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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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Comparison of Autonomous Robot's Mapping Performance Based on Number of Lidars And Number of Tours

Comparison of Autonomous Robot's Mapping Performance Based o...

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2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022

作者： Altinpinar, Ozan Vahit Contarli, Emre Can Kagizman, Ahmet Uguzlar, Umut Cansu, Enes Sezer, Volkan Autonomous Mobility Group Istanbul Technical University Department of Mechatronics Engineering Istanbul Turkey Autonomous Mobility Group Istanbul Technical University Department of Control and Automation Engineering Istanbul Turkey Autonomous Mobility Group Istanbul Technical University Department of Institute of Science Istanbul Turkey

ISBN: (数字)9781665488945

ISBN: (纸本)9781665488945

Autonomous mobility is increasing its popularity day by day. Mapping, localization, planning, and control are the main research topics of autonomous systems. The performance of localization directly depends on the map quality. This paper aims to show how to improve mapping performance, by increasing the measurements and number of tours. In this context, using the GMapping package of the ROS platform, the mapping performance of two lidars located in different regions and heights of the wheelchair, working separately and together, is examined. In addition, the mapping performance according to the number of tours in the mapped region is also tested. As a result, it is confirmed that the results obtained using two lidars are more successful than a single lidar. Additionally, loop closure's effect on increasing the map quality is shown in the paper. © 2022 IEEE.

关键词： Mapping

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Gap Based Novel Approach for Safe and Fast Obstacle Avoidance for Autonomous Platforms

Gap Based Novel Approach for Safe and Fast Obstacle Avoidanc...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Eren Çakmak Serhat Tekin Aykut Özdemir Seta Boǧosyan Control and Automation Engineering Istanbul Technical University Istanbul Turkey Mechatronics Engineering Istanbul Technical University Istanbul Turkey

ISBN: (数字)9781728156354

ISBN: (纸本)9781728156361

Obstacle avoidance methods play a vital role in robotic navigation tasks. In this work, we are proposing a novel obstacle avoidance framework for mobile robots equipped with 2d lidars. This method is inspired by previously proposed methods: FGM, SND and their variants. In this work, FGM-I was used as a base. FGM-I was selected for its easy applicability and adequate performance on moderate problems. However, there are certain drawbacks associated with the use of this algorithm in cluttered environments. This method suffers from narrow openings and not having a collision checking procedure. To increase the navigation safety and control robustness, proposed FGM-I2 method uses extra avoidance functions and control procedures. The results of this study indicate that according to overall results, FGM-I2 outperforms four different FGM and SND variants when evaluated w.r.t safety and speed.

关键词： Robot kinematics Collision avoidance Navigation Safety automation Mobile robots

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Fuzzy controller Design for Atomic Force Microscope System

Fuzzy Controller Design for Atomic Force Microscope System

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2008 IEEE International Symposium on Knowledge Acquisition and Modeling Workshop(KAM 2008)

作者： Her-Terng Yau Ming-Jyi Jang Yuan-Hung Su Department of Electrical Engineering Department of Automation and Control Engineering Graduate Institute of Opto-Mechatronics Far East University Tainan

This paper presents the design of a nonlinear rule based fuzzy logic controller for the nonlinear dynamic behavior of the probe tip of an atomic force microscope system (AFMs).At first,we use the bifurcation diagram to analysis the complex dynamic behavior of the atomic force microscope ***,the positive maximum Lyapunov exponent is obtained to identify that the chaotic motion do exist in *** order to suppress the undesired chaotic motion in AFMs,we address the design schemes of fuzzy logic controller to stabilize the slave chaotic AFMs to the master periodic *** the controller design process,it directly constructs the fuzzy rules subject to a common Lyapunov function such that the error dynamics of master and slave AFMs satisfy stability in the Lyapunov *** overcomes the trial-and-error tuning for the membership functions and rule base in traditional fuzzy logic ***,a numerical simulation is used to illustrate the effectiveness of the proposed controller.

关键词： AFM chaotic motion bifurcation fuzzy controller.

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Uplink Scheduling of Navigation Constellation Based on Genetic Algorithm

Uplink Scheduling of Navigation Constellation Based on Genet...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Yinyin Tang Yueke Wang Jianyun Chen Hong Chen College of Mechatronics Engineering and Automation National University of Defense Technology Xi’an Satellite Control Center

The uplink of navigation constellation is a complex satellite range scheduling problem. The traditional heuristic method is difficult to tackle large scale optimal problem. We proposed a genetic algorithm(GA) to deal with the problem. The method is a multi-objective algorithm considering the maximum task and minimum switch times based on multi-hierarchical encoding method. Several sets of simulation are performed to test the performance of the proposed algorithm. Numerical results show that the proposed method can achieve the minimum switch times with a negligible loss in task number(approximately 7.65%). The genetic algorithm is suitable for different scale of uplink problems and its performance is related to population size and elite size.

