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3rd International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2019

作者： Coban, Mustafa Kaymakci, Ozgur Turay Gelen, Gokhan Bursa Technical University Department of Mechatronics Engineering Bursa Turkey Yildiz Technical University Faculty of Electric Electronic Control and Automation Engineering Istanbul Turkey

ISBN: (纸本)9781728137896

Together with innovations in robot technologies and the emergence of the fourth industrial revolution called Industry 4.0, collaborative robot applications have improved. Collaborative robots are the robots that provide the safe handling of many processes such as assembly, pick and place, palletizing in factories. The reliability analysis of the system has great importance in order to determine the failure conditions and failure possibilities that will occur in the systems enabling these operations. In this study, reliability analysis of assembly processes performed by human-robot interaction is presented. The reliability block diagram of the system is created and the reliability value of the system over time is determined. Then, Markov model indicating the fault conditions in the system is created and the probability of occurrence of these fault conditions is determined. The results show that if the system operates continuously for five years, the reliability will drop below 10% and the reasons that decrease the reliability are discussed in the last section. © 2019 IEEE.

关键词： Industrial robots

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Initial Study on Implementation of Smoothing Filters for the Purpose of Bioimpedance Spectroscopy Parameters Classification

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IFAC-PapersOnLine 2022年第4期55卷 393-398页

作者： Aleksandra Kawala-Sterniuk Amir F. Al-Bakri Mariusz Pelc Katarzyna Cichoń Wojciech Chlewicki Stepan Ozana Radek Martinek Jakub Możaryn Volodymyr Khoma Halyna Kenyo Edward Jacek Gorzelańczyk Michał Podpora Jarosław Zygarlicki Opole University of Technology Faculty of Electrical Engineering Automatic Control and Informatics 45-758 Opole Poland Department of Biomedical Engineering College of Engineering University of Babylon 51001 Babylon Iraq University of Greenwich School of Computing and Mathematical Sciences SE10 9LS London UK West Pomeranian University of Technology in Szczecin Faculty of Electrical Engineering 70-313 Szczecin Poland Faculty of Mechatronics Warsaw University of Technology 02-525 Warsaw Poland Lviv Polytechnic National University Institute of Computer Technologies Automation and Metrology Lviv Ukraine Institute of Philosophy Kazimierz Wielki University 85-092 Bydgoszcz Poland Faculty of Mathematics and Computer Science Adam Mickiewicz University in Poznań 61-614 Poznań Poland

Bioimpedance is a commonly used method for various conditions monitoring. In this paper, the authors carried out some research where they implemented various smoothing filters to enable identification of the bioimpedance spectroscopy parameters. The proposed filtering methods may also be used for application on embedded systems, which have smaller computing power but have become recently very popular. The obtained results with the implementation of smoothing filters were promising, however, some of the obtained results were unsatisfactory. This work also contains a brief introduction to bioimpedance spectroscopy and smoothing filters.

关键词： Bioimpedance Spectroscopy smoothing-filtering Savitzky-Golay Filter Median Filtering Moving-Average Filters

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

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

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IEEE International Conference on mechatronics and automation

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

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

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.

关键词： Analytical models Instruction sets Force Fasteners Tools Turning Finite element analysis

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Flatness-Based Feedforward control of a Stacker Crane with Online Trajectory Generation

Flatness-Based Feedforward Control of a Stacker Crane with O...

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automation, control and Robots (ICACR), International Conference on

作者： Charlotte Tkany Martin Grotjahn Johannes Kühn Hochschule Hannover Institute of Engineering Design Mechatronics and Electromobility Hannover Germany RDS Motion Control Lenze Automation GmbH Braunschweig Germany

ISBN: (数字)9781728192079

ISBN: (纸本)9781728192086

Flatness-based feedforward control is an approach for combining fast motion with low oscillations for nonlinear or flexible drive systems. Its desired trajectories must be continuously differentiable to the degree of the system order. Designing such trajectories, that also reach the dynamic system limits, poses a challenge. Common solutions, like Gevrey functions, usually require lengthy offline calculations. To achieve a quicker and simpler industrial-suited solution, this paper presents a new online trajectory generation scheme. The algorithm utilizes higher order s-curve trajectories created by a cyclic filtering process using moving average filters. An experimental validation proves the capability as well as industrial applicability of the presented approach for flexible structures like stacker cranes.

