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International Conference on control, Automation, Robotics & Vision

作者： Bin Li Yangmin Li Xinhua Zhao Yuwei Yang Department of Electromechanical Engineering University of Macau Taipa Macao SAR China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin 300384 China

ISBN: (纸本)9781479952007

A spatial 2-RPU&SPR parallel manipulator (PM) with three degrees of freedom (DOF) is proposed in this paper. The architecture of the manipulator is comprised of a moving platform attached to a base through two revolute-prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic motions of the prismatic joints are considered to be actively actuated. The moving platform of the manipulator has one-translational and two rotational (1T2R) DOFs with respect to the fixed base. The kinematics including forward and inverse position analysis is analyzed. At last, the simulations of position and velocity of the manipulator are made to validate the algorithm.

关键词： Design Analysis Parallel Manipulator

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In situ SERS monitoring of photocatalytic organic decomposition using recyclable TiO2-coated Ag nanowire arrays

In situ SERS monitoring of photocatalytic organic decomposit...

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作者： Bao, Zhi Yong Liu, Xin Dai, Jiyan Wu, Yucheng Tsang, Yuen Hong Lei, Dang Yuan Department of Applied Physics Hong Kong Polytechnic University Hong Kong Hong Kong Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan China Shenzhen Research Institute Hong Kong Polytechnic University Shenzhen Hong Kong College of Material Science and Engineering Hefei University of Technology Hefei China

Recently, semiconductor and noble metal complex nanomaterials have attracted ever-increasing attention because of the realization of multiple functionalities in a single entity. In this study, Ag-TiO2 core-shell nanocomposites were synthesized by hydrolysis of butyl titanate on the surface of Ag nanowires. Due to efficient electron transfer at the Ag-TiO2 interface, the as-prepared nanocomposites exhibit much higher photocatalytic activity than bare TiO2 films, as demonstrated by the enhanced photodegradation rate of R6G and methyl blue molecules. In the meanwhile, such nanocomposites serve as a high-sensitivity surface-enhanced Raman scattering (SERS) substrate for in situ monitoring of the photocatalytic decomposition reaction, and the substrate is recyclable due to its self-cleaning function. Full-wave numerical calculations reveal that the improved photocatalysis and SERS efficiencies are attributed to the largely enhanced electromagnetic near-field in the nanocomposites. Our results point out that bifunctional semiconductor-metal hybrids hold great promise for simultaneously detecting and decomposing organic pollutants in the environment. © 2014 Elsevier B.V. All rights reserved.

关键词： Titanium dioxide

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MATRIX motor with individual winding current control capability for variable parameters and iron loss suppression

MATRIX motor with individual winding current control capabil...

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International Conference on Electrical Machines, ICEM

作者： H. Hijikata K. Akatsu Y. Miyama H. Arita A. Daikoku Department of Function Control System Shibaura Institute of Technology Tokyo Japan Department of Electrical Engineering Shibaura Institute of Technology Tokyo Japan Advanced Technology R&D Center Mitsubishi Electric Corporation Hyogo Japan

This paper describes a novel motor-drive system which includes the multi-phase open-end windings for an individual winding current control in order to realize the variable parameters. Each armature winding is connected with the insulated full-bridge inverter for the arbitrary excitation waveform. The proposed construction can extend the operating area and can distribute the high efficiency area. Furthermore, the proposed multi-phase drive can suppress the harmonic iron loss under the flux weakening operation because the individual control can regulate the instantaneous flux density in each stator tooth even though the motor consists of the full-pitch distributed winding. In this paper, the down size model was designed to confirm the principle. It was shown that the downsize model can expand the operating range, can distribute high efficiency area, and can suppress the iron loss by the controlled flux density in each stator tooth by some simulation and experimental results.

