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Intelligent Prediction of Surface Roughness of Milling Aluminium Alloy Based on Least Square Support Vector Machine

Intelligent Prediction of Surface Roughness of Milling Alumi...

引用

The 22nd China control and Decision Conference(2010年中国控制与决策会议)

作者： Zhuoda Jiang Key Laboratory of Numerical Control of Jiangxi Province Jiujiang University Jiujiang Jiangxi 332005 China School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China

An intelligent model is developed to predict the surface roughness of aluminium alloy in the milling operation based on least square support vector machine (LS-SVM). The Taguchi’s design of experiment was adopted to provide enough training information with minimal experiment times. The present prediction model is to analyze the effects of condition factors, such as spindle speed, feed rate, etc. on the surface roughness (Ra). The tests have been conducted to verify the LS-SVM model, and the average prediction error is about 8％. It means the model is capable to predict the surface roughness well.

关键词： Prediction model Surface roughness Aluminium alloy Support vector machine(SVM) Least square SVM (LS-SVM)

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

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2012 9th IEEE International Conference on mechatronics and automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion

A Guideline for Humanoid Leg Design with Oblique Axes for Bi...

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IEEE-RAS International Conference on Humanoid Robots

作者： Konrad Fründ Anton Leonhard Shu Florian Christoph Loeffl Christian Ott German Aerospace Center (DLR) Institute of Robotics and Mechatronics Wessling Germany Faculty of Electrical Engineering and Information Technology TU Wien Automation and Control Institute Vienna Austria

ISBN: (纸本)9798350309805

The kinematics of humanoid robots are strongly inspired by the human archetype. A close analysis of the kinematics of the human musculoskeletal system reveals that the human joint axes are oriented within certain inclinations. This is in contrast to the most popular humanoid design with a configuration based on perpendicular joint axes. This paper reviews the oblique joint axes of the mainly involved joints for locomotion of the human musculoskeletal system. We elaborate on how the oblique axes affect the performance of walking and running. The mechanisms are put into perspective for the locomotion types of walking and running. In particular, walking robots can highly benefit from using oblique joint axes. For running, the primary goal is to align the axis of motion to the mainly active sagittal plane. The results of this analysis can serve as a guideline for the kinematic design of a humanoid robot and a prior for optimization-based approaches.

关键词： Legged locomotion Musculoskeletal system Actuators Torque Robot kinematics Humanoid robots Kinematics

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Comparison of three electrical capacitance tomography systems

Comparison of three electrical capacitance tomography system...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Dixiang Chen Wuqiang Yang Xiang Deng School of Mechatronics Engineering and Automation National University of Defense Technology Changsha China School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing China School of Electrical and Electronic Engineering University of Manchester Institute of Science and Technology Manchester UK

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.

关键词： Electrical capacitance tomography Circuits Visualization Capacitance measurement Current measurement Dielectric measurements Charge measurement Impedance measurement Calibration Image analysis

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Experimental Prototype of High-Efficiency Wind Turbine Based on Magnus Effect

Experimental Prototype of High-Efficiency Wind Turbine Based...

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International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Aleksandr Lukin Galina L. Demidova Dmitry V. Lukichev Anton Rassõlkin Ants Kallaste Toomas Vaimann Anouar Belahcen Faculty of Control System and Robotics ITMO University Saint Petersburg Russia Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallin Estonia Department of Electrical Engineering and Automation Aalto University Helsinki Finland

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

The main feature of Magnus wind turbine is the ability to produce energy at low wind speed. This benefit lets to use such types of turbines in smart homes, which are an important part of the development of distributed energy systems, growth of blockchain electricity technology and needs for duplication of the solar energy system in the private buildings. This paper presents topology of two cylinders Magnus wind turbine in order to ensure the highest values of power coefficient and the Magnus force. The optimal ratio of wind speed and cylinder rotation speed were detected to eliminate the oscillations caused by the Von Karman vortex street phenomenon.

关键词： Wind turbines Force Drag Rotors Mathematical model Wind speed Generators

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Improved integral fuzzy sliding mode control for a class of nonlinear uncertain systems

Improved integral fuzzy sliding mode control for a class of ...

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Chinese control Conference (CCC)

作者： Wen-Qiang Li Peng Li Lian Li Yi Zhang Department of Control Engineering Naval Aeronautical and Astronautical University Yantai P. R. China College of Mechatronics Engineering and Automation National University of Defense Technology Changsha P. R. China

For the conventional sliding mode control of a class of nonlinear uncertain systems, the ranges of sliding mode error and steady-state error are deduced. In order to reduce the steady-state error while anti-windup, an improved integral sliding surface is designed, and an improved integral fuzzy sliding mode control approach is proposed based on this sliding surface. In this approach, the integral action is reduced through adjust factor when the sliding variable outside the boundary layer. Then, the large overshoots due to the large initial errors can be avoided. When sliding variable inside the boundary layer, the integral action is conventional in order to reduce the steady-state error. The adjust factor is automatically tuned by real time fuzzy inference. Finally, an inverted pendulum control is used to illustrate the effectiveness and robustness of the proposed approach.

关键词： Steady-state Integral equations Sliding mode control Robustness Switches Transient analysis Laplace equations

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Magnus Wind Turbine: Finite Element Analysis and control System

Magnus Wind Turbine: Finite Element Analysis and Control Sys...

