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4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2022

作者： Azanpa, Mahmut Vural, Berkem Tas, Ali Ihsan Ozden, Ali Burak Iscan, Mehmet Yildiz Technical University Mechatronics Engineering Department Istanbul Turkey Yildiz Technical University Control and Automation Engineering Department Istanbul Turkey

ISBN: (纸本)9781665468350

Nowadays, the optimally developed system design has been important with the improvement of the technology. The mathematical model approach with the proper controller design provides a more efficient system with its outputs, as well. One of the complex structures is the alpha type Stirling motor in which it is used to control two independent pistons for gaining more power and but makes controlling its dynamics difficult due to its complex structure dynamics in terms of heat and mechanics interactions. In addition to these difficulties, it must be required to design optimal control via system dynamics perspectives because of the characteristics of four different phases. Due to these reasons, in this study, nonlinear Lyapunov-based optimal control for alpha type stirling engine was performed by combining ideal thermodynamic and mechanic equations. The suggested controller was tested under the different reference motor velocities by calculating optimal heat energy consumption via the control rule. After designing two cascade controllers, both mechanical and heat system controls were achieved to optimize heat energy consumption for different motor velocities. It was proved that the proposed method attained high performance for reference tracking of alpha Stirling motor velocities by interacting heat-mechanical system dynamics modeling via Lyapunov control theory. © 2022 IEEE.

关键词： control theory

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Enhancing Visual Odometry Accuracy through Block-Based Techniques

Enhancing Visual Odometry Accuracy through Block-Based Techn...

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2024 Innovations in Intelligent Systems and Applications Conference, ASYU 2024

作者： Atilgan, Cem Mercimek, Muharrem Department of Mechatronics Engineering Kırklareli University Kirklareli Turkey Department of Control and Automation Engineering Yildiz Technical University Istanbul Turkey

ISBN: (纸本)9798350379433

Visual odometry (VO) is a method used to estimate the spatial movement of vehicles or camera-equipped systems by analyzing visual data from the environment. It is a cost-effective and accurate alternative to systems like Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS), and is particularly favored in autonomous vehicles, unmanned aerial vehicles (UAVs), and augmented reality applications. This study focuses on the performance challenges faced by visual odometry systems in low-light environments, where traditional systems may not be effective and presents a novel approach, Contrast-Adaptive Block Optimization (CABO), to enhance VO in low-light environments. CABO divides images into blocks and selectively applies Contrast Limited Adaptive Histogram Equalization (CLAHE) to darker regions, optimizing image quality without compromising natural appearance. By improving feature extraction and matching, CABO enhances VO accuracy and robustness. We utilized the Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI) dataset, we demonstrate the effectiveness of the proposed method in improving position and orientation estimation under challenging lighting conditions. © 2024 IEEE.

关键词： Inertial navigation systems

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Real Time Discrete control Algorithm for Gimbal System Design in Mini Unmanned Aerial Vehicles 4

Real Time Discrete Control Algorithm for Gimbal System Desig...

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4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2022

作者： Tas, Ali Ihsan Iscan, Mehmet Ozden, Ali Burak Cinar, Emre Vural, Berkem Yilmaz, Cuneyt Yildiz Technical University Mechatronics Engineering Department Istanbul Turkey Yildiz Technical University Control and Automation Engineering Department Istanbul Turkey

ISBN: (纸本)9781665468350

Nowadays, gimbal systems have been a very critical role to obtain some important information related to live images photos and target detection in unmanned aerial vehicles. The most basic performance criterion of gimbal systems depends on its stabilization in which the desired reference tracking must be accomplished by designing complex controller structure. For this purpose, a discrete controller design is presented to provide reduced cost, high-performance, 3-axis gimbal systems in real-time operation. Firstly, the mathematical model of the system was obtained and 3D - computer aided design was made in order to calculate the system parameters like inertia, damping factor, etc. After that forward and inverse kinematic equations for the gimbal system were obtained in order to calculate the reference degree in each axis. The discrete controller was derived from energy-based computed torque proportional controller which was based on the Lyapunov Stability Theorem in discrete notation. The reference tracking results at 10 milliseconds sampling time are as follows;0 overshoot for 3 axes with lack of steady-state errors, and the time constants are 0.1575, 0.1610, and 0.27 second which are acceptable for roll, pitch, and yaw axes, respectively. In addition, the discrete-time performance of the proposed controller was compared with a PID controller designed in continuous time, and it was shown that the continuous-time design did not work efficiently as well as discrete time one. © 2022 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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An Improved Cooperative Team Spraying control of a Diffusion Process With a Moving or Static Pollution Source

