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10th International Conference on Electrical and Electronics engineering, ELECO 2017

作者： Türkmen, Abdullah Korkut, M. Yusuf Erdem, Mustafa Gönül, Ömer Sezer, Volkan Mechatronics Graduate Program Istanbul Technical University Istanbul Turkey Energy Institute Istanbul Technical University Istanbul Turkey Dept. of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9786050107371

Inverted pendulum systems have an important place in practice for control problems due to their nonlinear structures. It is a very difficult task to control the orientation and speed of objects and robots which are free in three dimensions. These systems constitute the substructure of many advanced systems. Conventional actuators may not be used in such applications due to various limitations. Under these circumstances usage of reaction wheels come into prominence. Reaction wheel based systems are used for orienting, coordinating and balancing of spacecraft, transport systems, and other such systems. In this study, dual axis self-balancing reaction wheel based inverted pendulum system which is a basis for many complex systems has been designed, manufactured and controlled. © 2017 EMO (Turkish Chamber of Electrical Enginners).

关键词： Inverted pendulum

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Optical orbital angular momentum for optical communication and its measurements

Optical orbital angular momentum for optical communication a...

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International Symposium on Photoelectronic Detection and Imaging 2009: Laser Sensing and Imaging

作者： Ke, Xi-Zheng Lv, Hong Wu, Jing-Zhi Hu, Shu-Qiao Faculty of Automation and Information Engineering Xi'An University of Technology Xi'an Shaanxi 710048 China National Key Laboratory for Electronic Measurement Technology Taiyuan Shanxi 030051 China National Key Laboratory for Mechatronics Engineering and Control Xi'an Shaanxi 710065 China

ISBN: (纸本)9780819476630

The beam with orbital angular momentum is a present domestic and foreign research key direction. Its application and development will bring the profound influence in the optical communications field. At the same time, light's orbital angular momentum promises potential applications in both classical and quantum optical communication. The research progress of the beam with orbital angular momentum and encoding information as light's OAM for free-space optical communication were reviewed in this article, the existing design method, mechanism and description methods of encoding information as light's OAM were discussed. In quantum communication, qudits can be encoded in photons using their OAM for creating high-dimensional entanglement based on entangled photon pairs from SPDC. In this paper, light's OAM is used as information carrier for classical and quantum communication, which is promising to ensures the security of atmospheric laser communication, improves the density and precision of information transmission. It is apparent that an efficient way to measure the orbital angular momentum of individual photons and light beams with good efficiency would be of potentially great importance for optical communications and quantum information. In view of the above, the measurements of orbital angular momentum of individual photons and light beams are analyzed and discussed in detail. © 2009 SPIE.

关键词： Light

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Design and Implementation of 3 Axis CNC Router for Computer Aided Manufacturing Courses

Design and Implementation of 3 Axis CNC Router for Computer ...

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2016年第七届机电一体化与制造业国际学术会议

作者： Mehmet Emin Aktan Nihat Akku? Abdurrahman Y?lmaz Erhan Akdo?an Y?ld?z Technical University Department of Mechatronics Engineering Marmara University Department of Mechatronics Engineering Istanbul Technical University Department of Control and Automation Engineering

In this paper,it is intended to make the mechanical design of 3 axis Computer Numerical control(CNC)router with linear joints,production of electronic control interface cards and drivers and manufacturing of CNC router system which is a combination of mechanics and *** the same time,interface program has been prepared to control router via *** router was developed for educational *** some vocational schools and universities,Computer Aided Manufacturing(CAM) courses are though rather *** situation cause ineffective and temporary ***,students at schools which have the opportunity to apply for these systems can face with various dangerous *** of this situation,these students start to get knowledge about this system forthe first *** the first steps of CNC education,using smaller and less dangerous systems will be easier.A new concept CNC machine and its user interface suitable and profitable for education have been completely designed and realized during this *** test the validity of the hypothesis which the benefits that may exist on the educational life,enhanced traditional education method with the contribution of the designed machine has been practiced on CAM course students for a *** the end of the semester,the new method applied students were more successful in the rate of 27.36 percent both in terms of verbal comprehension and exam grades.