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International Symposium on Power Electronics, Electrical Drives, automation and Motion, SPEEDAM

作者： Galina L. Demidova Alecksey Anuchin Aleksandr Lukin Dmitry Lukichev Anton Rassõlkin Anouar Belahcen Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Department of Electrical Engineering and Automation Aalto University Helsinki Finland

ISBN: (数字)9781728170190

ISBN: (纸本)9781728170206

Due to its special features, the Magnus effect wind turbine allows you to produce energy at a very low speed of the wind. This fact, as well as the growing interest in the of blockchain technology, makes it possible to use this type of wind turbine in private household as part of a distributed energy system in addition to solar panels. The article describes a two blades Magnus wind turbine whose cylinders rotate by means of embedded motors. To avoid a von Karman vortex street effect that occur when the cylinders rotate in the air flow, as well as to ensure maximum power, the optimal ratio between the wind speed and the cylinder rotation speed is determined using finite element analysis. Further, the obtained relations are used in the algorithms of the wind turbine control system.

关键词： Wind turbines Force Wind speed Generators Mathematical model Torque control systems

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Self-Tuning Neural Network controller Based on Fuzzy Logic for Multiple Positions Tracking of a Pneumatic Driven Soft Endoscope Actuator

Self-Tuning Neural Network Controller Based on Fuzzy Logic f...

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International Conference on Autonomous Robots and Agents, ICARA

作者： Renzo Acosta Julio Tafur Ruth Canahuire Enginnering Department Control and Automation Engineering Master Degree Program Pontificia Universidad Catolica del Peru Lima Peru Department of Electrical and Mechatronics Engineering Universidad de Ingenieria y Tecnologia - UTEC Lima Peru

ISBN: (数字)9798350394245

ISBN: (纸本)9798350394252

This paper presents the dynamic modelling and end effector position control of a soft endoscope. Soft endoscope system under study consists mainly of a pneumatic driven soft actuator (PDSA) with four independently chambers. Recurrent neural network (RNN) and dynamic back propagation (DBP) training algorithm are used to obtain PDSA dynamic model. PDSA position controller is based on a feedforward neural network (FNN) and it is trained using PDSA closed loop system (CLS) and DBP training algorithm. CLS stability analysis concludes that it is not possible control PDSA end effector position using one position controller for different end effector initial and desired positions. Fuzzy logic methodology is used to integrate several positions controllers in a one controller valid for all operation range. The controller implementation and close loop system simulation are performed in MATLAB for different end effector desired position to validate system performance in all range of operation.

关键词： Training Fuzzy logic Backpropagation Recurrent neural networks Endoscopes Heuristic algorithms Artificial neural networks

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Fast implicit surface reconstruction method based on normal constraints

Fast implicit surface reconstruction method based on normal ...

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International Conference on mechatronics and automation

作者： Guo, Guangyue Wu, Xiaojun Wang, Michael Yu Wu, Jianhuang Shenzhen Graduate School Harbin Institute of Technology 518055 China Division of Control and Mechatronics Engineering Shenzhen Graduate School Harbin Institute of Technology 518055 China Mechanical and Automation Engineering Department Chinese University of Hong Kong Shatin N.T. Hong Kong Shenzhen Institute of Advanced Integration Technology Chinese Academy of Sciences Chinese University of Hong Kong Shatin N.T. Hong Kong

ISBN: (纸本)9781424451418

In this paper, a new procedure for implicit surface reconstruction from oriented points is presented. A normal constraints based implicit polynomials fitting method and the partition of unity approach are fused into our framework. Firstly, a large scale input data is subdivided into some overlapping patches by octree. Then the global implicit surface is transferred into local implicit patch fitting and blending of them. To fit the local implicit polynomials, we build an energy by three steps corresponding to enforcement of the interpolatory constraints, satisfying of normal constraints and enhancement of fitting stability. The unkowns in an implicit polynomial are determined by minimizing this quadratic energy function. It is demonstrated in some experiments with several real data sets that this combination provides an intuitive and effective means to approximate the scattered point data associated normals. © 2010 IEEE.

关键词： Surface reconstruction

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A model based compensator for rate-dependent hysteresis in piezoelectric actuators

A model based compensator for rate-dependent hysteresis in p...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Xinliang Zhang Yonghong Tan Ruili Dong Yangqiu Xie School of Electrical Engineering and Automation Henan Polytechnic University Henan China College of Mechanical and Electronic Engineering Shanghai Normal University Shanghai China Center of Precision Mechatronics and Control Engineering Shanghai Normal University Shanghai China School of Electronic Engineering Xidian University Xi'an China

A feedforward compensator for rate-dependent hysteresis in piezoelectric actuators (PEA) is proposed. In this method, a model with parallel structure is proposed to approximate both hysteretic behavior and rate-dependent feature of the PEA. In the model, the rate-independent hysteretic performance is approximated by a neural network based on the so called expanded input space method, while the rate-dependent behavior of the hysteresis is approximated by a network with the sum of weighted first-order difference operators. To transform the multi-valued mapping of the hysteresis into a one-to-one mapping, the expanded input space with a hysteretic operator is constructed. Then, the corresponding neural inverse sub-model is obtained. After that, a compensator is constructed to compensate for the effect of the rate-dependent hysteresis in the PEA. Finally, the experimental results of applying the proposed method to a piezoelectric actuator are presented.

关键词： Hysteresis Artificial neural networks Piezoelectric actuators Adaptation model Feedforward neural networks Training Trajectory

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