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5th International Conference on Intelligent Computing, Communication and Devices, ICCD 2019

作者： Gao, Qian Xiao, Wei College of Mechanical and Automation Engineering Hohai University Nanjing China College of Mechatronics and Control Engineering Shenzhen University Shenzhen China

ISBN: (纸本)9789811558863

Considering the complex calibration of the robot visual servo system, this paper proposed an uncalibrated visual servo method, which is based on the Kalman filter optimized by the simultaneous perturbation stochastic approximation algorithm. In the proposed method, the Kalman filter is applied to the identification of the robot image Jacobi matrix, and the initial values of filter parameters are optimized with the simultaneous perturbation stochastic approximation algorithm. Estimating the image Jacobi matrix and designing the control rate of robots with this method can avoid the complex calibration process. The simulation experiment on the visual servo system of eye-in-hand 6-DOF robots shows that the proposed method can realize the localization in the visual servo system of full-DOF robots accurately without calibrating the camera parameters and the coordinate relations of robots. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Robots

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Cutting force and specific energy for rotary ultrasonic drilling based on kinematics analysis of vibration effectiveness

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Chinese Journal of Aeronautics 2022年第1期35卷 376-387页

作者： Zhen LI Songmei YUAN Jiang MA Jun SHEN Andre D.L.BATAKO College of Mechatronics and Control Engineering.Shenzhen University Shenzhen 518060China College of Physics and Optoelectronic Engineering Shenzhen UniversityShenzhen 518060China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100083China The General Engineering&Techmology Research Institute Liverpool John Moores UniversitLiverpool L33AF.UK

Rotary ultrasonic drilling(RUD)has become an effective approach for machining advanced composites which are widely using in the field of *** cutting kinematics and the corresponding material removal mechanisms are distinct in different drilling areas during ***,these fundamentals have not been fully considered in the existing *** this research,two distinct forms of interaction induced by ultrasonic vibration were considered as impact-separation and vibratory lapping between the abrasives and *** the conditions to guarantee the effectiveness of these interactions were obtained to eliminate diminishing effects of ultrasonic *** on indentation fracture theory,the penetration depth of abrasives and the axial drilling force model was derived for *** verification tests of C/SiC composites resulted in a prediction error within 15%.Due to the minimal volume of material removed during each vibration cycle,the drilling force was more stable in vibration assisted *** specific drilling energy of RUD was firstly calculated based on the measured drilling *** was found the drilling parameters should be matched with vibration frequency and amplitude to make better usage of the advantages of ultrasonic vibration,which is critical in the vibration assisted processing of advanced materials.

关键词： Ceramic matrix composite Drilling force modelling Kinematics analysis Rotary ultrasonic drilling Specific drilling energy Vibration diminishing effect

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Mapping of incremental dynamic environment using Rao-Blackwellized particle filter

Mapping of incremental dynamic environment using Rao-Blackwe...

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12th International Conference on Intelligent Autonomous Systems, IAS 2012

作者： Öner, Alper Control and Automation Engineering Department Mechatronics Education and Research Center Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9783642339257

This research is a preliminary research for real time autonomous robot in unknown incremental dynamical environment. A general method for mapping incremental dynamic environment using Multiple Target tracking (MTT) was proposed in this research. Rao-Blackwellized Particle Filter (RBPF) was used for the multiple moving obstacles tracking problem. Firstly data association problem was solved via Multiple Hypothesis Tracking (MHT) data association by a new method. The new MHT method can use extra information except using only position of targets. Particle Filter is used in the method. Each particle is assumed as an obstacle map. Then tracking problem for each obstacle in the particle is solved by Extended Kalman Filter (EKF). Finally the particle which has highest weight is assumed as the dynamic map. Additionally a new resampling method was proposed in this research. The algorithm can cope with new obstacles and false detection according to the pure particle filter. Obstacles are assumed as human in this research hence their velocities are determined randomly up to human walking speed. Furthermore the robot moves approximately at human walking speed. A graphical user interface program was constituted in MATLAB so different states are surveyed. © 2013 Springer-Verlag.

关键词： Mapping

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control of an overhead crane with the controlled Lagrangian method

Control of an overhead crane with the controlled Lagrangian ...

