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An automatic screw tightening shaft based on enhanced variable gain PID control

International Journal of Simulation: Systems, Science and Technology 2015年第5期16卷 14.1-14.9页

作者： Liu, Sibang Ge, Shuzhi Sam Qin, Gang Li, Min School of Automation Engineering University of Electronic Science and Technology of China ChengduSichuan611731 China Center for Robotics University of Electronic Science and Technology of China ChengduSichuan611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore119077 Singapore Centre for Robotics University of Electronic Science and Technology of China ChengduSichuan611731 China School of Computer Science and Engineering University of Electronic Science and Technology of China ChengduSichuan611731 China

In this paper, a modular designed automatic screw tightening shaft system, which is based on enhanced variable gain PID control, is proposed. Designed for the autonomous screw tightening operation, the screw tightening shaft enjoys huge potential for industry application. The screw tightening shaft and the screw tightening process are both mathematically modeled as an uncertain feedback system because of the uncertain properties. And the control performance is verified by choosing proper controller parameters that the closed loop system is stable on the basis of the Routh stability criterion whereas the torque tracking error exponentially converges to a small residue. Furthermore, it can be seen from the simulation and experiment results on the screw tightening shaft system that the proposed autonomous system is valid and effective. © 2015, UK Simulation Society. All rights reserved.

关键词： Three term control systems

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Real-Time Simulation Technologies for Power Systems Design, Testing, and Analysis

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IEEE Power and Energy Technology Systems Journal 2015年第2期2卷 63-73页

作者： Faruque, M.O. Strasser, T. Lauss, G. Jalili-Marandi, V. Forsyth, P. Dufour, C. Dinavahi, V. Monti, A. Kotsampopoulos, P. Martinez, J.A. Strunz, K. Saeedifard, M. Wang, X. Shearer, D. Paolone, M. Brandl, R. Matar, M. Davoudi, A. Iravani, R. Center for Advanced Power Systems Department of Electrical and Computer Engineering Florida State University TallahasseeFL32310 United States Electric Energy Systems-Energy Department AIT Austrian Institute of Technology Vienna1220 Austria OPAL-RT Technologies Inc. MontrealQCH3K 1G6 Canada RTDS Technologies Inc. WinnipegMBR3T 2E1 Canada University of Alberta EdmontonABT6G 2R3 Canada E.ON Energy Research Center Institute for Automation of Complex Power Systems RWTH Aachen University Aachen52062 Germany School of Electrical and Computer Engineering National Technical University of Athens Athens161 21 Greece Departament d'Enginyeria Elèctrica Universitat Politècnica de Catalunya Barcelona08034 Spain Fakultät Elektrotechnik und Informatik Technische Universität Berlin Berlin10587 Germany School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332 United States Department of Electronics Carleton University OttawaONK1S 5B6 Canada ABB Power Systems Ludvika771 80 Sweden Swiss Federal Institute of Technology of Lausanne Lausanne1015 Switzerland Fraunhofer Institute for Wind Energy and Energy System Technology Kassel34119 Germany Centre of Applied Power Electronics University of Toronto TorontoONM5S 2J7 Canada Department of Electrical Power and Machines Ain Shams University Cairo11566 Egypt Department of Electrical Engineering University of Texas at Arlington ArlingtonTX76019 United States

This task force paper summarizes the state-of-the-art real-time digital simulation concepts and technologies that are used for the analysis, design, and testing of the electric power system and its apparatus. This paper highlights the main building blocks of the real-time simulator, i.e., hardware, software, input-output systems, modeling, and solution techniques, interfacing capabilities to external hardware and various applications. It covers the most commonly used real-time digital simulators in both industry and academia. A comprehensive list of the real-time simulators is provided in a tabular review. The objective of this paper is to summarize salient features of various real-time simulators, so that the reader can benefit from understanding the relevant technologies and their applications, which will be presented in a separate paper. © 2015 IEEE.

关键词： Real time systems

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Control Strategies for a Humanoid Robot to Drive and then Egress a Utility Vehicle for Remote Approach

Control Strategies for a Humanoid Robot to Drive and then Eg...

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IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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Vision-Based Kinematic Calibration of Spherical Robots

Vision-Based Kinematic Calibration of Spherical Robots

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RSI/ISM International Conference on robotics and Mechatronics

作者： Pedram Agand Hamid D. Taghirad Amir Molaee Advanced Robotics and Automation System (ARAS) Industrial Control Center of Excellence (ICEE) Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Iran

ISBN: (纸本)9781467372350

In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost tool for the kinematic calibration of spherical-workspace mechanisms to achieve the desired accuracy in position. The sensitivity and efficiency of the provided method is thus evaluated. Furthermore, optimization of camera location is outlined subject to the prescribed cost functions. Finally, experimental analysis of the proposed calibration method on ARAS Eye surgery Robot (DIAMOND) is presented;In which the accuracy is obtained from three to six times better than the previous calibration.

