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Motion control and Motion Coordination of Bionic Robotic Fish： A Review

Journal of Bionic engineering 2018年第4期15卷 579-598页

作者： Junzhi Yu Ming Wang Huifang Dong Yanlu Zhang Zhengxing Wu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Information and Electrical Engineering Shandong Jianzhu University Jinan 250101 China

Fish＇s outstanding motion and coordination performance make it an excellent source of inspiration for scientists and engineers aiming to design and control next-generation autonomous underwater vehicles within the framework of bionics. This paper offers a general review of the current status of bionic robotic fish, with particular emphasis on the hydrodynamic modeling and testing, kinematic modeling and control, learning and optimization, as well as motion coordination control. Among these aspects, representative studies based on ideas and concepts inspired from fish motion and coordination are discussed. At last, the major challenges and the future research directions are addressed in the context of integration of various research streams from ichthyologic, hydrodynamic, mechanical, electronic, control, and artificial intelligence. Further development of bionic robotic fish can be utilized to execute some specific missions in complex underwater environments, where operations are unsafe or impractical for divers or conventional underwater vehicles.

关键词： bionic robotic fish motion control coordination control fish swimming learning and optimization

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Determination of Conditions for Adequate Analytical Simulation of the Electromagnetic Field of Disk Induction Motors

Determination of Conditions for Adequate Analytical Simulati...

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International Conference on Modern Problems of Radio engineering, Telecommunications and Computer Science

作者： Roman Kryshchuk Olexiy Karlov Andrii Bereziuk Department of electromagnetic systems The Institute of Electrodynamics of the National Academy of Sciences of Ukraine Kyiv Ukraine Department of Electrical Engineering Electromechanics and Electrotechnology Education and Research Institute of Energetics Automation and Energy Efficiency of the National University of Life and Environmental Sciences of Ukraine Kyiv Ukraine

ISBN: (数字)9781728155661

ISBN: (纸本)9781728155678

The advantages of axial motors in comparison with motors with radial magnetic flux are shown. The modern methods for simulation of electromagnetic fields are described. The advantages and disadvantages of software for simulation electromagnetic fields based on the finite element method and analytical methods are presented. In this paper the analytical method for simulation electromagnetic fields and electromagnetic parameters of disk-type induction motors with massive bimetal rotors is investigated. The purpose of the work is to study the conditions for adequate simulation of electromagnetic field and parameters of disk-type induction motors, using analytical method. The adequacy of the analytical method is investigated by comparing the mechanical characteristics obtained by the finite element method, analytical method and experiment. The finite element method uses quasi-stationary three-dimensional mode without calculating rotor speed, and uses transient mode with calculating rotor speed. Analytical simulation method uses quasi-stationary three-dimensional mode in both without and with taking into account speed of the rotor. The mathematical model of the analytical method for simulation magnetic fields is presented. The conditions under which the high accuracy of the calculation by the analytical method is achieved are investigated. The correctness of the calculation of the magnetic field equation of the analytic method by the comparison with the result of the calculation of the finite elements method for the same mathematical model of the motor is checked.

关键词： electromagnetic fields finite element analysis induction motors machine theory magnetic flux rotors Electromagnetic fields Finite element method induction motors machine theory Rotors Magnetic flux rotor speed simulating Motor

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Development of Sheet Palletizing Manipulator Based on Multi-link Mechanism

Research Square

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Research Square 2020年

作者： Chen, Zhihua Wang, Shoukun Liu, Quan Wang, Junzheng Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing100081 China New Energy Laboratory College of Mechanical and Electrical Engineering Beijing Information Science and Technology University Beijing100192 China

In view of the disadvantages of Traditional tandem joint type thin-plate palletizing robots using push-down adsorption sorting, such as moving path complexity, large occupied space, joint error stack and low end control precision, a novel multi-link mechanism thin-plate palletizing robot is developed. The kinematics analysis is carried out based on the analysis of the overall structure for the manipulator, a genetic algorithm based on the stroke speed ratio K, the transmission angle γ and the four-bar size is proposed to realize the optimal design of the four-link rocker arm mechanism. Secondly, a finite element based overall structure analysis method is proposed, which obtains the most affected part of the vibration process of a manipulator and performs load verification to prevent early warning and reference of faults caused by mechanical resonance. To solve the control problem of nonlinear strongly coupled dynamic systems, an iterative learning fuzzy adaptive control algorithm is proposed to achieve the smooth running of the manipulator and the high-precision tracking of the end centroid trajectory. The experimental results verify the feasibility and effectiveness of the proposed multi-link controllable thin-plate palletizing manipulator's overall structural design and iterative learning control method, which is well applied in practical engineering. © 2020, CC BY.

