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IEEE Conference on Cybernetics and Intelligent systems

作者： Ping He Yangmin Li Department of Electromechanical Engineering Avenida da Universidade Taipa Macao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China

ISBN: (纸本)9781467373395

In this paper, a passivity-based synchronization method is proposed for a new hyperchaotic Lorenz system based on Lyapunov stability theory and linear matrix inequality (LMI) approach. On the basis of the property of the passive system, the passive controller is designed and synchronization of two identical new hyperchaotic Lorenz systems with different initial conditions is realized. Finally, numerical simulations are presented to demonstrate the effectiveness of the proposed chaos control and synchronization schemes.

关键词： Synchronization control systems Lyapunov methods Complex networks Chaotic communication

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Dynamic modeling for high-performance controller design of a UAV quadrotor

Dynamic modeling for high-performance controller design of a...

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International Conference on Information and Automation (ICIA)

作者： Yi-Rui Tang Yangmin Li Department of Electromechanical Engineering University of Macau Macao SAR China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China

ISBN: (纸本)9781467391054

This paper presents a systematic and comprehensive modeling approach for the derivation of a nonlinear dynamic model of a unmanned aerial vehicle (UAV) quadrotor. The model incorporates a couple of significant aerodynamic effects impacting on the quadrotor flight in different regimes. The controller is accordingly designed to accommodate both specific and uncertain dynamics of the quadrotor. The control laws of linear quadratic regulator (LQR) coupled with sliding mode control (SMC) are applied to the controller design so as to perform the optimal and robust control of the vehicle. The experimental results demonstrate the designed control algorithms are capable of delivering an remarkable performance on tracking of the reference input signals.

关键词： Rotors Blades Aerodynamics Mathematical model Vehicle dynamics Force Nonlinear dynamical systems

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Separable Nonlinear Model Predictive control via Sequential Quadratic Programming for Large-scale systems *

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IFAC-PapersOnLine 2015年第23期48卷 495-500页

作者： Liang Lu Department of Chemical and Biomolecular Engineering (BK21 Plus Program) Korea Advanced Institute of Science & Technology Daejeon Korea. Laboratory for Automatic Control and System Dynamics Technische Universität Chemnitz Chemnitz Germany.

In this paper, a sequential quadratic programming method is presented for largescale nonlinear and possibly non-convex model predictive control (MPC) optimization problem which is often set up with a separable objective function. By introducing the so-call consensus constraints to separate the couplings among the subsystems. The resulting QP subproblem is formulated in a separable form, which makes it possible to use the existing alternating direction methods, like ADMM, to efficiently compute Newton steps for the overall system in a distributed way. In order to enforce the convergence rate of the distributed computation, a distributed line search with local merit functions is also proposed.

关键词： Sequential quadratic programming separable model predictive control alternating direction method of multipliers nonlinear systems non-convex optimization large-scale optimization distributed line search

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The 5th International Conference on Biomedical engineering and Biotechnology (ICBEB 2016) Abstracts

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BMC MEDICAL IMAGING 2016年第SUPPL 1期16卷 65-65页

作者： [Anonymous] Department of MRI Shandong Medical Imaging Research Institute Affiliated to Shandong University Jinan Shandong 250021 People’s Republic of China Department of Interventional Radiology Shandong Provincial Hospital Affiliated to Shandong University Jinan Shandong 250021 People’s Republic of China College of Information Science and Technology Engr. Research Center of Digitized Textile & Fashion Tech. for Ministry of Education Donghua University Shanghai 201620 China Intelligent multimedia information processing Lab College of Software Northeastern University Shenyang Liaoning Province 110004 China Institute of Biomedical and Health Engineering Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China School of Computer Science and Technology Nanjing Normal University Nanjing China Department of Electrical Engineering The City College of New York CUNY New York USA Jiangsu Key Laboratory of 3D Printing Equipment and Manufacturing Nanjing China School of Electronic Science and Engineering Nanjing University Nanjing Jiangsu 210046 China College of Engineering Nanyang Technological University Singapore 639798 Singapore School of Electronic Information Shanghai Dianji University Shanghai China School of Natural Sciences and Mathematics Shepherd University Shepherdstown WV 25443 USA Davis College of Agriculture Natural Resources and Design West Virginia University Morgantown WV 26505 USA State Key Laboratory of Millimeter Waves Southeast University Nanjing 210096 China Center of Medical Physics and Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei China College of Agricultural and Life Sciences University of Florida Gainesville FL 32611 USA Courant Institute of Mathematical Sciences New York University New York NY 10012 USA Translational Imaging Division & MRI Unit Columbia University and New York State Psychiatric Institute New York NY 10032 USA Guangxi Key Laboratory of Manufacturing System & Adv

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Dynamic Dexterity Evaluation of a 3-DOF 3-PUU Parallel Manipulator Based on Generalized Inertia Matrix

Dynamic Dexterity Evaluation of a 3-DOF 3-PUU Parallel Manip...

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IEEE International Conference on Robotics and Biomimetics

作者： Song Lu Yangmin Lit Department of Electromechanical Engineering University of Macau Avenida da Universidade Taipa Macao China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin 300384 China

ISBN: (纸本)9781467396769

Dynamic performance evaluation that takes into account the inertial properties is an important issue for both the behavior analysis and dimensional synthesis of parallel kinematic manipulators (PKMs). Firstly, by virtue of the principle of virtual work, the complete inverse dynamic model of a 3-prismatic-universal-universal (PUU) parallel manipulator is formulated, which does not neglect the inertial and gravitational properties of the struts. The condition number of generalized inertia matrix can evaluate the mapping from joint accelerations to realizable joint torques. This paper utilizes the condition number of generalized inertia matrix as the index to evaluate the dynamic dexterity property of a 3-PUU PKM which possesses three translational degrees of freedom. For a given set of geometrical and inertia parameters, numerical simulations indicate that the global dynamic dexterity performance of this type of 3-PUU PKM is consistent with the local dynamic dexterity on a specific z--plane, it has the best dynamic dexterity at the center of task workspace and decreases from the center to the edge of task workspace.

