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SSRN 2023年

作者： Zhi, Shaodan Liu, Youmin Ren, Huimin Shen, Haikuo School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China Beijing Institute of Space Launch Technology Beijing100076 China System Software Engineering Research Department Beijing Aerospace Automatic Control Institute Beijing100070 China

The dynamic modelling of industrial robots is of great value for analyzing the mechanism of robot vibration and improving the performance of robots. To meet the high-performance requirements of industrial robots, the impact of vibration of the robotic arm on the robot’s positioning accuracy cannot be ignored. However, traditional modelling methods rarely consider the manipulator vibration in ways that reflect the mechanism of the vibration coupling between the manipulator and joints of industrial robots. This paper examines the multi-centroid finite particle method and its application in the dynamic modelling of industrial robots, the method which uses a simple and unified framework for dynamic analysis of the model. Compared to the finite particle method, the reverse motion of its multiple centroids not only has a simpler derivation process, but also effectively reduces the influence of the element rigid body displacement on the solution of the pure deformation of the node, improving the convergence of the rigid body rotation-flexible deformation coupling model calculations. A cantilever beam model was used to verify the accuracy and convergence of the method. Furthermore, the multi-centroid finite particle method was combined with positive kinematics to model the dynamics of industrial robots, the results of which were compared with experimental data. It was shown that the modelling and the experimental results had a high degree of agreement, the mechanism of the vibration coupling of the robot arm and joint being further analyzed. © 2023, The Authors. All rights reserved.

关键词： Kinematics

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Error Dependent Sampling to Reduce Transient Events in Event Based control

Error Dependent Sampling to Reduce Transient Events in Event...

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On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Oscar Miguel-Escrig Julio-Ariel Romero-Pérez José Sánchez-Moreno Sebastián Dormido-Bencomo Department of System Engineering and Design Universitat Jaume I Castelló de la Plana Spain Department of Computer Science and Automatic Control Universidad Nacional de Educación a Distancia (UNED) Madrid Spain

ISBN: (数字)9798331540319

ISBN: (纸本)9798331540326

One of the objectives of event-based control is the reduction of generated events to perform an appropriate process control. Among the event generation techniques used to this end, those quantifying the error signal can be found more frequently for its simplicity of implementation. However, they entail a drawback in the form of trade-off between event generation and performance. Aiming to reduce the number of events, specifically in the transient response, without degrading the performance, an error dependent sampling scheme is studied in this work.

关键词： Industrial electronics Transient response Event detection Process control Robustness Regulation Generators Transient analysis

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Modular fuzzy control with input shaping technique for transformation of two-wheeled wheelchair to four-wheeled mode

Modular fuzzy control with input shaping technique for trans...

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IEEE Symposium on Industrial Electronics & Applications (ISIEA)

作者： Salmiah Ahmad M. O. Tokhi N. H. Siddique Department of Mechatronics International Islamic University Malaysia Kuala Lumpur Malaysia Automatic Control & Systems Engineering University of Sheffield Sheffield UK School of Computing & Intelligent System University of Ulster UK

This paper presents a mechanism for wheelchair transformation from two-wheeled upright position to four-wheeled position using a modular fuzzy logic control (MFC) approach. A wheelchair model that can be operated in four-wheeled and two-wheeled modes has been developed within the Visual Nastran environment and integrated with Simulink for control purposes. A multi-input multi-output modular fuzzy logic control configuration is designed and implemented on the wheelchair model. To improve the system performance, an input shaping technique is augmented inside the feedback loop. It is shown that the shaped signals have improved the system performance with promising results.