关键词： Manipulators

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A Design Method for Plug-and-Play Modules of Photovoltaic Generators

A Design Method for Plug-and-Play Modules of Photovoltaic Ge...

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Asian control Conference

作者： Anqi Qu Tomonori Sadamoto Jun-ichi Imura Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (纸本)9781728102634

In this paper, we propose a novel method for designing PnP (plug-and-play)-type modules of photovoltaic (PV) generators. The proposed module comprises a PV and a compensator that controls the duty cycle of the inverter cancelling out the negative influence of the newly added PV on the entire power system. The design and implementation of the compensator only depend on the local information about the power-system component that is connected to the PV. Even though the proposed module can be constructed locally, the stability of the entire system integrated with the module is theoretically guaranteed. We demonstrate the effectiveness of the proposed method through an example of a nine-bus power system.

关键词： Power system stability Connectors DC-AC power converters Stability analysis Load modeling Synchronous generators

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Chattering-free fixed-time sliding mode control for bilateral teleoperation under unknown time-varying delay via disturbance and state observers

Advanced Control for Applications: Engineering and Industria...

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Advanced control for Applications: engineering and Industrial systems 2020年第4期2卷

作者： Abadi, Ali Soltani Sharif Hosseinabadi, Pooyan Alinaghi Mekhilef, Saad Ordys, Andrzej Department of Electrical Engineering Faculty of Engineering Yazd University Yazd Iran Faculty of Engineering University of Malaya Kuala Lumpur Malaysia School of Software and Electrical Engineering Faculty of Science Engineering and Technology Swinburne University of Technology Melbourne Australia Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz University Jeddah Saudi Arabia The Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland

This paper proposes a new chattering-free Fixed-time Observer-Based Sliding Mode control (FOBSMC) scheme for synchronization of two bilateral teleoperations under unknown time-varying delay. The system is subjected to unknown disturbances which are estimated in a fixed time by utilizing the Disturbance Observer-based SMC scheme. The fixed-time State Observer-based SMC is designed to estimate the unmeasured velocity state, while the position state is assumed to be available. Fixed-time stability method is used to provide the system convergence time independently of initial states. A FOBSMC scheme is first designed for master system of bilateral teleoperation under unknown time-varying delay to track the environmental torque by the human operating torque in the presence of time delay in the communication channel, as well as estimating the unknown disturbances and unmeasured states. A FOBSMC scheme is designed to synchronize slave system to master system in the presence of time delay in the communication channel, as well as estimating disturbances and states. The stability analysis is performed for closed-loop system of combined controller-observer by using Lyapunov theory. The efficacy of the proposed method to fulfill a good transparency and stability under time-varying communication delays is tested by performing numerical simulation in Simulink/MATLAB. © 2020 John Wiley & Sons Ltd.

关键词： Time delay

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Microstrip Filter with Extended Barrier

Microstrip Filter with Extended Barrier

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2019 Radiation and Scattering of Electromagnetic Waves, RSEMW 2019

作者： Labyntsev, A.V. Poveshenko, L.I. Harlanov, D.V. Southern Federal University Institute of Radio Engineering Systems and Control Department of Theoretical Foundations of Radio Engineering Taganrog Russia Krasnodar Higher Military School Named after General of the Army S. M. Shtemenko Krasnodar Russia

ISBN: (纸本)9781728106892

The article describes the method and process of designing a interdigital bandpass filter on two two-stage microstrip resonators. As a result of the design, thanks to the introduction of two steps of different widths into the resonator, it was possible to double the barrier band by suppressing the parasitic bandwidth in the vicinity of the third harmonic. © 2019 IEEE.

关键词： Microstrip filters

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Research on Trajectory Planning and Motion control of 7-DoF Sawyer Manipulator

Research on Trajectory Planning and Motion Control of 7-DoF ...