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IEEE/CAA Journal of Automatica Sinica 2020年第2期7卷 494-504页

作者： Juan Chen Baotong Cui Yang Quan Chen Bo Zhuang Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education)and School of IoT Engineering Jiangnan UniversityWuxi 214122China Mechatronics Embedded Systems and Automation LaboratoryUniversity of CaliforniaMerced CA 95343 USA

This paper is concerned with a control problem of a diffusion process with the help of static mesh sensor networks in a certain region of interest and a team of networked mobile actuators carrying chemical *** major contribution of this paper can be divided into three parts:the first is the construction of a cyber-physical system framework based on centroidal Voronoi tessellations(CVTs),the second is the convergence analysis of the actuators location,and the last is a novel proportional integral(PI)control method for actuator motion planning and neutralizing control(e.g.,spraying)of a diffusion process with a moving or static pollution source,which is more effective than a proportional(P)control *** optimal spraying control cost function is ***,the minimization problem of the spraying amount is ***,a new CVT algorithm based on the novel PI control method,henceforth called PI-CVT algorithm,is introduced together with the convergence analysis of the actuators location via a PI control ***,a modified simulation platform called diffusion-mobile-actuators-sensors-2-dimension-proportional integral derivative(Diff-MAS2D-PID)is *** addition,a numerical simulation example for the diffusion process is presented to verify the effectiveness of our proposed controllers.

关键词： Centroidal Voronoi tessellations(CVTs) diffusion processes mobile actuator-sensor networks(MAS-Net) PI control

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Camera parameters auto-adjusting technique for robust robot vision

Camera parameters auto-adjusting technique for robust robot ...

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2010 IEEE International Conference on Robotics and automation, ICRA 2010

作者： Lu, Huimin Zhang, Hui Yang, Shaowu Zheng, Zhiqiang Department of Automatic Control College of Mechatronics Engineering and Automation National University of Defense Technology Changsha Hunan China

ISBN: (纸本)9781424450381

How to make vision system work robustly under dynamic light conditions is still a challenging research focus in computer/robot vision community. In this paper, a novel camera parameters auto-adjusting technique based on image entropy is proposed. Firstly image entropy is defined and its relationship with camera parameters is verified by experiments. Then how to optimize the camera parameters based on image entropy is proposed to make robot vision adaptive to the different light conditions. The algorithm is tested by using the omnidirectional vision in indoor RoboCup Middle Size League environment and the perspective camera in outdoor ordinary environment, and the results show that the method is effective and color constancy to some extent can be achieved. ©2010 IEEE.

关键词： Cameras

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The effects of parameter variation in open-loop and closed-loop control scheme for an electro-hydraulic actuator system

International Journal of Control and Automation

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International Journal of control and automation 2016年第11期9卷 283-294页

作者： Soon, C.C. Ghazali, R. Jaafar, H.I. Hussien, S.Y.S. Sam, Y.M. Rahmat, M.F. Centre for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Durian Tunggal Hang Tuah Jaya Melaka76100 Malaysia Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor81310 Malaysia

It is well known that the electro-hydraulic actuator (EHA) system is exposed to the disturbances, uncertainties, and parameter variations which are caused by the changes in operating conditions for instance, total moving mass, supply pressure, servo-valve gain, bulk modulus, leakage coefficient, and friction. These problems pose to a great challenge in modelling and controller development for an EHA system. Degradation of the desired performance can be imposed if an improper control strategy is utilized. This paper discusses the fundamental study on the significant effect that leads to degradation of EHA system performance due to variation in the system parameters. A nonlinear EHA system model is developed and implemented in the simulation studies in open-loop and closed-loop control configuration. The finding shows that the servo-valve gain resulted the most influential parameters to the EHA system performance as compared to the total moving mass and supply pressure parameters. In order to overcome these issues, the utilized controller should be robust enough to overcome the entire operating range that against such disturbances, uncertainties, and parameter variations. Therefore, a nonlinear and the intelligent control approach may be necessary to be designed in order to overcome these difficulties. © 2016 SERSC.

