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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Hemjyoti Das Bjørn Kåre Sæbø Kristin Y. Pettersen Christian Ott Faculty of Electrical Engineering and Information Technology Automation and Control Institute (ACIN) Technical University of Vienna TU Wien Vienna Austria Department of Engineering Cybernetics Centre for Autonomous Marine Operations and Systems (NTNU AMOS) NTNU Norwegian University of Science and Technology Trondheim Norway German Aerospace Center Institute of Robotics and Mechatronics Wessling Germany

Hardware-in-the-loop simulation (HILS) allows a more realistic evaluation of control approaches than what is possible with pure software simulations, but without the actual complexity of the complete system. This is important for some complex systems such as orbital robots, where testing of the system is typically not possible after its launch, and an on-ground replica is used to validate the performance of such a system. In this article, an impedance-matching approach is presented to match the end-effector dynamics of a fixed-base robot manipulator with that of a target vehicle-manipulator system (VMS), while taking into account the redundant nullspace dynamics in a connected real-time simulation framework. This approach ensures that the forces and torques exerted by the system on the environment matches with that of the simulated system. The contact wrenches used in our approach are not obtained from numerical simulations, but rather from real physical interaction, which is one of the main advantages of our approach. The effectiveness of our method is validated by demonstrating various physical interaction tasks with the environment, using a suspended aerial manipulator as the target system.

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Platoon-Based Distributed control for Automated Material Handling Systems

Platoon-Based Distributed Control for Automated Material Han...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Alessandro Bozzi Jose-Fernando Jimenez Camilo Hernandez-Rodriguez Eliana-Maria Gonzalez-Neira Damien Trentesaux Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Italy Laboratory System and Materials for Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France Industrial Engineering Department Pontificia Universidad Javeriana Bogota Columbia Laboratory of Industrial and Human Automation Control Mechanical Engineering and Computer Science (LAMIH) Université Polytechnique Hauts-de-France Valenciennes France

Smart manufacturing systems combine collaborative and autonomous control systems to provide optimal performance and respond to volatile demands. A key component of smart manufacturing is material management, as raw materials, work-in-progress, and finished products must be transported to the right location at the right time. However, during the production phase, it is imperative to establish an optimal traffic control scheme in order to avoid congestion and optimize material flow. This paper proposes a platooning-based control procedure implemented in a virtual agent-based manufacturing environment to increase the material flow efficiency on a manufacturing shop floor. An analysis of the production makespan and an indicator of the level of congestion in the material handling system was conducted in order to determine productivity improvements. An agent-based simulation is used to test the effectiveness of the novel platooning approach versus a traditional basic approach. A multivariate analysis of variance (MANOVA) reveals that the inclusion of a platoon-based procedure improves production performance and reduces congestion risks.

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An Efficient Defect Detection System for Printed Circuit Boards with Edge-Cloud Fusion Computing 3

An Efficient Defect Detection System for Printed Circuit Boa...

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3rd International Conference on Industrial Artificial Intelligence, IAI 2021

作者： Wu, Yi Wang, Jing Chen, Yang-Quan Beijing University of Chemical Technology College of Information Science and Technology Beijing China University of Technology School of Electrical and Control Engineering Beijing China University of California Mechatronics Embedded Systems and Automation Lab MercedCA95343 United States

ISBN: (纸本)9781665435178

Many intelligent methods have been proposed and applied in the field of autonomous manufacturing inspection. These advanced algorithms with high requirements on computing power and network may lead to time delay, high cost and energy consumption in practical applications with massive data to be processed. We carry out an efficient defect detection system in an end-edge-cloud architecture with the concept of edge computing to process the big data quickly and effectively. A branchy deep learning model with early exit capability of inference is proposed to detect the category and location of the defect in printed circuit boards. We offload part of the computing tasks to the edge nodes by segmenting and deploying the DL model. Therefore, our system has high detection efficiency and makes real-time defect detection possible. © 2021 IEEE.

关键词： Printed circuit boards

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A K-Means Clustering-Based Optimization of IT2FL for Improved Regenerative Braking Performance

A K-Means Clustering-Based Optimization of IT2FL for Improve...