关键词： Navigation constellation Uplink scheduling Genetic algorithm Maximum task Minimum switch times

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A new type of medical micropump for an endoscopic robot

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Biomedical Instrumentation and Technology 2010年第3期44卷 261-267页

作者： Ye, Dongdong Yan, Guozheng Zan, Peng Wang, Kundong Beijing Institute of Control Engineering Beijing China Lab 820 School of Electronics Information and Electrical Engineering Shanghai Jiaotong University Shanghai China Department of Automation College of Mechatronics Engineering and Automation Shanghai University China

Researchers have developed a new type of medical micropump for an endoscopic robot, which is driven by a linear actuator based on a direct current (DC) motor. This micropump consists of two active one-way valves and a cylindrical air drum. The overall size of the pump prototype is 12.5 mm in diameter and 56 mm in length. This paper describes the structure of the micropump and linear actuator and analyzes the inflation mechanism of the micropump. The experimental results show that the driving force of the linear actuator can reach up to 2.55 N, which fulfills the need of the micropump. The rated output flow of the micropump is 16 mL/min, which can rapidly supply the gas bag with enough air with minimal noise and vibration.

关键词： Linear actuators

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Evaluation of Human Postural System Dynamical Behavior via Developed Statokinesigram Trajectory

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IFAC-PapersOnLine 2017年第1期50卷 15062-15067页

作者： Barbolyas, B. Suttova, K. Vachalek, J. Belavy, C. Hucko, B. Dedik, L. Institute of automation measurement and applied informatics Faculty of Mechanical Engineering STU in Bratislava Nam. slobody 17 Bratislava812 31 Slovakia Laboratory of motor control Institute of Normal and Pathological Physiology Slovak Academy of Sciences Sienkiewiczova 1 Bratislava813 71 Slovakia Institute of applied mechanics and mechatronics Faculty of Mechanical Engineering STU in Bratislava Nam. Slobody 17 Bratislava812 31 Slovakia

Presented study deals with the formulation of a model of the postural system behavior in the form of transfer function derived from Development Statokinesigram Trajectory (DST). As compared with statokinesigram, a DST shows a minimal signs of chaotic behavior while it takes anteroposterior and mediolateral postural sway direction into account together. Proposed method provides an alternative approach to established methodology based on the Center of Pressure (CoP) in evaluating the autoregulation control process in humans. For demonstration of DST application, CoP signals of young and healthy participants without and with bilateral vibration stimulus located on Achilles tendons were registered. Data analysis involves DST construction and numerical parameter estimation of the proposed model. Quadratic criterion showed that there is a disproportion between actual and mean DST time profile that was proposed as a sensitive parameter of posture control quality in all tested subjects in quiet stance condition. © 2017

关键词： Quality control Tendons Biomedical systems Biosignals Center of pressure interpretation Model formulation Postural system

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Enhancing Visual Odometry Accuracy Through Block-Based Techniques

Enhancing Visual Odometry Accuracy Through Block-Based Techn...

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Innovations in Intelligent Systems and Applications Conference

作者： Cem Atilgan Muharrem MerciMek Department of Mechatronics Engineering Kirklareli University Kirklareli Turkey Department of Control and Automation Engineering Yildiz Technical University Istanbul Turkey

ISBN: (数字)9798350379433

ISBN: (纸本)9798350379440

Visual odometry (VO) is a method used to estimate the spatial movement of vehicles or camera-equipped systems by analyzing visual data from the environment. It is a cost-effective and accurate alternative to systems like Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS), and is particularly favored in autonomous vehicles, unmanned aerial vehicles (UAV s), and augmented reality applications. This study focuses on the performance challenges faced by visual odometry systems in low-light environments, where traditional systems may not be effective and presents a novel approach, Contrast-Adaptive Block Optimization (CABO), to enhance VO in low-light environments. CABO divides images into blocks and selectively applies Contrast Limited Adaptive Histogram Equal-ization (CLAHE) to darker regions, optimizing image quality without compromising natural appearance. By improving feature extraction and matching, CABO enhances VO accuracy and robustness. We utilized the Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI) dataset, we demonstrate the effectiveness of the proposed method in improving position and orientation estimation under challenging lighting conditions.

关键词： Visualization Global navigation satellite system Technological innovation Accuracy Lighting Autonomous aerial vehicles Robustness Intelligent systems Optimization Visual odometry

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