关键词： Windings Harmonic analysis Iron Permanent magnet motors Torque Couplings Stators

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Deterioration diagnosis of lead acid battery by phase change of impedance

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IEEJ Transactions on Power and Energy 2014年第8期134卷 743-744页

作者： Mizumoto, Iwao Yoshii, Yostumi Oguma, Hiroshi Yamamoto, Keiichiro Maki, Keishirou Department of Electronics and Computer Engineering Toyama National College of Technology 1-2 Ebie-neriya Imizu933-0293 Japan Advanced Course of Control Information System Engineering Program Toyama National College of Maritime Technology 1-2 Ebie-neriya Imizu933-0293 Japan

Deterioration diagnosis of a lead acid battery by phase change between impedance and reactance was measured. The measurement frequency of inner impedance was changed from 100 Hz to 5 kHz. The lead acid battery with 11V open terminal voltage at the charge condition of 60% was judged as enabled in case the phase of impedance was more than 35 degrees when the application limit is CCA 180 Ampere. © 2014 The Institute of Electrical Engineers of Japan.

关键词： Lead acid batteries

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A Combined Approach for Master-slave Robotic Surgery system control Based on Jacobian and PD Algorithm

A Combined Approach for Master-slave Robotic Surgery System ...

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2014 4th IEEE International Conference on Information Science and Technology

作者： Zhonglin Zhang Jing Xiong Yangzhou Gan Dongwen Zhang Zeyang Xia Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences School of Electronic Engineering and Automation Guilin University of Electronic Technology Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China

In this paper, a semi-physical simulation platform of robot teleoperation system is designed, and a combined control approach using Jacobian matrix and Proportional-Derivative(PD) algorithm is proposed. A digital low-pass filter is designed to eliminate noise signal caused by hand-vibration of surgeons. The advantages of the proposed approach include easy implementation, real-time response and accurate master-slave tracking. The results of semi-physical simulation validated that the proposed approach realized accurate master-slave tracking for puncture surgery and the noise caused by hand-vibration was eliminated effectively.

关键词： robotic puncture surgery teleoperation Jacobian matrix PD control algorithm vibration elimination

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Robust walking of biped robot on uneven terrain using effect of wobbling mass

Robust walking of biped robot on uneven terrain using effect...

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IEEE International Conference on Robotics and Biomimetics

作者： Terumitsu Hayashi Masaki Yamakita Yuta Hanazawa Fumihiko Asano Dept. of Mechanical and Control Engineering Tokyo Institute of Technology Meguro-ku Tokyo JAPAN Faculty of Engineering Department of Applied Science for Integrated System Engineering Kyushu Institute of Technology Kita-Kyushu Fukuoka Japan School of Information Science Japan Advanced Institute of Science and Technology Nomi Ishikawa JAPAN

ISBN: (纸本)9781479973989

Many studies about improving the performance of biped robots, especially energy efficiency and waking speed have been done. These properties, however, are secondary to the robot ability to prevent falling down on irregular grounds. In this paper, we propose a novel method which uses an active up-and-down wobbling mass to improve walking ability and robustness of biped robot on uneven terrain. We will show improvements that the number of walk steps is increased in numerical simulations using the proposed method. We also evaluate quantitatively walking ability of biped robot on uneven terrain using a performance measure called Gait Sensitivity Norm (GSN) and H ∞ norm. Furthermore, we show the effectiveness of H ∞ norm measure which cannot be evaluated by GSN in a walking example.

关键词： Legged locomotion Limit-cycles Trajectory Robustness Mathematical model Sensitivity

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Processing effects on the magnetic and mechanical properties of FeCoNiAl_(0.2)Si_(0.2) high entropy alloy

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International Journal of Minerals,Metallurgy and Materials 2013年第6期20卷 549-555页

作者： Ting-ting Zuo Song-bo Ren Peter K. Liaw Yong Zhang State Key Laboratory for Advanced Metals and Materials University of Science and Technology Beijing Beijing Hangke Engine Control System Science & Technology Co. Ltd. Department of Materials Science and Engineering The University of Tennessee

High entropy alloys with the composition of FeCoNiA10.2Si0.2 were prepared by arc melting and induction melting, denoted by A1 and A2, respectively. The samples prepared by these two techniques have a face-centered cubic （FCC） phase structure and a typical dendrite morphology. The tensile yield strength and maximum strength of A2 samples are about 280 and 632 MPa, respectively. Moreover~ the elongation can reach 41.7%. These two alloys prepared by the different methods possess the similar magnetic properties. The saturation magnetization and coercivity can reach 1.151 T and 1400 A/m for A1 samples and 1.015 T and 1431 A/m for A2 samples, respectively. Phases in A2 samples do not change, which are heat treated at different temperatures, then quenched in water. Only the sample, which is heat treated at 600~C for 3 h and then furnace cooled, has a new phase precipitated. Besides, the coercivity decreases obviously at this temperature. Cold rolling and the subsequent heat treatment cannot improve the magnetic properties effectively. However, cold rolling plays an important role in improving the strength.

