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2024 China automation Congress, CAC 2024

作者： Chen, Lufeng Lan, Jingwen Zhan, Qi'ao Peng, Zhinan Li, Wenjiang Qiu, Jing Center for Robotics School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Center for Robotics School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu China

ISBN: (纸本)9798350368604

Accurate dynamic modeling is fundamental for wearable robotics, such as Supernumerary Robotic Limbs (SRLs), to ensure precise control and effective interaction with the environment. This paper presents an enhanced dynamic model for an SRL, incorporating uncertainty compensation to improve accuracy and robustness. The SRL dynamics are streamlined by linearizing the system and identifying a minimal set of inertia parameters. Using the Coot optimization algorithm, we refine the Fourier excitation trajectory parameters to optimize the condition number of the observation matrix, followed by parameter identification through the least squares method. To further reduce discrepancies between predicted and actual joint torques, an uncertainty term is introduced, validated through a neural network designed to predict torque variations. The method not only addresses but also compensates for uncertainties across various motion states of the SRL. Experimental results demonstrate that the proposed model improves prediction accuracy and robustness for our developed 6-DoF SRL compared to traditional methods. © 2024 IEEE.

关键词： Least squares approximations

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Autonomous Formation Flight Control of Large-Sized Flapping-Wing Flying Robots Based on Leader–Follower Strategy

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Journal of Bionic Engineering 2023年第6期20卷 2542-2558页

作者： Hui Xu Yuanpeng Wang Erzhen Pan Wenfu Xu Dong Xue School of Mechanical Engineering and Automation Harbin Instwitute of TechnologyShenzhen518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150000China School of Aeronautics Northwestern Polytechnical UniversityXi’an710072China

Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight *** by the biological habits of birds,this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots(LFWFRs),which can enhance their search range and flight ***,the kinematics model for LFWFRs is ***,an autonomous flight controller based on this model is designed,which has multiple flight control modes,including attitude stabilization,course keeping,hovering,and so ***,a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing *** up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance,which overcomes the trajectory divergence caused by sensor delay and fuselage ***,typical formation flight modes are realized,including straight formation,circular formation,and switching ***,the outdoor formation flight experiment is carried out,and the proposed autonomous formation flight control method is verified in real environment.

关键词： Bionic Large-sized flapping-wing flying robot HIT-Phoenix Periodic flight characteristics Formation flight Leader follower strategy

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Control Simulation of Proportional-Integral and Sliding Mode Control for Precision Seed Planters

Control Simulation of Proportional-Integral and Sliding Mode...

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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Nawaz, Yasir Qadir, Muhammad Usman Khan, Muhammad Awais Haq, Izhar Ul Shah, Kamran Khan, Tahir Advanced Robotics & Automation Lab Department of Mechatronics University of Engineering and Technology Peshawar Pakistan

ISBN: (纸本)9781665464727

The desired development and design of an electric control system (ECS) for a precision planter is one of the most crucial elements in evaluating the efficacy of applicators for plant production. The seeds would be sown using this approach. Years have been invested in the continuous development of a range of application methods and metering systems, each of which offers specific advantages for applying the required system with a high degree of precision. Researchers worldwide have been trying to make electric-driven seed meters (EDSM) for planters, but they haven't succeeded. This study looks into the current state of installing seed metering systems for precision planters. Proportional-integral (PI) and sliding mode control (SMC) designs of the control system have been implemented to improve the planting quality of the planters. We want to highlight the electrically driven control system (EDCS) using these designs. An overview of the noteworthy features and limitations of past research is given. We also discuss several future directions for future research, concentrating on the knowledge gaps in this area. © 2023 IEEE.

关键词： Sliding mode control

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Health Monitoring and Power Quality Analysis of Induction Motors at Tube Well Sites of WASA Lahore 6

Health Monitoring and Power Quality Analysis of Induction Mo...

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6th International Conference on Energy Conservation and Efficiency, ICECE 2023

作者： Liaqat, Umair Sohaib, Muhammad Shaukat, Hamza Younis, Usman Hafiz, Rehan Tauqeer, Tauseef Information Technology University Faculty of Engineering Lahore Pakistan National Center of Robotics and Automation Industrial Monitoring and Automation Lab Pakistan

ISBN: (纸本)9798350332193

The purpose of this study is to analyze the health and power quality analysis of motors installed at different blocks of Johar Town Lahore installed by Water and Sanitation Authority (WASA) Lahore. Induction motors are the most important components of industries due to their cost-effectiveness, robustness and high efficiency. However, these motors are prone to some mechanical and electrical faults with time. Most of the faults are due to mismanagement of power and load variations. Usually, health monitoring and quality analysis of induction motors is laborious work. This study was conducted by keeping in mind the most widely used standards of the International Electro-technical Commission (IEC) and the Institute of Electrical and Electronics Engineer (IEEE). To enhance the effectiveness of the electrical systems, a detailed inspection and knowledge are needed for every power system. This technique involves taking measurements from motors in different states i.e. rest, transient and steady. The comparison of the results on different parameters with the help of graphical data is presented in this study for the safe and economical use of machines. The study covers only seven motors out of 596 installed motors at tube well sites in the city of Lahore covering almost 8 million people. There is no existing system to analyze the performance, efficiency and health of these motors. This study may be helpful in quality assurance and save from critical failure that tends to disturb the water supply system. It can also beneficial of saving the cost of repair and plant's down time. It may be recommended to analyze thoroughly the remaining tube well motors for the beneficial of WASA water supply system. © 2023 IEEE.