关键词： Wheelchairs Niobium Wheels Mathematical model Torque Fuzzy control Conferences

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Free-form Grid Structure Form Finding based on Machine Learning and Multi-objective Optimisation

arXiv

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arXiv 2024年

作者： Meng, Yiping Sun, Yiming School of Computing Engineering & Digital Technologies Teesside University Tees Valley MiddlesbroughTS1 3BX United Kingdom Department of Automatic Control and System Engineering University of Sheffield United Kingdom

Free-form structural forms are widely used to design spatial structures for their irregular spatial morphology. Current free-form form-finding methods cannot adequately meet the material properties, structural requirements or construction conditions, which brings the deviation between the initial 3D geometric design model and the constructed free-form structure. Thus, the main focus of this paper is to improve the rationality of free-form morphology considering multiple objectives in line with the characteristics and constraints of material. In this paper, glued laminated timber is selected as a case. Firstly, machine learning is adopted based on the predictive capability. By selecting a free-form timber grid structure and following the principles of NURBS, the free-form structure is simplified into free-form curves. The transformer is selected to train and predict the curvatures of the curves considering the material characteristics. After predicting the curvatures, the curves are transformed into vectors consisting of control points, weights, and knot vectors. To ensure the constructability and robustness of the structure, minimising the mass of the structure, stress and strain energy are the optimisation objectives. Two parameters (weight and the z-coordinate of the control points) of the free-from morphology are extracted as the variables of the free-form morphology to conduct the optimisation. The evaluation algorithm was selected as the optimal tool due to its capability to optimise multiple parameters. While optimising the two variables, the mechanical performance evaluation indexes such as the maximum displacement in the z-direction are demonstrated in the 60th step. The optimisation results for structure mass, stress and strain energy after 60 steps show the tendency of oscillation convergence, which indicates the efficiency of the proposal multi-objective optimisation. © 2024, CC BY-NC-ND.

关键词： Morphology

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Comparison of feedback linearization and flatness control for anti-slip regulation (ASR) of an hybrid vehicle: From theory to experimental results

Comparison of feedback linearization and flatness control fo...

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European control Conference (ECC)

作者： Cedric Chapuis Eric Bideaux Xavier Brun Nicoleta Minoiu-Enache Vehicle Control Team at Renault SAS Research Automatic Control and Mechatronic Team at Ampere Lab UMR CNRS 5005 Guyancourt France Head of Methods of System Engineering Department Ampere Lab UMR CNRS 5005 Villeurbanne Cedex France Vehicle Control Team at Renault SAS Research Advanced Engineering Department Guyancourt France

This paper compares 3 ASR 1 control laws, a PI controller, a linearizing feedback and a flatness based control. First, the controllers are designed based on a two state equations vehicle model. Then, the controllers are experimentally validated on an hybrid vehicle (VELROUE) with rear electric wheels and front axle ICE 2 traction. Finally, the nonlinear control laws are compared to the PI controller that is classically used in the automotive industry.

关键词： Wheels Vehicles Torque Acceleration Vehicle dynamics Force Roads

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Methodological basis for constructing a method for compressing of transformants bit representation, based on non-equilibrium positional encoding

Methodological basis for constructing a method for compressi...

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International Conference on Advanced Information and Communication Technologies (AICT)

作者： V. V. Barannik Yu. N Ryabukha V. V. Tverdokhleb D. V. Barannik Department of combat use automatic control system Kharkiv University of Air Force named I. Kozhedub Kharkiv Ukraine Department of information and network engineering Kharkiv National University of Radio Electronics Kharkiv Ukraine

ISBN: (纸本)9781538606384

For more effective use of the bandwidth of the infocommunication network channels, compression methods are used, which make it possible to present information in a compact form. This is most relevant in the face of a constant increase in the volume of transmitted video data sensitive to transmission delays. However, in addition to reducing the intensity of the transmitted video, it is also necessary to provide a given error level to ensure the quality of the received data on the receiver side.

关键词： Encoding

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A Rotating Sonar and a Differential Encoder Data Fusion for Map-Based Dynamic Localization

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IFAC Proceedings Volumes 1998年第3期31卷 183-187页

作者： Haeyong Yang Hakyoung Chung KyuCheol Park Jang Gyu Lee LG Industrial System Research & Development Center Anyang-shi Kyongki-do 430-080 Korea Department of Control and Instrumentation Engineering Seoul National Polytechnic University Seoul 139-743 Korea Automatic Control Research Center School of Electrical Engineering Seoul National University Seoul 151-742 Korea

In this paper, a dynamic localization method using a rotating sonar and a map is proposed. The proposed method is implemented by using an extended Kalman filter. The state equation is based on the encoder propagation model and the encoder error model, and the measurement equation is a map-based measurement equation using a rotating sonar sensor. By utilizing sonar beam characteristics, map-based measurements are updated while a mobile robot is moving continuously. Monte-Carlo simulation shows that the proposed global position estimator has the performance of a few millimeter order in position error and of a few tenth degrees in heading error.