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Kun Luo Gang Xiong Yuxiao Wang Bin Hu Sheng Liu Shichao Chen The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijng China School of Artificial Intelligence University of Chinese Academy of Sciences Beijng China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Beijng China Qingdao Academy of Intelligent Industries Chinese Academy of Sciences Beijng China

Regarding human-machine collaborative task, generated trajectories of a robot manipulator should be able to avoid joint limits and singularities, but the 6 Degrees of Freedom(DoF) or lower DoF manipulators encounter difficulties in many schemes. In this paper, research is implemented on the methods of trajectory planning and motion control on the newly human-machine collaborative 7-DoF Sawyer manipulator. We try to pay more attention to these approaches and find a better combination between trajectory planners and motion controllers for Sawyer manipulator. First of all, comparison is proposed between the methods about trajectory planning in task space and joint space, drawing a conclusion that the latter has the advantage of quickness and smoothness on trajectories in real time. Next, we choose to plan trajectory in the joint space by interpolating positions and orientations. Three approaches, i.e., trapezoidal velocity trajectory, cubic polynomial trajectory and basic spline trajectory, are applied to interpolate positions. Experimental results show that it results in the smoothest trajectory using basic spline trajectory planning. We also compare linear and nonlinear orientation interpolations to address the angle wrapping issue, which leads to difficulties in smooth orientation interpolation between several waypoints. Combining polynomial trajectory planning methods with the proportional-derivative (PD) motion controller and the computed-torque motion controller, we focus on the performance of the two different combinations. It is found that trajectories with computed-torque controller have shorter path with a congruous convergence on joint position, and more accurate trajectories with less overshoots in position than others.

关键词： Interpolation Trajectory planning Collaboration Aerospace electronics Manipulators Trajectory Task analysis

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Correction: PDMATLAB2D: A Peridynamics MATLAB Two-dimensional Code

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Journal of Peridynamics and Nonlocal Modeling 2024年第3期6卷 530-530页

作者： Seleson, Pablo Pasetto, Marco John, Yohan Trageser, Jeremy Reeve, Samuel Temple Computer Science and Mathematics Division Oak Ridge National Laboratory Oak Ridge USA Department of Mechanical and Aerospace Engineering University of California San Diego La Jolla USA George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta USA Center for Control Dynamical Systems and Computation University of California at Santa Barbara Harold Frank Hall Room 5119 Santa Barbara USA Engineering Sciences Center Sandia National Laboratories Albuquerque USA Computational Sciences and Engineering Division Oak Ridge National Laboratory Oak Ridge USA

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Non-intrusive reduced-order modeling for dynamical systems with spatially localized features

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Computer Methods in Applied Mechanics and engineering 2025年 444卷

作者： Leonidas Gkimisis Nicole Aretz Marco Tezzele Thomas Richter Peter Benner Karen E. Willcox Computational Methods in Systems and Control Theory (CSC) Max Planck Institute for Dynamics of Complex Technical Systems Sandtorstraße 1 39106 Magdeburg Germany Oden Institute for Computational Engineering and Sciences 201 E 24th St 78712 TX United States Department of Mathematics Emory University 400 Dowman Drive 30322 Atlanta United States Institute for Analysis and Numerics Otto-von-Guericke-Universität Magdeburg Universitätsplatz 2 39106 Magdeburg Germany

This work presents a non-intrusive reduced-order modeling framework for dynamical systems with spatially localized features characterized by slow singular value decay. The proposed approach builds upon two existing methodologies for reduced and full-order non-intrusive modeling, namely Operator Inference (OpInf) and sparse Full-Order Model (sFOM) inference. We decompose the domain into two complementary subdomains that exhibit fast and slow singular value decay. The dynamics of the subdomain exhibiting slow singular value decay are learned with sFOM while the dynamics with intrinsically low dimensionality on the complementary subdomain are learned with OpInf. The resulting, coupled OpInf-sFOM formulation leverages the computational efficiency of OpInf and the high resolution of sFOM, and thus enables fast non-intrusive predictions for conditions beyond those sampled in the training data set. A novel regularization technique with a closed-form solution based on the Gershgorin disk theorem is introduced to promote stable sFOM and OpInf models. We also provide a data-driven indicator for subdomain selection and ensure solution smoothness over the interface via a post-processing interpolation step. We evaluate the efficiency of the approach in terms of offline and online speedup through a quantitative, parametric computational cost analysis. We demonstrate the coupled OpInf-sFOM formulation for two test cases: a one-dimensional Burgers’ model for which accurate predictions beyond the span of the training snapshots are presented, and a two-dimensional parametric model for the Pine Island Glacier ice thickness dynamics, for which the OpInf-sFOM model achieves an average prediction error on the order of 1% with an online speedup factor of approximately 8 × compared to the numerical simulation.