关键词： Induction motors

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Hand Gesture Classification using sEMG Signals and Ensemble Learning 3

Hand Gesture Classification using sEMG Signals and Ensemble ...

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3rd IEEE International Conference on Intelligent Techniques in Control, Optimization and Signal Processing, INCOS 2024

作者： Chandran, Ranjeesh R Devaraj, D. Ashok, Saurav Shaji, Donfred Saju, Sam K Adishankara Institute of Engineering and Technology Department of Robotics and Automation Kerala Kalady India Kalasalingam Academy of Research and Education Department of Electronics and Electrical Technology Tamil Nadu Srivilliputhur India Adishankara Inst. of Eng and Tech. Department of Robotics and Automation Kerala Kalady India

ISBN: (纸本)9798350361186

Electromyographic signals offer details on a muscle activity of a person. In the case of hand movements various combinations of forearm muscles must be activated in order to carry out each gesture, which results in unique electrical patterns. On the other hand, identifying the motion being executed is made possible by the examination of these patterns of muscle activation, which are captured by EMG signals. This article presents a novel implementation on hand gesture classification utilizing Electromyography (EMG) signals recorded through a MYO Thalmic bracelet. The dataset consists of raw data collected from 36 subjects, each executing a series of static hand gestures. The classification model employed for this study is an ensemble of decision trees, achieving an impressive validation accuracy of 98.0% and a test accuracy of 98.1 %. The article outlines the dataset details, recording methodology, and provides an in-depth analysis of the model architecture, hyperparameters, and training results. © 2024 IEEE.

关键词： Decision trees

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Indoor Localization System by Using Bluetooth Low Energy with Mobile Application

Indoor Localization System by Using Bluetooth Low Energy wit...

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World Conference on Information Systems for Business Management, ISBM 2023

作者： Vongbunyong, Supachai Mekswang, Warut Thamrongaphichartkul, Kitti Hospital Automation Research Center Institute of Field Robotics King Mongkut’s University of Technology Thonburi Bangkok Thailand

ISBN: (纸本)9789819983483

Localization problems are occurred in various applications, indoor and outdoor. The location data of objects is one of the primary information that can be further used in many applications, especially in logistic management in hospitals. Beacon technology based on Bluetooth Low Energy (BLE) is one of the technologies used for indoor localization. With multiple BLE locators used as reference points, the receiver can sense the signal with various receive signal strength indicators (RSSI). The distance between each locator and the receiver can be estimated, so that the receiver can be located. However, a number of factors affect the accuracy of localization, e.g., poses of the receiver and the quantity of locator. This research focuses on these factors to identify the limitation and to achieve the best performance possible. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Bluetooth

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Natural Disaster Damage Assessment using Semantic Segmentation of UAV Imagery

Natural Disaster Damage Assessment using Semantic Segmentati...

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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Asad, Muhammad Haroon Asim, Malik Muhammad Awan, Muhammad Naeem Mumtaz Yousaf, Muhammad Haroon University of Engineering and Technology Computer Engineering Department Taxila Pakistan National Center of Robotics and Automation University of Engineering and Technology Swarm Robotics Lab Taxila Pakistan

ISBN: (纸本)9781665464727

Numerous natural disasters due to climate change pose major threats to the sustainability of public infrastructure and human lives. For emergency rescue and recovery during a disaster, a rapid and accurate evaluation of disaster damage is essential. In recent years, the Transformer has gained popularity in a number of tasks related to computer vision, which offers tremendous potential for improving the accuracy of disaster damage assessments. Our research aims to determine whether Vision Transformer (ViT) can be used to assess natural disaster damage on high-resolution Unmanned Aerial Vehicle (UAV) data in comparison with conventional deep-learning semantic segmentation techniques. We discuss if Transformer can perform better than CNNs in accurately assessing the damage caused in order to bridge the gap. Detailed performance comparison of state-of-art deep learning semantic segmentation models (UNET, Segnet, PSPNet, Deeplabv3+) and Transformer framework (SegFormer) for damage assessment is presented. The experimentation is performed on both natural disaster damage datasets (RescueNet, FloodNet). The study supported SegFormer as the most appropriate model for estimating disaster damage, with mIoUs of 96% on the RescueNet dataset and 82.22% on the FloodNet dataset, respectively. The Transformer is capable of outperforming conventional segmentation CNNs in understanding the entirety of the scene and assessing the severity of the damage, based on both quantitative evaluation and visual results. © 2023 IEEE.