关键词： Kinematic Calibration Vision-Base Positioning Eye Surgery Robot Spherical Workspace

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Opening remarks

2016 International Conference on Advances in Human Machine I...

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2016 International Conference on Advances in Human Machine Interaction, HMI 2016 2016年

作者： Nagaraja, Ch. Swamy, J. Nagendra Rajendra, J. Khan, M.S. Vishwanath Reddy, D.S. Manjunath, N. Dillmann, Ruediger Tarn, Tzyh Jong Zhao, Qianchuan Ammi, Mehdi Zuberek, Wlodek M. Sandhu, P.S. Patthira Newman, K. De Silva Liyanage, Chandratilak Hassan, Sohair Aly Aly Sun, Kien Wen Rahman, Md. Moshiur Ordoño, E. Evangelista Sharma, R.K. Mishra, Preeti Chandel, B.S. Singla, Ekta Petric, Tadej Zhong, Yu Jiglar, Janson Alemzadeh, Kazem Asokan, T. Tripathi, Animesh Tripathi, Manoj Ram, Swaminath Shrma, M.K. Panday, P.N. Kumar, Devendra Hinchey, Mike Stilman, Boris Suraj, Zbigniew Pal, Sankar K. Sasi, Sreela Rajan, Deepu Marshall, Roger G. Abraham, Ajith Peter S, David Paul, Vargheese Gopakumar, V. Dustdar, Schahram Soto, Sebastián Ventura Rausch, Andreas Angelis, Lefteris Nelson, Andrew L. Botzheim, Janos Bernardino, Heder Soares Zboril, Frantisek Ane, Bernadetta Kwintiana Maeda, Toshiyuki Sakalauskas, Virgilijus Hann, Garenth Lim King Samek, Jan Romero Salguero, José Raúl Varghese, Kuruvilla Kriksciuniene, Dalia Mathew, Jimson Reif, Wolfgang Mauri, Giancarlo Cabrerizo Lorite, Francisco Javier Özcan, Ender Cho, Sung-Bae Paily, Roy P. Rezankova, Hana Tudjarov, Boris Hong, Wei-Chiang De Oliveira, José Valente Flores Romero, Juan Jose Oskouei, Rozita Jamili Cicchetti, Antonio Roy, Chanchal Segura, Sergio Samuel, C. Mallet, Frédéric Mernik, Marjan Punnekkat, Sasikumar Waseemulla, A. Sri Devaraj Urs Educational Trust Bangalore India R. L. Jalappa Institute of Technology Doddaballapur Bangalore India Humanoids and Intelligence Systems Lab Kalsruhe Germany Electrical and Systems Engineering Washington University in St. Louis United States Deputy Director of Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing China Department of Computer Science CNRS/LIMSI Lab AMI Group France Memorial University St. John'sNL Canada RBIT and Bio-Technology India LR University Thailand University of Colorado at Boulder Boulder United States Faculty of Science University of Brunei Brunei University of Kuala Lumpur Malaysia National Chiao Tung University Taiwan EPR Centre Bangladesh Mapua Institute of Technology Philippines ARO CWC Lucknow India Mpec Kanpur India DSC DBS Kanpu India Indian Institute of Technology Ropar India Jozaf Stefan Institute Department of Automation Biocyernetics and Robotics Ljubljana Slovenia Robotics Institute Carnegie Mellon University Pittsburgh United States Faculty of Engineering University of Bristol United Kingdom Department of Engineering Design Indian Institute of Technology Madras India Lucknow Uni Lucknow India CSJM Uni Kanpur India UPPCB Lucknow India PCB Roorkee India Awadh Uni Faijabad India Agra Uni Agra India Lero University of Limerick Ireland University of Colorado Denver United States University of Rzeszow Poland Indian Statistical Institute Kolkata India Gannon University PA United States Nanyang Technical University Singapore Singapore Plymouth State University NH United States MIR Labs United States Cochin University of Science and Technology India State Project Facilitation Unit TEQIP Kerala India Technical University of Vienna Austria University of Cordoba Spain Clausthal University of Technology Germany Aristotle University of Thessaloniki Greece Androtics LLC TucsonAZ United States Tokyo Metropolitan University Japan Federal Unive

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Simultaneous arm joint angles and force changes in writer's cramp

Simultaneous arm joint angles and force changes in writer's ...