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作者： Poljak, Daniel Schindele, Dominik Antritter, Felix Aschemann, Harald Hillermeier, Claus Department of Automation and Control Engineering University of the Bundeswehr Munich Germany Department of Mechatronics University of Rostock Germany

ISBN: (纸本)9783902661807

A nonlinear controller structure for an overhead crane is designed and implemented on a crane plant. The energy based stabilizing controller part is derived by the method of controlled Lagrangians. In that framework, kinetic and potential shaping is performed and so-called general matching conditions are employed. control parameters well suited for the practical implementation are found by optimization using the linearization of the closed loop system. Nonlinear damping effects are counteracted in the overall controller structure by feedforward compensation and a reduced nonlinear disturbance observer. © 2010 IFAC.

关键词： Lagrange multipliers

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Type synthesis of a new class of 4-3T1R(y) parallel mechanisms for parallel machine tools design

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Discover Mechanical engineering 2024年第1期3卷 1-19页

作者： Wu, Shiyun Du, Jianjun Pan, Jianfei Lei, Jianguo School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China College of Mechatronics and Control Engineering Shenzhen University Shenzhen 518061 China

Unlike previous design procedures for parallel machine tools (PMTs), this paper first analyzes the path and posture requirements of the tools in universal processing, then proposes and constructs a new class of PMs that can provide the required path and posture. This opens up new ideas for the design of PMTs. Based on the reciprocal screw theory, a type synthesis process of asymmetrical lower-mobility PMs was proposed. Through this process, a novel class of four-limbed parallel mechanisms (PMs) providing three translations and one rotation around a horizontal axis (y-axis), denoted as 4-3T1R(y) PMs, was successfully proposed and constructed. Such PMs can be applied to the design of PMTs, especially the design of micro-electrical discharge machining (micro-EDM) PMTs. The structural design of a new 2RRC-2CRU PM, which was a member of 4-3T1R(y) PMs, was performed, and its mobility was analyzed in detail to demonstrate the efficiency of the proposed type synthesis process. The inverse, forward, and velocity kinematics problems of the 2RRC-2CRU PM were solved for further applications. © The Author(s) 2024.

关键词： Kinematics problem Parallel machine tools Parallel mechanisms Type synthesis

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Development and control of compliant hybrid joints for human-symbiotic mobile manipulators

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International Journal of Advanced Robotic Systems 2007年第1期4卷 27-34页

作者： Li, Zhijun Luo, Jun Xi, Hing Ming, Aiguo School of Electrical and Electronics Engineering Nanyang Technological University Singapore Singapore School of Mechatronics Engineering and Automation Shanghai University Shanghai China Department of Electrical and Computer Engineering Michigan State University United States Department of Mechanical and Control Engineering University of Electro-Communications Japan

In this paper, we develop a robot with the ability to secure human safety in human-robot collisions arising in our living and working environments. The human-symbiotic service robot using compliant hybrid joints realizes human safety, absorbs impact force, and fulfills task. In unexpected or expected collisions with human, the arising impulse force is attenuated effectively by the proposed physical model. Owing to the displacement of the links, several recovery controls have been developed for the end-effector to maintain its desired task position after the collision. The force attenuation property has been verified through collision simulations and experiments in that the capability of the proposed passive arm in overcoming the limitations of active compliance control has been demonstrated.

关键词： Manipulators

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Extended Kalman Filter Based Nonlinear Probabilistic Model Predictive control of an Autonomous Motorcycle 11

Extended Kalman Filter Based Nonlinear Probabilistic Model P...

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11th International Conference on Electrical and Electronics engineering, ICEEE 2024

作者： Çerçi, Nurettin Yalçin, Yaprak Istanbul Technical University Mechatronics Engineering Department Istanbul Turkey Istanbul Technical University Control and Automation Engineering Department Istanbul Turkey

ISBN: (纸本)9798350362541

This work focuses on the control of a nonlinear autonomous motorcycle model using Probabilistic Model Predictive control (MPC). The main purpose of this work is to control the speed, yaw angle and roll angle of the motorcycle while keeping its balance during a maneuver. The Probabilistic MPC takes into account the probabilistic disturbances acting on the control inputs or the state variables. The cost function of the optimization of this proposed nonlinear probabilistic MPC is different than the cost of traditional deterministic MPC, such that, it contains terms that represent the mean of the state variable which is calculated with the help of an Extended Kalman Filter (EKF) and also the terms as the functions of covariances of the state variables and control inputs. The optimization algorithm is fed with these mean and covariance values every time instant, then the controller calculates the optimal control sequence to apply it to the system model. The speed of the motorcycle, the yaw angle and, the roll angle of the motorcycle are controlled with good efficiency. © 2024 IEEE.

