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27th International Workshop on Electric Drives: MPEI department of Electric Drives 90th Anniversary, IWED 2020

作者： Heidari, Hamidreza Andriushchenko, Ekaterina Rassolkin, Anton Kallaste, Ants Vaimann, Toomas Demidova, Galina L. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

Since the dominant induction machines and permanent magnet synchronous machines are well-established in the industry, the reluctance machines require more research work and investigation to substitute the conventional technologies. This paper analyzes the synchronous reluctance machines and permanent magnet-Assisted synchronous reluctance machines in terms of the effect of permanent magnets in the model and the performance characteristic of the machines. The machines are designed and the parameters are measured. The vector diagrams of the machines and the equivalent circuits of the machines are analyzed. A comparison of the machines in terms of power factor, efficiency, and torque of the machines is provided based on the measurements. The study presents a notable improvement in power factor and efficiency in the case of inserting permanent magnets in the synchronous reluctance machine's rotor. © 2020 IEEE.

关键词： Permanent magnets

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Modem mechatronics and robotics education program: Border cooperation between estonia and Russia 11

Modem mechatronics and robotics education program: Border co...

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11th IEEE Global engineering Education Conference, EDUCON 2020

作者： Rassolkin, Anton Vaimann, Toomas Kudelina, Karolina Demidova, Galina L. Lukichev, Dmitry V. Perepelkina, Svetlana Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728109305

The paper describes the interaction between Tallinn University of Technology (TalTech, Tallinn, Estonia) and ITMO University (St. Petersburg, Russia) based on recently signed agreement. The purpose of the agreement is to record the intention of TalTech and ITMO University to cooperate on implementing a double master's degree program, which involves confirmation of the master's educational level absorption and the award of master's degree and obtention of two diplomas, and to outline the organizational form, principles and terms of the implementation. The double degree Program is a two-year Master's program of 120 ECTS credit points. Its structure and content meets the requirements that both TalTech and ITMO University have established for their master's programs, in accordance with the government standards. Development and approval of the double degree Program is held by the Parties in accordance with the procedures established by them. This paper describes the procedure of implementation of a double-degree master program in mechatronics engineering. © 2020 IEEE.

关键词： engineering education

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Possibilities of Changing the Transport Characteristics of the TEP70 Locomotive 27

Possibilities of Changing the Transport Characteristics of t...

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27th International Workshop on Electric Drives: MPEI department of Electric Drives 90th Anniversary, IWED 2020

作者： Rjabtsikov, Viktor Rassolkin, Anton Vaimann, Toomas Kallaste, Ants Lukichev, Dmitry V. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

The research concentrates on the modernization issues of diesel-electric passenger locomotives TEP70. There is number of TEP70 locomotives in Baltic region that are used very rarely by their direct application but may as well be usable as freight locomotives. The main goal of the study is to change the tractive force of a TEP70 locomotive to be able to transport cargo in the Baltic region. Analysis of TEP70 working principles and load characteristics are presented. Based on the analytical model of locomotive, suggestion to replace the gearbox to increase locomotive pulling capability is proposed. Moreover, the paper presents calculation of the traction effort of TEP70. That kind of calculations are very important for motion planning and it should be done in order to avoid overloading during the working mode of the locomotive. © 2020 IEEE.

关键词： Engines

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Main Faults and Diagnostic Possibilities of BLDC Motors 27

Main Faults and Diagnostic Possibilities of BLDC Motors

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27th International Workshop on Electric Drives: MPEI department of Electric Drives 90th Anniversary, IWED 2020

作者： Kudelina, Karolina Asad, Bilal Vaimann, Toomas Rassolkin, Anton Kallaste, Ants Lukichev, Dmitri V. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

This paper presents the main faults of brushless DC motors and their diagnostic possibilities. Due to the popularity gain of such devices in the past decade, the maintenance and diagnostic of such machines is getting more important. As the machines are used in various applications, they are often critical parts of devices. Due to this, the unexpected failures of such machines are undesired and are to be avoided. The main faults of the machines are listed, some possibilities of their monitoring and diagnostics have been addressed. The necessity of further study has been pointed out. © 2020 IEEE.