关键词： Closed loop control systems

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Multi-Channel Knowledge Distillation via Efficient Feature Fusion Module for Anomaly Segmentation

Multi-Channel Knowledge Distillation via Efficient Feature F...

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2023 China automation Congress, CAC 2023

作者： Zhou, You Huang, Zihao Zeng, Deyu Wu, Zongze School of Automation Guangdong University of Technology Guangzhou China College of Mechatronics and Control Engineering Shenzhen University Shenzhen China

ISBN: (纸本)9798350303759

Unsupervised image anomaly detection and segmentation algorithms hold significant importance in enhancing product quality in real-world industrial manufacturing. Anomaly detection methods based on the knowledge distillation framework perform detection by characterizing differences between anomalous samples. However, knowledge distillation-based anomaly detection methods often employ similar or identical architectures for constructing both teacher and student models. This practice has led to the issue of vanishing anomaly activation values, resulting in detection failures. Hence, the proposed Multi-Channel Knowledge Distillation model (MCKD) consists of a pair of student networks proficient at effectively capturing defect-related information. One branch of the student network enhances its diverse representation of anomalies by restoring the input's multi-scale representations. The other branch enriches the model's capacity to represent detailed defect information by extracting features from different scales. Additionally, our design of the Residual Features Aggregation Module (RFAM) ensures better retention of normal pattern information within the student network while disregarding information from abnormal patterns, resulting in enhanced modeling of positive samples. The proposed framework achieves state-of-the-art (SOTA) on the well-known MVTec AD dataset, with an area under the receiver operating characteristic curve of 97.1% for anomaly detection across all 15 categories and an area under the anomaly segmentation of 98.14%. © 2023 IEEE.

关键词： Distillation

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Hyperbolic tangent adaptive LQR+PID control of a quadrotor 6

Hyperbolic tangent adaptive LQR+PID control of a quadrotor

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6th International Conference on control engineering and Information Technology, CEIT 2018

作者： Yavuz, Hayrettin Ikizoglu, Serhat Mechatronics Engineering Dept. Istanbul Technical University Istanbul Turkey Control and Automation Engineering Dept. Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9781538676417

In this paper, an adaptive controller is proposed for attitude and altitude control of a quadrotor. First, mathematical and dynamic models of a quadrotor are analyzed. Next, PID and LQR controllers are designed separately. This step is followed by application of hyperbolic tangent weight function to increase the overall performance by selecting the proper controller at proper time. Finally, all the three controllers' performances are observed in Matlab Simulink simulation environment. Simulations show that adaptive controller's overall performance is remarkably superior to that of a single PID or LQR controller. © 2018 IEEE.

关键词： Altitude control

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Development of an Automated Wheelchair for Visually Impaired People 23

Development of an Automated Wheelchair for Visually Impaired...

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23rd IEEE International Multi-Topic Conference, INMIC 2020

作者： Siddiqui, Arslan Anwer, Talha Zafar, Saqib Maqbool, Hafiz Farhan Siddiqi, Dilruba Ahmad, Nasir Mehmood, Muhammad Armghan Riaz, Ahsan University of Engineering and Technology Department of Mechatronics and Control Engineering Lahore Pakistan Human Centered Robotics Lab National Center of Robotics and Automation Lahore Pakistan

ISBN: (纸本)9781728198934

This paper presents the development of an automated wheelchair, a mobility-assistive device that helps visually impaired people in the community. For such people, there are many constraints associated while moving to their desired destination. One of the main objectives of the current work is to design and develop a low-cost smart wheelchair that navigates to its destination autonomously. This smart navigation system (SNS) uses a machine vision technique for localization and path planning and proximity sensors for obstacle avoidance. The wheelchair can autonomously navigate to the location selected by the user through a braille keypad interface. The mechanical design is focused to make a finished product that is stable and according to basic medical considerations. The hardware design in the paper aims to enable a visually impaired person to perform daily routine tasks without the need for any assistance. © 2020 IEEE.

关键词： Computer vision

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Reliability Analysis of Assembly Processes Performed by Human-Robot Interaction 3

Reliability Analysis of Assembly Processes Performed by Huma...

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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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