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Smart mechatronics (ICSMech), IEEE International Conference on

作者： Muhammad Rizalul Wahid Endra Joelianto Bentang Arief Budiman Manida Tongroon Mulia Pratama Mahmudah Salwa Gianti Muhammad Fauzan Hernadi Mechatronics and Artificial Intelligence Universitas Pendidikan Indonesia Bandung Indonesia Instrumentation Control and Automation Research Group Institut Teknologi Bandung Bandung Indonesia Faculty of Mechanical and Aerospace Engineering Institut Teknologi Bandung Bandung Indonesia Department of Mechanical Engineering ATAE Research Unit Kasetsart University Sriracha Thailand Pusat Riset Mekatronika Cerdas Organisasi Riset Elektronika dan Informatika-BRIN Bandung Indonesia

ISBN: (数字)9798350368918

ISBN: (纸本)9798350368925

Optimizing regenerative braking systems in electric vehicles presents a complex challenge requiring precise and adaptable control. This research proposes employing K-Means Clustering to the Interval Type-2 Fuzzy Logic (IT2FL) membership functions, thereby improving overall regenerative braking efficiency and enhancing driving range. This research demonstrates that implementing a K-Means in the IT2FL control system in electric vehicles effectively recovers 35.84% of energy. By incorporating a K-means-based approach, the IT2FL controller further enhances vehicle range by 43 kilometers, achieving a total range of 108 kilometers. In comparison, an IT2FL system without K-means recovered only 26.67% of energy and achieved a total range of 93 kilometers. Notably, the IT2FL controller with K-means enabled the electric vehicle to attain an energy efficiency of 22 kilometers per kilowatt-hour. These findings underscore the significant improvement in maximum range offered by the IT2FL controller with K-means compared to alternative methods.

关键词： Fuzzy logic Energy consumption Electric potential mechatronics Electric vehicles control systems Energy efficiency Optimization

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Error-state Kalman Filtering with Linearized State Constraints

TechRxiv

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TechRxiv 2023年

作者： Do, Hoang Viet Jung, Jae Hyung Park, Chan Gook Song, Jin Woo The Intelligent Navigation and Control Systems Laboratory Department of Convergence Engineering for Intelligent Drone School of Intelligent Mechatronics Engineering Sejong University Seoul05006 Korea Republic of The Department of Aerospace Engineering Automation and Systems Research Institute Seoul National University Seoul08826 Korea Republic of The Navigation and Electronic System Laboratory Department of Aerospace Engineering Institute of Advanced Aerospace Technology Seoul National University Seoul08826 Korea Republic of

In recent years, the error-state Kalman filter (ErKF) has been extensively employed across various applications, including but not limited to robotics, aerospace, and localization. However, incorporating constraints into the ErKF framework when state constraint is necessary has remained a challenging task due to its intrinsic properties. This paper explores all possible ways to achieve this goal in the context of the estimate projection method. In particular, the constraint can be enforced before or after the ErKF’s correction step. We approach the problem from a mathematical perspective by deriving analytical solutions and discussing their statistical properties. We prove that the two mentioned methods are statistically identical for a linear system with linear constraints. Conversely, the filter’s behavior remains uncertain in the presence of linearized constraints. However, we provide a special case of the nonlinear constraint, wherein the results of the linear case remain valid. To support our theorem and verify the filter’s performance when the assumptions are invalidated, we present two Monte Carlo simulations under the increasing initialization error and the constraint’s incompleteness. The simulation results clearly confirm our insights and lead to the conclusion that constraining the error-state after the correction may offer superior outcomes compared to its competitor. © 2023, CC BY.

关键词： Linearization

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Analysis and Simulation Verification of Mechanical Properties for Planetary Roller Screw Mechanism 17

Analysis and Simulation Verification of Mechanical Propertie...

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17th IEEE International Conference on mechatronics and automation, ICMA 2020

作者： Duan, Xiaoshuai Zhang, Xinhua Huo, Xijian Guan, Ping Hao, Minghui Beijing Institute of Automation and Control Equipment Beijing China Harbin Institute of Technology School of Mechatronics Engineering Heilongjiang Province Harbin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

Load capacity is an important index to evaluate the mechanical performance of the planetary roller screw mechanism (PRSM). Improving load distribution is the key to improving load capacity. This paper analyzes and simulates the mechanical properties of PRSM. Firstly, the force on the thread contact point is performed, and the load distribution of each thread is obtained by establishing the load calculation model based on the deformation coordination relationship. Then, the PRSM Hertzian stress model is established, and the Hertzian stress variations of the contact points are calculated. On this basis, the influence of the roller pitch and thread length on the load capacity is compared and analyzed, and the roller thread is further modified. The results of calculation and simulation show that the roller modification can effectively reduce the maximum contact stress. © 2020 IEEE.

关键词： Screws

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Simulation and Experimental Research on the Thread Turning of Planetary Roller Screw Mechanism 17

Simulation and Experimental Research on the Thread Turning o...