关键词： Non-intrusive model reduction Data-driven modeling Operator inference Sparse full-order model inference

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The 2024 Active Metamaterials Roadmap

arXiv

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arXiv 2024年

作者： Pope, Simon A. Roth, Diane J. Bansal, Aakash Mousa, Mostafa Rezanejad, Ashkan Forte, Antonio E. Nash, Geoff.R. Singleton, Lawrence Langfeldt, Felix Cheer, Jordan Henthorn, Stephen Hooper, Ian R. Hendry, Euan Powell, Alex W. Souslov, Anton Plum, Eric Sun, Kai de Groot, C.H. Muskens, Otto L. Shields, Joe De Galarreta, Carlota Ruiz Wright, C. David Kocabas, Coskun Ergoktas, M. Said Xiao, Jianling Schulz, Sebastian A. Di Falco, Andrea Krasavin, Alexey V. Zayats, Anatoly V. Galiffi, Emanuele Department of Automatic Control and Systems Engineering The University of Sheffield Amy Johnson Building Portobello Street SheffieldS1 3JD United Kingdom Department of Physics London Centre for Nanotechnology King’s College London Strand WC2R 2LS United Kingdom Wolfson School of Mechanical Electrical and Manufacturing Engineering Loughborough University United Kingdom Department of Engineering King’s College London LondonWC2R 2LS United Kingdom Natural Sciences University of Exeter Harrison Building North Park Road Exeter United Kingdom Institute of Sound & Vibration Research University of Southampton University Road Southampton United Kingdom Department of Electronic and Electrical Engineering University of Sheffield Sheffield United Kingdom Centre for Metamaterial Research and Innovation University of Exeter Stoker Road ExeterEX4 4QL United Kingdom T.C.M. Group Cavendish Laboratory University of Cambridge CambridgeCB3 0HE United Kingdom Optoelectronics Research Centre Centre for Photonic Metamaterials University of Southampton Highfield SouthamptonSO17 1BJ United Kingdom School of Physics and Astronomy University of Southampton Southampton United Kingdom Electronics and Computer Science University of Southampton Southampton United Kingdom Institute of Materials Science of Barcelona Universitat Autònoma de Barcelona Bellaterra Barcelona08193 Spain Department of Materials National Graphene Institute University of Manchester United Kingdom Schoolof Physics and Astronomy University of St Andrews North Haugh Fife St. AndrewsKY16 9SS United Kingdom Department of Electrical and Computer Engineering University of Waterloo 200 University Avenue West WaterlooONN2L 3G1 Canada Photonics Initiative Advanced Science Research Centre City University of New York 85 St. Nicholas Terrace New YorkNY10027 United States

Active metamaterials are engineered structures that possess novel properties that can be changed after the point of manufacture. Their novel properties arise predominantly from their physical structure, as opposed to their chemical composition and can be changed through means such as direct energy addition into wave paths, or physically changing/morphing the structure in response to both a user or environmental input. Active metamaterials are currently of wide interest to the physics community and encompass a range of sub-domains in applied physics (e.g. photonic, microwave, acoustic, mechanical, etc.). They possess the potential to provide solutions that are more suitable to specific applications, or which allow novel properties to be produced which cannot be achieved with passive metamaterials, such as time-varying or gain enhancement effects. They have the potential to help solve some of the important current and future problems faced by the advancement of modern society, such as achieving net-zero, sustainability, healthcare and equality goals. Despite their huge potential, the added complexity of their design and operation, compared to passive metamaterials creates challenges to the advancement of the field, particularly beyond theoretical and lab -based experiments. This roadmap brings together experts in all types of active metamaterials and across a wide range of areas of applied physics. The objective is to provide an overview of the current state of the art and the associated current/future challenges, with the hope that the required advances identified create a roadmap for the future advancement and application of this field. Copyright © 2024, The Authors. All rights reserved.

关键词： Microwave acoustics

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