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Iranian Conference of Biomedical engineering (ICBME)

作者： Mehdi Delrobaei Mandar Jog Mallory E. Jackman Fariborz Rahimi S. Farokh Atashzar Mahya Shahbazi Rajni Patel Lawson Health Research Institute London Health Sciences Center London ON Canada Department of Clinical Neurological Sciences Western University London ON Canada Department of Electrical and Computer Engineering Bonab University Bonab East Azerbaijan Iran Canadian Surgical Technologies & Advanced Robotics London ON Canada Canadian Surgical Technologies & Advanced Robotics London ON Canada Department of Electrical and Computer Engineering Western University London ON Canada Department of Surgery

In this paper, a novel tool is suggested which allows to simultaneously record arm joint angles and the applied forces of patients with writer's cramp during the performance of multiple writing and drawing tasks. The presented tool identifies the role of the upper limb joints and exerted forces once a cramping event happens. Over the past decade different kinematic analyses have been introduced in patients with writer's cramp, but it is still unknown how the kinematic measures change during cramping events. Our goal is to investigate if such kinematic assessment can show consistent abnormalities among patients. The preliminary results show the feasibility of using such kinematic tool to fully assess the performance of the patients with writer's cramp.

关键词： Biomedical engineering Educational institutions Decision support systems Conferences

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Radar-based fall detection exploiting time-frequency features

Radar-based fall detection exploiting time-frequency feature...

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IEEE China Summit & International Conference on Signal and Information Processing (ChinaSIP)

作者： Luis Ramirez Rivera Eric Ulmer Yimin D. Zhang Wenbing Tao Moeness G. Amin Department of Electrical and Computer Engineering Villanova University Villanova PA USA Center for Advanced Communications Villanova University Villanova PA USA School of Automation Huazhong University of Science and Technology Wuhan China

Falls of the elderly are a major public health concern. In this paper, we develop an effective fall detection algorithm for application in continuous-wave radar systems. The proposed algorithm exploits time-frequency characteristics of the radar Doppler signatures, and the motion events are classified using the joint statistics of three different features. The effectiveness of the proposed technique is verified through measurement data.

关键词： Time-frequency analysis Spectrogram Doppler effect Doppler radar Feature extraction Radar detection

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Electronic Throttle Control System: Modeling, Identification and Model-Based Control Designs

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engineering（科研） 2013年第7期5卷 587-600页

作者： Robert N. K. Loh Witt Thanom Jan S. Pyko Anson Lee Center for Robotics and Advanced Automation Department of Electrical and Computer Engineering Oakland University Rochester USA

Electronic throttle control (ETC) system has worked its way to becoming a standard subsystem in most of the current automobiles as it has contributed much to the improvement of fuel economy, emissions, drivability and safety. Precision control of the subsystem, which consists of a dc motor driving a throttle plate, a pre-loaded return spring and a set of gear train to regulate airflow into the engine, seems rather straightforward and yet complex. The difficulties lie in the unknown system parameters, hard nonlinearity of the pre-loaded spring that pulls the throttle plate to its default position, and friction, among others. In this paper, we extend our previous results obtained for the modeling, unknown system parameters identification and control of a commercially available Bosch’s DV-E5 ETC system. Details of modeling and parameters identification based on laboratory experiments, data analysis, and knowledge of the system are provided. The parameters identification results were verified and validated by a real-time PID control implemented with an xPC Target. A nonlinear control design was then proposed utilizing the input-output feedback linearization approach and technique. In view of a recent massive auto recalls due to the controversial uncontrollable engine accelerations, the results of this paper may inspire further research interest on the drive-by-wire technology.

关键词： ETC System System Identification Nonlinear Control Input-Output Feedback Linearization xPC Target-Based Control System

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Knowledge semantic search in cloud manufacturing

Knowledge semantic search in cloud manufacturing

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25th European Modeling and Simulation Symposium, EMSS 2013

作者： Xiaohang, Hu Lin, Zhang Anrui, Hu Dongming, Zhao Fei, Tao School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Engineering Research Center of Advanced Manufacturing System of Complex Product Ministry of Education Beihang University Beijing 100191 China Department of Electrical and Computer Engineering University of Michigan-Dearborn MI 48128 United States

ISBN: (纸本)9788897999225

In cloud manufacturing system, the distributed stored knowledge is in multiple forms and structure, and its contents are in multiple fields. In this paper, a semantic search engine method based on shared ontology is presented. The application status of ontology in semantic search is studied. In order to enhance the recall rate and precision rate, this search engine computes the semantic matching degree between user requirements and knowledge by semantic similarity computing and logical reasoning. © 2013 DIME UNIVERSITÀ DI GENOVA.

关键词： Search engines

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