implementation of Oustaloup filter in a time domain version.

关键词： Transfer functions Time-domain analysis PD control Topology Capacitors Eigenvalues and eigenfunctions

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The conceptual approach of system for automatic vehicle accident detection and searching for life signs of casualties 5th

The conceptual approach of system for automatic vehicle acci...

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5th International Doctoral Symposium on Applied Computation and Security Systems, ACSS 2018

作者： Lupinska-Dubicka, Anna Tabedzki, Marek Adamski, Marcin Rybnik, Mariusz Omieljanowicz, Miroslaw Omieljanowicz, Andrzej Szymkowski, Maciej Gruszewski, Marek Klimowicz, Adam Rubin, Grzegorz Saeed, Khalid Faculty of Computer Science Bialystok University of Technology Bialystok Poland Faculty of Mathematics and Informatics University of Bialystok Bialystok Poland Faculty of Mechanical Engineering Department of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland Faculty of Computer and Food Science Lomza State University of Applied Sciences Lomza Poland

ISBN: (纸本)9789811337017

The European eSafety initiative aims to improve the safety and efficiency of road transport. The main element of eSafety is the pan-European eCall project—an in-vehicle system which idea is to inform about road collisions or serious accidents. As estimated by the European Commission, the implemented system will reduce services’ response time by 40%. This will save 2,500 people a year. In 2015, the European Parliament adopted the legislation that from the end of March 2018 all new cars from the EU should be equipped with the eCall system. The limitation of this idea is that only small part of cars driven in UE are brand new (about 3.7% brand new cars were sold in 2015). This paper presents the first concept of an onboard eCall device which can be installed at the owners’ request in used vehicles. The proposed system will be able to detect a road accident, indicate the number of vehicle’s occupants, report their vital functions, and send that information to dedicated emergency services via duplex communication channel. © Springer Nature Singapore Pte Ltd. 2019.

关键词： Emergency services

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Three-Coordinate Gravimeter with Exhibition of Axis Sensitivity Based on Digital Videoimages

Three-Coordinate Gravimeter with Exhibition of Axis Sensitiv...

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2019第二届图像与图形处理国际会议

作者： Igor Korobiichuk Yuriy Podchashinskiy Olena Bezvesilna Sergiy Nechay Yuriy Shavurskiy Institute of Automatic Control and Robotics Warsaw University of Technology Zhytomyr State Technological University National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute"

The paper presents a new design of a three-axis gravimeter of aviation gravimetric system, which provides compensation for errors caused by influence of mobile base vertical accelerations and in the result of measurement of full gravity acceleration vector. Angle of inclination of a mark that is applied to a gravimeter body and coincides with vertical sensitive axis direction is determined by linear approximation in digital video images. These data are used to point sensitive axes and improve gravimeter accuracy.

关键词： three-axis gravimeter pointing of sensitive axis digital video image linear approximation

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