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17th IEEE International Conference on mechatronics and automation, ICMA 2020

作者： Duan, Xiaoshuai Zhang, Xinhua Huo, Xijian Li, Xiaobin Hao, Minghui Beijing Institute of Automation and Control Equipment Beijing China Harbin Institute of Technology School of Mechatronics Engineering Harbin Heilongjiang Province China

ISBN: (纸本)9781728164151

Aiming at the problem of the thread processing process of the planetary roller screw mechanism (PRSM), the theory, simulations and experiments of the thread turning are studied in this paper. Firstly, the unit cutter model and the main cutting force model of thread turning of PRSM are established based on the minimum energy method. And the finite element simulations calculation of thread turning of PRSM are performed, which analyze the influence of cutting parameters (cut depth, speed of cutting and the lathe) on the cutting force, the cutting temperature and the tool wear. Finally, the turning experiments of the screw rod are performed. The results show that the finite element simulations can effectively ensure thread processing process PRSM. © 2020 IEEE.

关键词： Screws

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A Frequency Up-Conversion Rotational Energy Harvester with Auxetic Structures for High Power Output

SSRN

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SSRN 2022年

作者： Chen, Keyu Fang, Shitong Lai, Zhihui Liao, Wei-Hsin Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin Hong Kong Institute of Intelligent Design and Manufacturing The Chinese University of Hong Kong Shatin Hong Kong College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China

Rotational energy harvesters (REH) have been explored to substitute conventional batteries for small electronic sensors. However, there still exists a challenge for rotational energy harvesters to scavenge sufficient energy under low-rotational-frequency excitations. In this paper, we propose a plucking rotational energy harvester with auxetic structures, which utilizes the frequency up-conversion and auxetic structures to enhance the power output of the rotational energy harvesting under low-rotationalfrequency excitations. Finite element simulation is performed to analyze the performance of the proposed rotational energy harvester. The simulation results match well with the experimental ones. When the magnet distance is set to be 2.5 mm, the maximum power output of the auxetic plucking rotational energy harvester (APREH) is found to be 1.43 mW at 1.1 Hz, which is increased by 686% compared with the conventional plain plucking rotational energy harvester (PPREH). In addition, compared with typical plucking rotational energy harvesters, the proposed auxetic plucking rotational energy harvester achieves the highest power output under low-rotational-frequency excitations, which validates the advantage of adopting auxetic structures in plucking rotational energy harvesters. © 2022, The Authors. All rights reserved.

关键词： Energy harvesting

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Air-ground cooperative exploration of 3D complex environment with maximized visibility and obstacles avoidance

Air-ground cooperative exploration of 3D complex environment...

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2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021

作者： Wu, YuXuan Wang, Jing Zhou, Meng Dong, Zhe Chen, YangQuan College of Information Science and Technology Beijing University of Chemical Technology Beijing China School of Electrical and Control Engineering North China University of Technology Beijing China Mechatronics Embedded Systems and Automation Lab University of California MercedCA95343 United States

ISBN: (纸本)9780738131153

Unmanned aerial vehicles (UAVs) can provide vision at high altitude. In this paper, multi-UAVs and ground vehicle are utilized to explore a complex environment with obstacles. The desired UAV formation is proposed around ground vehicle to provide wider vision. The Interfered Fluid Dynamical System (IFDS) method is utilized to guide UAVs avoid obstacles, while the desired formation need be maintained. Then formation control scheme of multi-UAVs is updated to combine with IFDS method according to original formation and obstacles avoidance. Simulation results shows that multi-UAVs can avoid obstacles and maintain the desired formation around ground vehicle during exploration. © 2021 IEEE.

关键词： Ground vehicles

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Data-Driven control and Behavior-Based control Applied to a SISO Mobile Robot

Data-Driven Control and Behavior-Based Control Applied to a ...

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IEEE Latin American Robotics Symposium, LARS

作者： M. A. Pastrana Karine R. Santos Alceu B. C. de Farias Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Graduate Program Automation and Control Group/GRACO University of Brasilia Brasilia DF Brazil Faculty of Gama Biomedical Engineering Graduate Program University of Brasilia Brasilia DF Brazil Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9781665462808

ISBN: (纸本)9781665462815

With the advancement of technology, systems in many different areas of application have become more complex, and obtaining reliable mathematical models is a task that is increasingly becoming more difficult as well. To overcome these issues, new methodologies have emerged, such as the one known as Data-Driven-control (DDC), which uses the input and output data of the system to design a controller, and Behavior-Based-control (BBC), which provides the controller based on the desired behavior of a system. In this work, these two methodologies were applied to obtain the transfer function of a Single-Input Single-Output mobile robotic platform that moves parallel to a wall. A Proportional Integral Derivative controller was used to control the left wheel, while the right wheel was set to a constant speed, allowing the mobile robot to maintain a constant distance from the wall. The controller was tuned utilizing root locus methodology with an overshot of 16.7%, settling time of 6.45 seconds, and a static error of 2.1%. Additionally, disturbances were added to test the robustness of the mobile robot model and the PID controller.

关键词： Analytical models Biological system modeling Wheels Transfer functions Robot sensing systems control systems Mathematical models

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