关键词： Disasters

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LabView based Automated Motor Test Bench for Induction Motors 4

LabView based Automated Motor Test Bench for Induction Motor...

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4th International Conference on Computing, Mathematics and Engineering Technologies, iCoMET 2023

作者： Sohaib, Muhammad Shaukat, Hamza Tauqeer, Tauseef Shahid, Arslan Younis, Usman Hafiz, Rehan Information Technology University Faculty of Engineering Lahore Pakistan Industrial Monitoring and Automation Lab National Center of Robotics and Automation Pakistan

ISBN: (纸本)9798350335316

Induction motors comprise more than 90 percent of the industrial load. With time, Induction motors are prone to losses. To save energy consumption, predictive maintenance of motors must be carried out at regular intervals. The industrial monitoring and automation lab has developed state-of-the-art motor test bench facility which is completely automated using LabView - a widely used industrial software. The manual methods of motor testing are not only hectic but also unreliable. A systematic approach has been adopted to measure and analyze various parameters of the induction motor, which will help us to identify key performance factors. This work is towards the development of a high performance motor test bench facility for industrial load. In its current state it can measure up to 15 hp induction motors and perform the tests such as No-Load Test, Full-Load Test, Locked-Rotor Test, Temperature Rise Test, DC Winding Test etc. © 2023 IEEE.

关键词： Induction motors

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Flight control of a large-scale flapping-wing flying robotic bird:System development and flight experiment

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Chinese Journal of Aeronautics 2022年第2期35卷 235-249页

作者： Wenfu XU Erzhen PAN Juntao LIU Yihong LI Han YUAN School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Large-scale flapping-wing flying robotic birds have huge application potential in outdoor tasks,such as military reconnaissance,environment exploring,disaster rescue and so *** this paper,a multiple modes flight control method and system are proposed for a large-scale robotic bird which has 2.3 m wingspan and 650 g *** from small flapping wing aerial vehicle,the mass of its wings cannot be neglected and the flapping frequency are much ***,the influence of transient aerodynamics instead of only mean value are considered in attitude estimation and controller ***,flight attitude and trajectory are highly coupled,and the robot has only three actuators----one for wings flapping and two for tail adjustment,it is very difficult to simultaneously control the attitude and ***,a fuzzy control strategy is addressed to determine the command of each actuator by considering the priority of attitude stabilization,trajectory tracking and the flight ***,the on-board controller is designed based on *** not only satisfies the strict restrictions on mass,size,power and space but also meets the autonomous,semi-autonomous and manual flight control ***,the developed control system was integrated to the robotic prototype,*** experiments under different environment conditions such as sunny and windy weather were completed to verify the control method and system.

关键词： Autonomous flight control Flapping-wing Free RTOS HIT-Phoenix Robotic bird

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High-Velocity Projectile Impact Behaviour of Friction Stir Welded AA7075 Thick Plates

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Defence technology（防务技术） 2023年第11期29卷 153-163页

作者： R.Praveen S.R.Koteswara Rao G.Selvakumar R.Damodaram Department of Robotics and Automation Karpaga Vinayaga College of Engineering and TechnologyChengalpattu603308TamilNaduIndia Department of Mechanical Engineering Sri Sivasubramaniya Nadar College of EngineeringChennai603110TamilNaduIndia

In this study, high velocity impact behaviour of friction stir welded AA7075-T651 25 mm thick plates were investigated using a 7.62 mm × 51 mm lead core and 7.62 mm × 39 mm steel core projectiles. Prior to ballistic trails, mechanical and metallurgical properties of friction stir welded AA 7075-T651 25 mm thick plates were studied. Microstructural and hardness studies revealed that friction stir welds constituted three distinct regions namely Weld Nugget(WN), Thermo-Mechanically Affected Zone(TMAZ) and Heat Affected Zone(HAZ). Base Material(BM) and all three weld regions were ballistically tested as per military standard NIJ.0108.01 using lead and steel core bullets at maximum permissible velocities of 830 ± 20 and 700 ± 30 m/s, respectively. It has been found that base material(AA7075-T651)and all three weld regions of 25 mm thick plates were able to resist perforation by both types of projectiles used. However depth of penetration has been found to increase from BM to WN, HAZ and TMAZ for both types of projectiles. In all cases steel core projectiles caused higher depth of penetration compared to those caused by lead core projectiles. TMAZs of the friction stir welds were found to be the weakest zone. The fracture that occurred in the base material was spall fragmentation indicating brittle failure, whereas all zones of friction stir welded AA7075-T651 targets with a front petalling, indicating ductile failure. The post-ballistic tested samples showed no significant change in the microstructure of the BM and WN. On the other hand, TMAZ and HAZ showed severe grain deformation in the direction of projectile penetration, and the formation of adiabatic shear bands(ASB). This work showed that 25 mm thick friction stir welded AA7075-T651 joints responded well to ballistic impact loads, making them a good choice for light combat vehicles.

关键词： Aluminum alloy Thick plate Friction stir welding Ballistic performance Depth of penetration

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