关键词： Parallel kinematic manipulator performance evaluation dynamic dexterity generalized inertia matrix

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Knocking Detection in Gasoline Engines Based on Probability Density Functions: A Mixed Gaussian Distribution Approach

Knocking Detection in Gasoline Engines Based on Probability ...

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IEEE Annual Conference on Decision and control

作者： Tatsuya Ibuki Yasuhiro Awai Yoshihiro Sakayanagi Mitsuji Sampei Junichi Kako Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 JAPAN Advanced Engine Management System Development Div. Unit Center Toyota Motor Corporation Shizuoka 410-1193 JAPAN

ISBN: (纸本)9781479978878

This paper proposes an engine knocking detection approach based on probability density functions (PDFs). In this work, we suppose that the PDF of knocking intensity distribution can be approximated by a mixture of two Gaussian functions due to normal combustion and abnormal one. We first apply EM (Expectation-Maximization) algorithm to actual engine data to show that the knocking intensity probability distribution can be successfully estimated by the mixed Gaussian distribution. We next try to apply the existing online EM algorithm in view of the actual implementation by an engine control unit. However, since the existing algorithm is built for the estimation of a fixed PDF, the effect of new input data is gradually attenuated and vanishes after long time. We thus newly propose a modified online EM algorithm so that the effect of the new input data is not attenuated. Finally, we perform simulations and an actual engine bench test for the validity of the present approach.

关键词： expectation-maximisation algorithm gasoline engine Gaussian distribution incoming data Probability density function engine pedestal

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Inverse dynamics analysis of a 6-PSS parallel manipulator

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8918卷 12-23页

作者： Xu, Weiyuan Li, Yangmin Lu, Song Xiao, Xiao Department of Electromechanical Engineering University of Macau Avenida da Universidade Taipa Macao SAR China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin300384 China

In this paper, a new six degrees of freedom (6-DOF) parallel manipulator with adjustable actuators is proposed. The kinematic model is firstly established and the kinematic analysis is performed afterward. Then the equations of motion are developed based on the concept of link Jacobian matrices. Finally, the principle of virtual work is applied to analyze the dynamics of this 6-PSS parallel manipulator. This methodology can be used on other types of parallel manipulators not only for 6-DOF but also with less than 6-DOF. To solve the inverse dynamics of the manipulator, a computational algorithm is developed and two trajectories of the moving platform are simulated. © Springer International Publishing Switzerland 2014.

关键词： Dynamics

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Vision-Based Kinematic Calibration of Spherical Robots

Vision-Based Kinematic Calibration of Spherical Robots

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RSI/ISM International Conference on Robotics and Mechatronics

作者： Pedram Agand Hamid D. Taghirad Amir Molaee Advanced Robotics and Automation System (ARAS) Industrial Control Center of Excellence (ICEE) Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Iran

ISBN: (纸本)9781467372350

In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost tool for the kinematic calibration of spherical-workspace mechanisms to achieve the desired accuracy in position. The sensitivity and efficiency of the provided method is thus evaluated. Furthermore, optimization of camera location is outlined subject to the prescribed cost functions. Finally, experimental analysis of the proposed calibration method on ARAS Eye surgery Robot (DIAMOND) is presented;In which the accuracy is obtained from three to six times better than the previous calibration.

关键词： Kinematic Calibration Vision-Base Positioning Eye Surgery Robot Spherical Workspace

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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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Simple on-line observation and compensation of dead-time effects

Simple on-line observation and compensation of dead-time eff...

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14th International Conference on Railway engineering Design and Optimization, COMPRAIL 2014

作者： Jung, S.M. Park, C.B. Kim, J.H. Lee, S.H. Kim, H.W. Advanced Traction and Noncontact Feeding System Research Team Korea Railroad Research Institute Korea Republic of Department of Control and Instrumentation Engineering Korea National University of Transportation Korea Republic of

ISBN: (纸本)9781845647667

Generally, there exist voltage differences between the voltage commands and the output voltages of the three-phase pulse-width modulated (PWM) voltage-source inverter (VSI), which are caused by the intended dead-time to prevent the armshort of a leg and the nonlinearities of switching devices. These voltage differences (or voltage distortion) affect the current distortion, torque pulsations, and degradation of control performances. To overcome these drawbacks, a simple and low-cost observation and compensation method of the voltage distortion is proposed. The proposed method is employing model reference adaptive system (MRAS) techniques and does not require any additional hardware circuits such as voltage sensors. The voltage distortions caused by the nonlinearities of the switching devices are estimated by a voltage distortion observer which is based on the electrical model of the PMSM. And the estimated voltage distortions are fed-forward to compensate the voltage commands. In comparison with the previous existing methods, the proposed method has a simple structure and good performances. Also, it can be implemented without any extra devices such as voltage sensors and the computing effort is very small. The execution of the algorithm can be easily embedded in the existing systems without major modification. To show the effectiveness of the proposed method, the experiments are carried out for the digitally controlled PMSM drive system. The experimental results verify the validity of the proposed method and show that the proposed method gives good performance and practical value. © 2014 WIT Press.

关键词： Electric inverters

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