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SICE International Symposium on control Systems (ISCS)

作者： Wen-Chuan Chen Yu-Liang Hsu Po-Huan Chou Hsin-Hung Lee Hsing-Cheng Chang Shih-Chin Yang Chin-Sheng Chen Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Institute of Automation Technology National Taipei University of Technology Taipei Taiwan Mechatronics Control Department Industrial Technology Research Institute Hsinchu Taiwan Department of Mechanical Engineering National Taiwan University Taipei Taiwan

ISBN: (纸本)9781509056149

This paper presents an inertial-sensing-based vibration analysis and suppression system for laser galvanometers. The functions of this system are to measure the vibrations during rotation motions of galvanometers and to design a comb filter for restraining the vibrations of the galvanometers effectively. The proposed system is composed of an intelligent motion control platform, a servo driver circuit, a galvanometer driver module, a galvanometer, and a MEMS piezoelectric accelerometer. The proposed system can measure the vibration signals generated by the galvanometer using the piezoelectric accelerometer and utilize the fast Fourier transformation (FFT) to analyze the vibration frequencies. Subsequently, a digital comb filter is designed to restrain the vibrations of the galvanometer based on the obtained vibration frequencies. Finally, the experimental results have successfully validated that the proposed inertial-sensing-based vibration analysis and suppression system, and the designed comb filter can measure, analyze, and restrain the vibrations of the galvanometer effectively and further improve the accuracy and stability of the laser galvanometer scanning system.

关键词： Vibrations Frequency measurement Resonant frequency Vibration measurement Mirrors Accelerometers Torque

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Design, implementation and control of dual axis self balancing inverted pendulum using reaction wheels

Design, implementation and control of dual axis self balanci...

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International Conference on Electrical and Electronics engineering, ELECO

作者： Abdullah Türkmen M. Yusuf Korkut Mustafa Erdem Ömer Gönül Volkan Sezer 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

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.

关键词： Wheels Mathematical model DC motors Gravity State feedback Torque Aluminum

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Mean field differential games in intelligent transportation systems

Mean field differential games in intelligent transportation ...

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International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS)

作者： Alper Öner Tamer Başar Gülay Öke Günel Mechatronics Education and Research Center Istanbul Technical University Istanbul Turkey Coordinated Science Lab University of Illinois Urbana-Champaign Illinois USA Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

In this paper, we study Intelligent Transportation Systems (ITS) for future Smart Cities. We propose a new type of Automated Highway System (AHS), which optimizes both total consumed energy and travel time. We build on our previous work by adapting it to ITS as a new class of games, which is Mean Field (MF) Multilayer Stackelberg Games (MSG). In this game model, a leader (control Center) imposes its fixed strategy on all followers (Vehicles). However, the control Center cannot manipulate the vehicles directly. Instead, sub-leaders (Road Links) link up vehicles to the control center as an intermediary layer. Therefore, vehicles of each road link are weakly coupled through a Mean Field term, which affects the vehicles' individual costs. The main novelty in this paper is to consider the Mean Field Game for Automated Highway Systems in a Smart City. Because of the fact that there are no fully autonomous highways in cities, implementing new type the algorithm on ITS is nearly impossible for real life scenarios. Hence we have developed our highly realistic simulation environment, Istanbul Technical University City Transportation Simulator (ITUCiTSim) program. We demonstrate the effectiveness of the proposed method on ITUCiTSim.

关键词： Games Roads Smart cities Performance analysis Automated highways

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Indoor 3D scene reconstruction for mobile robots using Microsoft kinect sensor 35

Indoor 3D scene reconstruction for mobile robots using Micro...

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第35届中国控制会议

作者： LI Jiang-Wei ZHENG Ding-Fu GUAN Zhi-Hong CHEN Chao-Yang JIANG Xiao-Wei ZHANG Xian-He College of Automation Huazhong University of Science and Technology The Key Laboratory of Ministry of Education for Image Processing and Intelligent Control (Huazhong University of Science and Technology) School of Information and Electrical Engineering Hunan University of Science and Technology College of Mechatronics and Control Engineering Hubei Normal University

ISBN: (纸本)9781509009107

3D mapping for unknown environments is a crucial issue for mobile service robots,which has many important applications in navigation and path *** this paper,we use Microsoft kinect sensor mounted on a mobile robot to obtain3 D *** the process,consistent frames of RGB-D data are captured and *** Closest Point(ICP)algorithm and incremental registration method are employed to perform the fine ***,we use OctoMap to store 3D map of octree representation,an efficient data ***,our results demonstrate the practical applicability and effectiveness of the proposed approach.