关键词： Extended Kalman filters

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EMI Noise Reduction with Magnetic Integrated LCL Filter in the Grid-Connected Inverter 49

EMI Noise Reduction with Magnetic Integrated LCL Filter in t...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Liu, Xingyu Liu, Yitao Jiang, Shiqi College of Mechatronics and Control Engineering Shenzhen University Shenzhen China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350331820

This paper presents a magnetic integration scheme of LCL filter with symmetrical structure. This magnetic integration scheme uses EIE core to realize the inductor integration of symmetrical LCL filter, and realizes the decoupling and integration of upper and lower E-cores. The effectiveness of the magnetic integrated symmetrical LCL filter is verified by simulation and experiment. A 600 W single-phase SiC high-frequency inverter was used as the experimental platform to give the output current harmonic analysis results and conducted EMI noise. The symmetrical LCL filter with integrated structure not only has good harmonic suppression effect, but also greatly improves EMI suppression ability. The integrated filter is significantly smaller weight, helping to increase system power density. © 2023 IEEE.

关键词： Noise abatement

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Transient stability enhancement for power grid with MMC-MTDC under N-k contingencies 7

Transient stability enhancement for power grid with MMC-MTDC...

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7th Asia Conference on Power and Electrical engineering, ACPEE 2022

作者： Shi, Zhongpei Long, Yuanjian Wang, Huaizhi Wu, Ting Shenzhen University College of Mechatronics and Control Engineering Shenzhen China Harbin Institute of Technology The School of Mechanical Engineering and Automation Shenzhen China

ISBN: (纸本)9781665418195

With the global climate change, the frequency of extreme weather is getting higher and higher, and the threat to the safe operation of the power system is gradually increasing, which is likely to cause large-scale power outages then result in N-k contingencies. Meanwhile, Modular Multi-level Converter (MMC) based Multi Terminal High Voltage Direct Current (MTDC) has been confirmed that can provide the possibility for the network interconnection between regional power systems and various renewable energy resources to boost supply reliability and economy. To enhance the transient stability of the power grid, a generation rescheduling scheme by optimal emergency control that considers the risk-based dynamic security constraint and reactive power constraints is proposed. The proposed strategy can avoid subsequent N-k-1 contingencies in the harsh environment by changing the generating capacity of the generator and the operation state of the MMC. The simulation results from studies on a 10-machine-39-bus power system have been demonstrated the effectiveness of the proposed control strategy. © 2022 IEEE.

关键词： Electric power transmission networks

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Catch me if you can: A pursuit-evasion game with intelligent agents in the Unity 3D game environment 6

Catch me if you can: A pursuit-evasion game with intelligent...

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6th International Conference on Electrical engineering, ICEE 2020

作者： Sahin, Ihsan Kumbasar, Tufan Istanbul Technical University Mechatronics Engineering Department Istanbul Turkey Istanbul Technical University Control and Automation Engineering Department Istanbul Turkey

ISBN: (纸本)9781728182926

In this paper, we present a pursuit-evasion game with intelligent agents in the Unity 3D environment. The pursuit-evasion game consists of one evader and four pursuers which are the red, blue, orange and pink agents. In the game scenario, the goal of the evader, which is controlled by human user, is to collect papers without getting caught by the four pursuer agents. The pursuer agents are constructed such that they can move autonomously in the game field via the deployment of a dynamic waypoint structure and the A∗ algorithm. The red, blue and orange pursuer agents share the information on location of the evader agent if the evader agent lies in one of their limited line of sight. They try to intercept the evader agent from different directions in collaborative manner. In this context, we designed a PD controller based pursuing system that tries to minimize the distance between the evader and pursuer agent. For the pink agent, we designed a fuzzy logic based pursuing system that is capable to generate reference interception points and force values to catch evader agent. The performance of the pursuing systems is examined by providing experimental results collected from the game-environment. The results show that the performance of the developed pursuing strategies is satisfactory and the fuzzy logic based pursuing system resulted with a better performance when compared to its conventional counterpart. © 2020 IEEE.

关键词： Fuzzy logic

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