关键词： high entropy alloys magnetic properties mechanical properties heat treatment

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The effect of fractional order on oscillatory behavior of scalar fractional delay systems of neutral type

The effect of fractional order on oscillatory behavior of sc...

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6th Workshop on Fractional Differentiation and Its Applications, FDA 2013

作者： Mesbahi, Afshin Haeri, Mohammad Advanced Control System Lab. Department of Electrical Engineering Sharif University of Technology Tehran Iran

ISBN: (纸本)9783902823274

The undamped oscillations of a scalar fractional neutral system are studied in this paper. For this purpose, it is proved that this kind of systems can have the oscillatory behavior. The necessary and sufficient condition is proposed to determine that there exists a delay value for which the system oscillates. The frequency, amplitude and required delay for the undamped oscillations depend on the fractional order. However, the behavior of dependencies is not specified. Indeed, when the system has oscillatory behavior, it is bounded-input bounded-output stable for delay less than the required delay. Moreover, when the order is approaching to an integer value, the necessary and sufficient condition is proposed to determine that the system can oscillate with the bounded value of delay. The obtained results are verified with respect to the classical theorems. Finally, two numerical examples demonstrate the proposed conditions. © 2013 IFAC.

关键词： Time delay

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Development of measurement system and complexity analysis for three-dimensional fish swimming behavior

Development of measurement system and complexity analysis fo...

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2013 52nd Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2013

作者： Morimoto, Maki Sugino, Ryuzaburo Fukuda, Koji Itami, Shin Morizumi, Noboru Advanced Course of Electricity and Control System Engineering Anan National College of Technology Tokushima Japan Department of Systems and Control System Engineering Anan National College of Technology Tokushima Japan

Understanding of fish's behavior is one of the big subjects in fishery in order to catch the fish effectively. It is important to improve the efficiency of fishery and we must develop the new effective fishing method. The aim of this study is to extract the three-dimensional trajectory of fish swimming behavior. We develop the one of stereo camera system to extract fish trajectory from motion picture images. Furthermore, the chaos and fractal analyses are introduced to explain the complexity of fish behavior as intellectual animal behavior. We show the obtained results of the time series of swimming velocity using its reconstructed data and the effectiveness of 3D chaos and fractal analysis.

关键词： Fish

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Development of SPH approach for hydrodynamics of around fish body

Development of SPH approach for hydrodynamics of around fish...

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2013 52nd Annual Conference of the Society of Instrument and control Engineers of Japan, SICE 2013

作者： Yoshida, Kiichi Hirayama, Motoi Sugino, Ryuzaburo Morizumi, Noboru Advanced Course of Electricity and Control System Engineering Anan National College of Technology Tokushima Japan Department of Liberal Arts and Science Anan National College of Technology Tokushima Japan Department of System and Control System Engineering Anan National College of Technology Tokushima Japan

We have studied about the fish swimming behavior and evaluated a lot of experimental results in the various water tanks. Furthermore, we have developed the computer simulation codes for fish locomotive behavior as the intellectual animal under the various environments, but these algorithm have been two-dimensional model without the hydrodynamic force. This development of new simulation code based on the 3D model is considered with hydrodynamics. The conventional fluid computation code is difficult to apply the practical fish swimming behavior because it is used the fixed grid system. In this paper, we introduced the new particle method based on the SPH combined with metaball method as rigid body modeling. The metaball method can describes the large deformation of fish body and the fish schooling under water. The formulation of this novel computational method is introduced, and the basics for the evaluation of hydrodynamic force about interaction between metaball system and the hypothetical fluid particle of SPH system through the elementaly numerical experiments.

关键词： Hydrodynamics

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