关键词： 3D mapping Kinect OctoMap Mobile Robots

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Modeling and Iterative Learning control of a Circular Deformable Mirror

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IFAC-PapersOnLine 2017年第1期50卷 3117-3122页

作者： Cichy B. Augusta P. Gałkowski K. Rauh A. Aschemann H. Rogers E. Rehák B. Institute of Control and Computation Engineering University of Zielona Góra ul. Szafrana 2 Zielona Góra 65-516 Poland Institute of Information Theory and Automation The Czech Academy of Sciences Pod Vod´arenskou věží 4 Prague CZ-182 08 Czech Republic Chair of Mechatronics University of Rostock Justus-von-Liebig-Weg 6 Rostock D-18059 Germany Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom

An unconditionally stable finite difference scheme for systems whose dynamics are described by a fourth-order partial differential equation is developed using a regular hexagonal grid. The scheme is motivated by the well-known Crank-Nicolson discretization that was originally developed for second-order systems and it is used in this paper to develop a discrete in time and space model of a deformable mirror as a basis for control law design. As one example, the resulting model is used for iterative learning control law design and supporting numerical simulations are given. © 2017

关键词： control of partial differential equations Iterative learning control Linear systems N-dimensional systems Stability of distributed parameter systems

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Enhanced pid vs model predictive control applied to bldc motor

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IOP Conference Series: Materials Science and engineering 2018年第1期303卷

作者： M.S Gaya Auwal Muhammad Rabiu Aliyu Abdulkadir S.N.S Salim I.S Madugu Aminu Tijjani Lukman Aminu Yusuf Ibrahim Dauda Umar M.T.M Khairi Dept of Electrical Engineering Kano University of Science & TechnologyWudilNigeria Dept of Physics Kano University of Science & Technology Wudil Dept of Industrial Automation & Robotic Universiti Teknikal Malaysia Melaka Malaysia Dept of Electrical Engineering Bayero University Kano Nigeria Dept of Control & Mechatronics Universiti Teknologi Malaysia Skudai Nigeria

BrushLess Direct Current (BLDC) motor is a multivariable and highly complex nonlinear system. Variation of internal parameter values with environment or reference signal increases the difficulty in controlling the BLDC effectively. Advanced control strategies (like model predictive control) often have to be integrated to satisfy the control desires. Enhancing or proper tuning of a conventional algorithm results in achieving the desired performance. This paper presents a performance comparison of Enhanced PID and Model Predictive control (MPC) applied to brushless direct current motor. The simulation results demonstrated that the PSO-PID is slightly better than the PID and MPC in tracking the trajectory of the reference signal. The proposed scheme could be useful algorithms for the system.

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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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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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Dynamics and Optimal Design of a 3-DoF Parallel Manipulator for Pick-and-Place Applications

Dynamics and Optimal Design of a 3-DoF Parallel Manipulator ...

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第17届中国系统仿真技术及其应用学术年会（17th CCSSTAE 2016）

作者： Lou Yun-jiang Liao Bin Key Lab for Advanced Motion Control Technology and Modern Automation Equipments School of Mechatronics Engineering and AutomationHarbin Institute of Technology(Shenzhen)

Robot acceleration is the bottleneck for high-speed pick-and-place *** this paper,the extreme acceleration at null velocity is proposed to characterize the acceleration *** dynamic model of the V3 robot is developed for computing the extreme *** each subchain of the robot is comparable to a cantilever beam structure,its bending deflection may be considerable and thus leads to manipulation *** bending stiffness is thus proposed characterized by the bending *** the acceleration and the bending stiffness with kinematic indices of velocity,accuracy,and dexterity,the optimal design problem is formulated to maximize the dextrous workspace having specified good *** optimal structure shows greatly improved performance in workspace,velocity,acceleration,and accuracy.

关键词： Dynamics Bending Deflection Pick-and-Place Optimal Design Parallel Manipulator

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Enhancing BEM simulations of a stalled wind turbine using a 3D correction model

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Journal of Physics: Conference Series 2018年第1期974卷

作者： Galih Bangga Go Hutomo Taurista Syawitri Tri Kusumadewi Winda Oktavia Ahmad Sabila Herlambang Setiadi Muhamad Faisal Yongki Hendranata Dwi Lastomo Louis Putra Stefanus Kristiadi Ilmi Bumi Institute of Aerodynamics and Gas Dynamics University of Stuttgart Stuttgart Germany Mechanical Engineering Department Institut Teknologi Sepuluh Nopember Surabaya Indonesia Toyota SO Department Astra International Ltd. Indonesia Mechanical Engineering Department Universitas Muhammadiyah Surakarta Surakarta Indonesia School of Manufacturing System and Mechanical Engineering Sirindhorn International Institute of Technology Thammasat University Thailand Project Support and Cost Control Division Indoturbine Ltd. Jakarta Indonesia Civil Engineering Department Universitas Brawijaya Malang Indonesia School of Information Technology & Electrical Engineering The University of Queensland Brisbane Australia Non-Installation Top Range Department Berca Schindler Lifts Ltd. Indonesia Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taiwan Mechanical Engineering Department Texas A&M University College Station United States PUI-PT Mechatronics and Industrial Automation Research Center Intitut Teknologi Sepuluh Nopember Surabaya Indonesia Mechanical Engineering Department Politecnico di Milano Milan Italy Aeronautics Department Imperial College of Science Technology and Medicine London United Kingdom Materials Engineering Department Institut Teknologi Sepuluh Nopember Surabaya Indonesia

Nowadays wind turbine rotors are usually employed with pitch control mechanisms to avoid deep stall conditions. Despite that, wind turbines often operate under pitch fault situation causing massive flow separation to occur. Pure Blade Element Momentum (BEM) approaches are not designed for this situation and inaccurate load predictions are already expected. In the present studies, BEM predictions are improved through the inclusion of a stall delay model for a wind turbine rotor operating under pitch fault situation of -2.3° towards stall. The accuracy of the stall delay model is assessed by comparing the results with available Computational Fluid Dynamics (CFD) simulations data.

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