关键词： Design and Implementation of 3 Axis CNC Router for Computer Aided Manufacturing Courses CNC

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Parallel Driving with Big Models and Foundation Intelligence in Cyber-hysical-ocial Spaces

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Research 2024年第2期2024卷 1-17页

作者： Xiao Wang Jun Huang Yonglin Tian Chen Sun Lie Yang Shanhe Lou Chen Lv Changyin Sun Fei-Yue Wang School of Artificial Intelligence Anhui UniversityHefeiChina Macao University of Science and Technology MacaoChina State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijingChina MVSLab Department of Mechanical and Mechatronics EngineeringUniversity of Waterloo200 University Ave WestWaterlooON N2L3G1Canada School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingaporeSingapore

Recent years have witnessed numerous technical breakthroughs in connected and autonomous vehicles (CAVs). On the one hand, these breakthroughs have significantly advanced the development of intelligent transportation systems (ITSs);on the other hand, these new traffic participants introduce more complex and uncertain elements to ITSs from the social space. Digital twins (DTs) provide real-time, data-driven, precise modeling for constructing the digital mapping of physical-world ITSs. Meanwhile, the metaverse integrates emerging technologies such as virtual reality/mixed reality, artificial intelligence, and DTs to model and explore how to realize improved sustainability, increased efficiency, and enhanced safety. More recently, as a leading effort toward general artificial intelligence, the concept of foundation model was proposed and has achieved significant success, showing great potential to lay the cornerstone for diverse artificial intelligence applications across different domains. In this article, we explore the big models embodied foundation intelligence for parallel driving in cyber-physical-social spaces, which integrate metaverse and DTs to construct a parallel training space for CAVs, and present a comprehensive elucidation of the crucial characteristics and operational mechanisms. Beyond providing the infrastructure and foundation intelligence of big models for parallel driving, this article also discusses future trends and potential research directions, and the ?S?goals of parallel driving.

关键词： breakthrough integrate corners

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An adaptive multimodality (ECT, ERT and electrodynamic) sensor for multiphase flow measurement 6

An adaptive multimodality (ECT, ERT and electrodynamic) ...

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6th World Congress in Industrial Process Tomography

作者： Deng, Xiang Chen, Dixiang Yang, Wuqiang School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China School of Mechatronics Engineering and Automation National University of Defence Technology Changsha410073 China School of Electrical and Electronic Engineering The University of Manchester ManchesterM60 1QD United Kingdom

ISBN: (纸本)9780853163220

Accurate measurement of multiphase flows, including gas/solids, gas/liquid and liquid/liquid flows, is still challenging. In principle, electrical capacitance tomography (ECT) can be used to measure the concentration of solids in a gas/solids flow and the liquid (e.g. oil) fraction in a gas/liquid flow if the liquid is nonconductive. Electrical resistance tomography (ERT) can be used to measure a gas/liquid flow if the liquid is conductive. It has been attempted to use a dualmodality ECT/ERT system to measure both the concentration profile and the velocity profile by pixelbased cross correlation. However, this approach is not realistic because of the dynamic characteristics and the complexity of multiphase flows and the difficulties in determining the velocities by cross correlation. In this paper, the issues with dual modality ECT/ERT and the difficulties with pixelbased cross correlation will be discussed. A new adaptive multimodality (ECT, ERT and electrodynamic) sensor, which can be used to measure a gas/solids or gas/liquid flow, will be described. Some details of the electrostatic charge amplifier and signal processing will be discussed. Initial experimental results will be given. © International Society for Industrial Process Tomography, 2010. All rights reserved.

关键词： Liquids

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Nonlinear adaptive control of a 3D overhead crane 15

Nonlinear adaptive control of a 3D overhead crane

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15th International Conference on control, automation and Systems, ICCAS 2015

作者： Nguyen, Quoc Chi Ngo, Ha-Quang-Thinh Kim, Won-Ho Department of Mechatronics Ho Chi Minh City University of Technology Viet Nam Control and Automation Lab Department of Mechatronics Ho Chi Minh City University of Technology Viet Nam Department of Intelligent System Engineering Dong-Eui University Busan Korea Republic of

ISBN: (纸本)9788993215090

In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane is developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavior of the crane system is considered. A nonlinear control model-based scheme is designed to achieve the three objectives: (i) drive the crane system to the desired positions, (ii) suppresses the vibrations of the payload, and (iii) velocity tracking of hoisting motion. The nonlinear control scheme employs adaptation laws that estimate unknown system parameters, friction forces and the mass of the payload. The estimated values are used to compute control forces applied to the trolley of the crane. The asymptotic stability of the crane system is investigated by using the Lyapunov method. The effectiveness of the proposed control scheme is verified by numerical simulation results. © 2015 Institute of control, Robotics and Systems - ICROS.

关键词： Lyapunov methods

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Comparison of three electrical capacitance tomography systems

Comparison of three electrical capacitance tomography system...