关键词： Brushless DC motors

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Simulation of Wind Turbine Vibrations 27

Simulation of Wind Turbine Vibrations

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27th International Workshop on Electric Drives: MPEI department of Electric Drives 90th Anniversary, IWED 2020

作者： Andriushchenko, Ekaterina Kallaste, Ants Vaimann, Toomas Rassolkin, Anton Heidari, Hamidreza Demidova, Galina L. Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728141589

In recent years, there has been an increasing interest in renewable energy. Particularly, wind energy is gaining more and more popularity in many countries. However, the main obstacles to wind turbines usage are the vibration and noise close to wind farms. Therefore, this paper is focused on developing a new method for mathematical simulation of vibrations of a wind turbine in order to find out and reduce the vibration level. Particularly, low-frequency vibration of a wind turbine, composed of a tower and rotor in the out-of-balance condition is considered. The proposed method of vibration simulation is based on the theory of elastic beams and the general vibration theory. The calculations are made for a wind turbine VTR 50 Arctic. The results of the calculations are the displacement of the tower top and the stress at the tower foundation. Furthermore, it is worth emphasizing that the method is quite flexible. It allows adding complexity into the system, for instance, external loads such as wind pressure, aerodynamic loads, seismic loads or operational loads. © 2020 IEEE.

关键词： Wind power

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Implementation of a Human-Robot Collaboration System Based On Smart Hand Gesture and Speech Recognition

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Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao 2020年第6期41卷 755-762页

作者： Chen, Shang-Liang Huang, Li-Wu Huang, Chung-Chi Lee, Feng-Chi Huang, Ho-Chuan Chen, Chien-Yu Institute of Manufacturing Information and Systems National Cheng Kung University Tainan70101 Taiwan Department of Automation and Control Engineering Far East University Tainan74448 Taiwan Department of Mechatronics Control Industrial Technology Research Institute Hsinchu310 Taiwan Department of Intelligent Commerce National Kaohsiung University of Applied Sciences Kaohsiung824 Taiwan Computer Science and Information Engineering National University of Tainan Tainan70005 Taiwan

With the development of artificial intelligence technology, the robot arm will be applied in more fields, undertake more work, and become an important assistant of humans. Especially in the manufacturing industry, if a perfect human-robot cooperation (HRC) model can be developed, in which the engineer is responsible for complex operations and monitoring the production process and the robot arm is responsible for highly repetitive and tiring work, the flexibility of the manufacturing process can be improved, the risk of personnel injury can be reduced, and the production line productivity can be improved. To realize the human-robot collaboration system that can be applied in various fields, the technologies of robot arm control, human-robot interaction (HRI), Radio Frequency Identification, machine-to-machine communication, and automatic speech recognition (ASR), etc. are combined in this research. Besides, the HRC in intelligent manufacturing is taken as the demonstration result of this research. In this application example, the human-robot interaction function is realized through smart hand gesture and speech recognition technology, which enables the user to communicate commands to the robot arm most intuitively and easily. The robot arm can execute specific actions, provide processing prompts, or read corresponding motion control command macros according to different commands, to realize various processing contents required by users. © 2020, Chinese Mechanical engineering Society. All right reserved.

关键词： Radio frequency identification (RFID)

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VQF: Highly Accurate IMU Orientation Estimation with Bias Estimation and Magnetic Disturbance Rejection

arXiv

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arXiv 2022年

作者： Laidig, Daniel Seel, Thomas Control Systems Group Technische Universität Berlin Berlin10623 Germany Department Artificial Intelligence in Biomedical Engineering Friedrich-Alexander-Universität Erlangen-Nürnberg Erlangen91052 Germany

The miniaturization of MEMS-based inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. The fundamental sensor fusion task of orientation estimation is a prerequisite for most further data processing steps in inertial motion tracking, such as position and velocity estimation, joint angle estimation, and 3D visualization. Errors in the estimated orientations severely affect all further processing steps. Recent systematic comparisons of existing algorithms show that out-of-the-box accuracy is often low and that application-specific tuning is required to obtain high accuracy. In the present work, we propose and extensively evaluate a quaternion-based orientation estimation algorithm that is based on a novel approach of filtering the acceleration measurements in an almost-inertial frame and that includes extensions for gyroscope bias estimation and magnetic disturbance rejection, as well as a variant for offline data processing. In contrast to all existing work, we perform an extensive evaluation, using a large collection of publicly available datasets and eight literature methods for comparison. The proposed method consistently outperforms all eight literature methods and achieves an average RMSE of 2.9°, while the errors obtained with literature methods range from 5.3° to 16.7°. This improved accuracy with respect to the state of the art is observed not only in average but also for each of several different motion characteristics, as well as for gyroscope bias estimation. Since the evaluation was performed with one single fixed parametrization across a very diverse dataset collection, we conclude that the proposed method provides unprecedented out-of-the-box performance for a broad range of motions, sensor hardware, and environmental conditions. This gain in orientation estimation accuracy is expected to advance the field of IMU-based motion analysis and provide performance benefits in numerous applications. The

关键词： Gyroscopes

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Application of shallow and deep convolutional neural networks to recognize the average flow rate of physiological fluids in a capillary

Application of shallow and deep convolutional neural network...