关键词： Dynamic Position estimation Model-based recognition Ultra sonic transducer Kalman filter

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Fault detection of non-linear systems based on multi-form quasi-armax modeling and its application to the ship benchmark

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IFAC Proceedings Volumes 2003年第16期36卷 1047-1052页

作者： K. Kumamaru K. Inoue Y. Hosoyamada T. Söerström Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Kawazu 680-4 Iizuka 820-8502 Fukuoka Japan Department of Automatic Control and System Analysis Institute of Technology Uppsala University P.O.Box 27 Uppsala Sweden

This paper is concerned with an application study of model-based fault detection method to a ship propulsion system. When modeling the object system, Quasi-ARMAX model with multi-model form is used. In this model, the system non-linearity is incorporated into model parameters by using non-linear non-parametric models (NNMs). Kullback discrimination Information (KDI) is introduced as fault detection index to evaluate the distortion in identified model, which is caused by a fault. The effectiveness of the method is verified through simulation studies on the ship propulsion system.

关键词： Fault detection Kullback discrimination information non-linear system parameter estimation quasi-ARMAX model

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Interactive on-line evaluation of robot motion control

Interactive on-line evaluation of robot motion control

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IEEE Conference on control Technology and Applications (CCTA)

作者： A. Valera A. Robertsson K. Nilsson R. Johansson Department of System Engineering & Automation Valencia Technical University Valencia Spain Department of Automatic Control Lund Institute of Technology Lund University Lund Sweden Lund Institute of Technology Department of Computer Science Lund University Lund Sweden

This paper presents a new real-time architecture for motion control of industrial robots. The new control system obtained has two main advantages: first it provides a total open control architecture and the second advantage is the simplicity and the interactivity of the platform developed. Experimental evaluation of a passivity-based control scheme shows the benefits of the architecture which is unique in the sense that open and advanced control can be combined with built-in safety logic as required in industrial applications.

关键词： Robot motion Motion control Robot control Industrial control control systems Electrical equipment industry Service robots Robot sensing systems Safety Logic

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Third-Order Low-Pass Filters for Limiting the Signal Spectrum at the Differential Input of the Analog/Digital Converters

Third-Order Low-Pass Filters for Limiting the Signal Spectru...

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International Conference for Young Scientists on Issues of Physics and Technology in Science, Power Industry and Medicine 2019, IPTSPIM 2019

作者： Yu Denisenko, D. Prokopenko, N.N. Butyrlagin, N.V. Department of Information System and Radio Engineering Don State Technical University Gagarin Sq. 1 Rostov-on-Don344000 Russia Department of Automatic Control Systems Southern Federal University Bolshaya Sadovaya St. 33 Rostov-on-Don344000 Russia Institute for Design Problems in Microelectronics of Russian Academy of Sciences Institute for Design Problems in Microelectronics Ras Sovetskaya St. 3 Zelenograd124681 Russia

Two new architectures of the third-order low-pass filters (LPF) based on differential (Op-Amp) and differential difference amplifiers (DDA) with a paraphase output are compared. This architectures designed for practical use as anti-aliasing filters in analog-to-digital converters of sensor signals of various physical quantities. The basic equations of the developed LPF modifications that make possible to perform their parametric synthesis are given. The computer simulation results are presented, which show that the LPFs under consideration provide the guaranteed frequency response (FR) attenuation outside the bandwidth being implemented on Op-Amps by Analog Device (AD8132) and Texas Instruments (THS4131). © Published under licence by IOP Publishing Ltd.

关键词： Low pass filters

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