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IEEE International Conference on Imaging Systems and Techniques

作者： Deng, Xiang Chen, Dixiang Yang, Wuqiang School of Mechatronics Engineering and Automation National University of Defense Technology Changsha 410073 China School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing 100044 China School of Electrical and Electronic Engineering University of Manchester Manchester M60 1QD United Kingdom

ISBN: (纸本)9781424464944

Electrical capacitance tomography (ECT) has been developed for two decades to visualize the internal behavior of industrial processes containing dielectric components. Three different ECT systems have been developed: (1) based on a charge/discharge capacitance measuring circuit, (2) based on an AC circuit and (3) based on an impedance analyzer. In this paper the operation principles, calibration methods and some performance of the three systems are compared. The experimental results prove that the AC-based ECT system is superior to the charge/discharge ECT system. Although the impedance analyzer based ECT system can provide the highest accuracy and the best image quality, it is bulky and expensive. © 2010 IEEE.

关键词： Calibration

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Design and analysis of a dSPACE-based position control system for a linear switched reluctance motor

Design and analysis of a dSPACE-based position control syste...

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International Conference on Power Electronics Systems and Applications (ICPESA)

作者： Guang-zhong Cao Lv-ming Lin Hong Qiu J.F. Pan Department of Automation Science College of Mechatronics and Control Engineering Shenzhen University Shenzhen China

This paper presents a high-precision position control system for a linear switched reluctance motor (LSRM) based on dSPACE real-time control platform. The LSRM has a very simple structure and it can be manufactured easily, and there is no need for magnets. The control system utilizes dSPACE development platform as the controller and generates the real-time code for the control algorithm and motor model, tuning the control parameters online and PD algorithm is implemented. The experiment results indicate that with the control method presented in the paper, the position error is less than 0.04 mm. Also compared with traditional research and development method, using dSPACE real-time control platform is able to quickly complete research and development for this kind of position control system, and the advantages are not only to shorten the entire system development cycle but also ensure system reliability and reduce costs.

关键词： Position control Reluctance motors Real time systems control systems Research and development Manufacturing Magnets control system synthesis Error correction Reliability

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Effective State Estimation for a Class of Nonlinear Systems using Soft Actor-Critic Reinforcement Learning

Effective State Estimation for a Class of Nonlinear Systems ...

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International Conference on Computer Theory and Applications (ICCTA)

作者： Sohila Megahed Ayman El-Badawy Automation and Control German International University Mechatronics Engineering Department German University in Cairo

ISBN: (数字)9798331529680

ISBN: (纸本)9798331529697

A state estimator using soft actor-critic (SAC) reinforcement learning (RL) algorithm is presented in this paper. Estimating states of non linear systems is a challenging task due to the inherent complexities of such systems, including uncertainties, nonlinearities, and measurement noise. Motivated by the need to address these limitations, thereby enhancing control performance, this work proposes an efficient state estimation technique. Specifically, we aim to replace the computationally expensive gain calculation within the Extended Kalman Filter (EKF) with the output of a neural network trained using the SAC algorithm. This approach eliminates the requirement for explicit computation of the covariance and Jacobian matrices, which are significant bottlenecks in the EKF. Consequently, the estimation process exhibits improved efficiency, particularly after the neural network has been adequately trained. To validate the efficacy of the proposed technique, a deep RL agent was implemented, trained, and tested on an unmanned aerial vehicle (UAV) system. The convergence of the estimation error and the observed 71% reduction in simulation execution time serve as evidence for the accuracy and efficiency of this estimation method.

关键词： Estimation error Accuracy Neural networks Reinforcement learning Autonomous aerial vehicles Real-time systems Mathematical models Vectors State estimation Nonlinear systems

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Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots

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IEEE/CAA Journal of Automatica Sinica 2023年第1期10卷 239-253页

作者： Yang Xiu Dongfang Li Miaomiao Zhang Hongbin Deng Rob Law Yun Huang Edmond Q.Wu Xin Xu the School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China the School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Antai College of Economics&Management Shanghai Jiao Tong UniversityShanghai 200240China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China the Asia-Pacific Academy of Economics and Management University of MacaoMacao 999078China the Department of Decision Science Macao University of Science and TechnologyMacao 999078China the Department of Automation Shanghai Jiao Tong Universityand also with the Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240China the College of Mechatronics and Automation National University of Defense TechnologyChangsha 410073China IEEE

This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake ***,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track *** proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle *** our method,the designed piecewise auxiliary function guarantees the finite-time stability of position ***,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s *** uniform ultimate boundedness of the closed-loop system is proved by analyzing ***,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential *** last,the availability and superiority of this work are shown through simulation and experiment results.

关键词： Line-of-sight(LOS) path following sideslip snake robot

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