关键词： Trajectory Cranes Oscillators Belts Springs Mathematical model Force

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Coordinated Operation Between Electric Vehicle Charging Stations and Distribution Power Network Considering Shared Energy and Reserve

Coordinated Operation Between Electric Vehicle Charging Stat...

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Annual Meeting Industrial and Commercial Power Systems Technical Conference

作者： Yuanzheng Li Zhixian Ni Tianyang Zhao Yun Liu Lei Wu Yong Zhao School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China China-EU Institute for Clean and Renewable Energy Huazhong University of Science and Technology Wuhan China School of Electrical Engineering Jinan University Zhuhai China College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Stevens Institute of Technology New Jersey USA

ISBN: (纸本)9781728186337

In this paper, we present a coordinated operation method for electric vehicle charging stations (EVCSs) and a distribution power network (DPN), considering integrated energy and reserve regulation. In this method, we firstly propose formulations of energy-reserve integrated decision for EVCSs with constraints of quality of service. Then, we propose a shared energy and reserve scheduling model based on the coalition game, and adopt a characteristic function to study allocations of economic benefits brought by the coordinated operation. Finally, case study verifies effectiveness of the proposed method, by investigating operation costs of EVCSs and DPN regarding the non-coordinated and coordinated modes, respectively.

关键词： Economics Quality of service Games Predictive models Regulation Electric vehicle charging Real-time systems

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An Experimental Study on Classification of Drivers Based on Confidence and Command of Driving

An Experimental Study on Classification of Drivers Based on ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Daghan Dogan Tankut Acarman Seta Bogosyan Mechatronics Engineering Dept. Istanbul Technical University Istanbul Turkey Computer Engineering Dept. Galatasaray University Istanbul Turkey Control and Automation Engineering Dept. Istanbul Technical University Istanbul Turkey

ISBN: (数字)9781728156354

ISBN: (纸本)9781728156361

This study proposes a simple classification method for drivers based on their driving confidence and authority using feedback from steering wheel angle and traction motor current measurement data. Data is collected from 38 drivers on a prototype electric vehicle. For the classification process, the driving performance of each driver is assessed with respect to an expert driver. The data is time-stamped and geo-referenced. The experimental driving data is comprised of the two command inputs that the driver generates to regulate handling and lane-level tracking. Deviations from the expert's performance data are considered to be a measure of potential failure of the driver's confidence and authority leading to a possible accident. The dataset of the participating drivers is processed by extracting the mean, standard deviation, skewness and kurtosis values. Extracted features are evaluated with different classification methods, including KNN.

关键词： Vehicles Feature extraction Hidden Markov models Torque Data collection Euclidean distance Task analysis

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Optimal control of Automatic Manipulator for Elimination of Galvanic Line Load Oscillation

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica Electrical engineering and computer science 2021年第2期65卷 91-105页

作者： Autsou, Siarhei Rassõlkin, Anton Vaimann, Toomas Demidova, Galina Saroka, Viktor Karpovich, Dzmitry Kallaste, Ants Department of Automation of Production Processes and Electrical Engineering Faculty of Chemical Technology and Technique Belarussian State Technological University 13a Sverdlova str. Minsk220006 Belarus Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology 5 Ehitajate street Tallinn19086 Estonia Faculty of Control Systems and Robotics Itmo University 49 Kronverksky Pr. St. Petersburg197101 Russia

This paper provides an analysis of the current state-of-The-Art technologies in the field of auto-operators used in production during the electroplating process. General schemes of operations are presented, benefits and drawbacks of each scheme are discussed. The paper discusses an increase in the operating efficiency of the auto-operator in transient conditions (braking and acceleration) by reducing suspension oscillations and provides an example of a similar problem from other industries. In addition to the classification of the auto-operators, three main ways and control methods of the auto-operator of a galvanic line are presented. The main ways of eliminating oscillations during the movement of the auto-operator, as well as the rationale for the choice of adaptive (optimal) control, based on and comparing the basic control algorithms of the robot manipulator, are discussed. The comparative analysis of algorithms used to determine the optimal control has been carried out. Application field of each optimal control method described, moreover advantages and disadvantages as well as implementation methods described. Bellman dynamic programming method was chosen to eliminate oscillations of the suspension with details during the auto-operator transient conditions, the chosen method takes into account all necessary conditions to achieve the desired result. © 2021 Budapest University of Technology and Economics. All rights reserved.