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Saratov Fall Meeting 2021: Computational Biophysics and Nanobiophotonics

作者： Stebakov, Ivan Kornaeva, Elena Potapova, Elena Dremin, Viktor Department of Mechatronics Mechanics and Robotics Orel State University named after I.S.Turgenev Orel302026 Russia Department of Information Systems and Digital Technologies Orel State University named after I.S. Turgenev Orel302026 Russia Research and Development Center of Biomedical Photonics Orel State University named after I.S. Turgenev Orel302026 Russia College of Engineering and Physical Sciences Aston University BirminghamB4 7ET United Kingdom

ISBN: (数字)9781510653702

ISBN: (纸本)9781510653696

The aim of this work is to develop practical tools to recognize the average flow rate of physiological fluids in capillaries. This tool is represented by classification models in an artificial neural networks form. The flow rate data were obtained experimentally. Intralipid was used as the test liquid. Laser speckle contrast imaging was used to obtain images of liquid flow in a glass capillary. The experiment was carried out with an average flow rate of 0-2 mm/s with various concentrations of intralipid. The results of training of fully connected and convolutional neural networks for processing the received data are presented. The accuracy of determining the average flow rate of intralipid with different concentrations was comparable to the previously obtained results for a fixed concentration and amounted to approximately 97.5%. © 2022 SPIE.

关键词： Convolution

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Data-Driven control and Behavior-Based control Applied to a SISO Mobile Robot

Data-Driven Control and Behavior-Based Control Applied to a ...

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IEEE Latin American Robotics Symposium, LARS

作者： M. A. Pastrana Karine R. Santos Alceu B. C. de Farias Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Graduate Program Automation and Control Group/GRACO University of Brasilia Brasilia DF Brazil Faculty of Gama Biomedical Engineering Graduate Program University of Brasilia Brasilia DF Brazil Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9781665462808

ISBN: (纸本)9781665462815

With the advancement of technology, systems in many different areas of application have become more complex, and obtaining reliable mathematical models is a task that is increasingly becoming more difficult as well. To overcome these issues, new methodologies have emerged, such as the one known as Data-Driven-control (DDC), which uses the input and output data of the system to design a controller, and Behavior-Based-control (BBC), which provides the controller based on the desired behavior of a system. In this work, these two methodologies were applied to obtain the transfer function of a Single-Input Single-Output mobile robotic platform that moves parallel to a wall. A Proportional Integral Derivative controller was used to control the left wheel, while the right wheel was set to a constant speed, allowing the mobile robot to maintain a constant distance from the wall. The controller was tuned utilizing root locus methodology with an overshot of 16.7%, settling time of 6.45 seconds, and a static error of 2.1%. Additionally, disturbances were added to test the robustness of the mobile robot model and the PID controller.

关键词： Analytical models Biological system modeling Wheels Transfer functions Robot sensing systems control systems Mathematical models

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Design and Visual Servoing control of a Hybrid Dual-Segment Flexible Neurosurgical Robot for Intraventricular Biopsy

arXiv

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arXiv 2024年

作者： Chen, Jian Chen, Mingcong Zhao, Qingxiang Wang, Shuai Wang, Yihe Xiao, Ying Hu, Jian Chan, Danny Tat Ming Yeung, Kam Tong Leo Chan, David Yuen Chung Liu, Hongbin The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Beijing100190 China Hong Kong Department of Biomedical Engineering City University of Hong Kong Hong Kong CAIR-HKISI-CAS HKSAR China The State Key Laboratory of Multimodal Artificial Intelligence Systems CASIA Beijing100190 China Department of Surgery The Chinese University of Hong Kong Hong Kong The State Key Laboratory of Management and Control for Complex Systems CASIA Beijing100190 China The School of Biomedical Engineering and Imaging Sciences King's College London LondonSE1 7EU United Kingdom

Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope MicroNeuro, designed to perform biopsies with dexterous surgical manipulation deep in the brain. Taking into account the uncertainty of the control model, an image-based visual servoing with online robot Jacobian estimation has been implemented to enhance motion accuracy. Furthermore, the application of model predictive control with constraints significantly bolsters the flexible robot's ability to adaptively track mobile objects and resist external interference. Experimental results underscore that the proposed control system enhances motion stability and precision. Phantom testing substantiates its considerable potential for deployment in neurosurgery. Copyright © 2024, The Authors. All rights reserved.

关键词： Visual servoing

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