关键词： Dynamic programming

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Parallel Planning:A New Motion Planning Framework for Autonomous Driving

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 236-246页

作者： Long Chen Xuemin Hu Wei Tian Hong Wang Dongpu Cao Fei-Yue Wang IEEE School of Data and Computer Science Sun Yat-sen University the School of Computer Science and Information Engineering Hubei University Institute of Measurement and Control Systems Karlsruhe Institute of Technology Department of Mechanical and Mechatronics Engineering University of Waterloo the State Key Laboratory of Management and Control for Complex Systems.Institute of Automation Chinese Academy of Sciences the Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology

Motion planning is one of the most significant technologies for autonomous driving. To make motion planning models able to learn from the environment and to deal with emergency situations, a new motion planning framework called as"parallel planning" is proposed in this paper. In order to generate sufficient and various training samples, artificial traffic scenes are firstly constructed based on the knowledge from the reality.A deep planning model which combines a convolutional neural network(CNN) with the Long Short-Term Memory module(LSTM) is developed to make planning decisions in an end-toend mode. This model can learn from both real and artificial traffic scenes and imitate the driving style of human ***, a parallel deep reinforcement learning approach is also presented to improve the robustness of planning model and reduce the error rate. To handle emergency situations, a hybrid generative model including a variational auto-encoder(VAE) and a generative adversarial network(GAN) is utilized to learn from virtual emergencies generated in artificial traffic scenes. While an autonomous vehicle is moving, the hybrid generative model generates multiple video clips in parallel, which correspond to different potential emergency scenarios. Simultaneously, the deep planning model makes planning decisions for both virtual and current real scenes. The final planning decision is determined by analysis of real observations. Leveraging the parallel planning approach, the planner is able to make rational decisions without heavy calculation burden when an emergency occurs.

关键词： Autonomous driving artificial traffic scene deep learning emergencies motion planning parallel planning

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Super-k: A piecewise linear classifier based on Voronoi tessellations

arXiv

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arXiv 2020年

作者： Zengin, Rahman Salim Sezer, Volkan Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey Autonomous Mobility Group Electrical and Electronics Engineering Faculty Istanbul Technical University Istanbul Turkey

Voronoi tessellations are used to partition the Euclidean space into polyhedral regions, which are called Voronoi cells. Labeling the Voronoi cells with the class information, we can map any classification problem into a Voronoi tessellation. In this way, the classification problem changes into a query of just finding the enclosing Voronoi cell. In order to accomplish this task, we have developed a new algorithm which generates a labeled Voronoi tessellation that partitions the training data into polyhedral regions and obtains interclass boundaries as an indirect result. It is called Supervised k-Voxels or in short Super-k. We are introducing Super-k as a foundational new algorithm and opening the possibility of a new family of algorithms. In this paper, it is shown via comparisons on certain datasets that the Super-k algorithm has the potential of providing comparable performance of the well-known SVM family of algorithms with less complexity. Copyright © 2020, The Authors. All rights reserved.

关键词： Piecewise linear techniques

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Smooth Pick-up of Freewheeling PMSM Using EKF-Based Method for Position Sensorless control

Smooth Pick-up of Freewheeling PMSM Using EKF-Based Method f...

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automation, control and Robots (ICACR), International Conference on

作者： Nils Werner Wilcken Martin Grotjahn Thomas Eutebach Institute of Engineering Design Mechatronics and Electromobility (IKME) University of Applied Sciences and Arts Hannover Germany RDS Motion Control Lenze Automation GmbH Aerzen Germany

ISBN: (数字)9781728192079

ISBN: (纸本)9781728192086

In this paper, a new extended Kalman filter (EK) based rotor position observer for permanent magnet synchronous machines (PMSM) is presented. With this method, just one single EKF is sufficent to evaluate the position information from EMF and anisotropy. Thus, PMSM can be controlled in the entire speed range without a position sensor and without the need to switch or synchronize between different observers. Furthermore, the phase delay in the feedback path of the control loop is reduced. With the increased accuracy of the estimated rotor position and speed, the resulting control behavior is optimized. This makes a smooth pick-up of freewheeling PMSM possibly, even if starting conditions are unknown. Demonstrated by measurements, the position sensorless control behavior shows an optimized dynamic.

关键词： Rotors Observers Mathematical model Current measurement Anisotropic magnetoresistance Switches Synchronization

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