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Estimating structural deformations for inferential control: a disturbance observer approach

IFAC-PapersOnLine 2016年第21期49卷 642-648页

作者： Voorhoeve, Robbert Dirkx, Nic Melief, Teun Aangenent, Wouter Oomen, Tom Eindhoven University of Technology Department of Mechanical Engineering Control Systems Technology Eindhoven Netherlands ASML Research Mechatronics Veldhoven Netherlands Nobleo Technology Eindhoven Netherlands

Increasingly stringent requirements for motion systems lead to a situation where the positioning performance can often not be measured directly and therefore has to be estimated. A typical example is a wafer stage, where the performance is desired at the point-of-exposure on the wafer but the sensors are located at the edge of the wafer stage. Increasingly stringent performance requirements necessitate taking structural deformations, caused by actuation or disturbance forces, into account. The aim of this paper is to develop a disturbance observer approach including an observer relevant model identification approach and to experimentally validate this approach on a prototype motion system. The experimental results confirm that the proposed disturbance observer approach leads to an improved estimation of the unmeasured performance variables. © 2016

关键词： Deformation Disturbance observer Inferential control Model identification Performance requirements Performance variables Positioning performance Stringent requirement Structural deformation

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A sliding mode controller design for the robust position control problem of series elastic actuators

A sliding mode controller design for the robust position con...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Emre Sariyildiz Huiming Wang Haoyong Yu Department of Biomedical Engineering Faculty of Engineering National University of Singapore Singapore Research Center of Analysis and Control for Complex Systems Chongqing University of Posts and Telecommunications Chongqing China

In this paper, a new robust position controller is proposed for Series Elastic Actuators (SEAs) by using Sliding Mode control (SMC) and a second order Disturbance Observer (DOb). The latter estimates not only disturbances but also their first and second order successive derivatives. A simple yet efficient dynamic model of the position control system is derived by using the analogy of a two-mass-spring-damper system. It is of fourth order and suffers from collocated and non-collocated disturbances. The former is directly cancelled by feeding-back its estimation through control input. The latter is suppressed by treating the estimations of disturbances and their first and second order time derivatives in the design of the SMC-based robust position controller. By cancelling disturbances via their estimations, not only the robustness of the position control system is improved but also the control signal chattering is lowered. The proposed robust controller significantly improves the position control performance of SEAs by suppressing plant uncertainties and external disturbances, such as friction, backlash, inertia variation and load. The validity of the proposed robust position controller is verified by giving experimental results of an SEA.

关键词： Conferences Automation TV

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Machine discovery of partial differential equations from spatiotemporal data

arXiv

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arXiv 2019年

作者： Yuan, Ye Li, Junlin Li, Liang Jiang, Frank Tang, Xiuchuan Zhang, Fumin Liu, Sheng Goncalves, Jorge Voss, Henning U. Li, Xiuting Kurths, Jürgen Ding, Han School of Artificial Intelligence and Automation State Key Laboratory of Digital Manufacturing Equipments and Technology Huazhong University of Science and Technology Wuhan430074 China School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan430074 China School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm11428 Sweden School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan430074 China School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta30332 United States School of Power and Mechanical Engineering Wuhan University Wuhan430074 China Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom Luxembourg Centre for Systems Biomedicine University of Luxembourg BelvauxL-4367 Luxembourg Citigroup Biomedical Imaging Center Weill Cornell Medical College New York10021 United States Research Domain IV - Transdisciplinary Concepts & Methods Potsdam Institute for Climate Impact Research Potsdam14473 Germany School of Mechanical Science and Engineering State Key Laboratory of Digital Manufacturing Equipments and Technology Huazhong University of Science and Technology Wuhan430074 China

The study presents a general framework for discovering underlying Partial Differential Equations (PDEs) using measured spatiotemporal data. The method, called Sparse Spatiotemporal System Discovery (S3d), decides which physical terms are necessary and which can be removed (because they are physically negligible in the sense that they do not affect the dynamics too much) from a pool of candidate functions. The method is built on the recent development of Sparse Bayesian Learning;which enforces the sparsity in the to-be-identified PDEs, and therefore can balance the model complexity and fitting error with theoretical guarantees. Without leveraging prior knowledge or assumptions in the discovery process, we use an automated approach to discover ten types of PDEs, including the famous Navier-Stokes and sine-Gordon equations, from simulation data alone. Moreover, we demonstrate our data-driven discovery process with the Complex Ginzburg-Landau Equation (CGLE) using data measured from a traveling-wave convection experiment. Our machine discovery approach presents solutions that has the potential to inspire, support and assist physicists for the establishment of physical laws from measured spatiotemporal data, especially in notorious fields that are often too complex to allow a straightforward establishment of physical law, such as biophysics, fluid dynamics, neuroscience or nonlinear optics. Copyright © 2019, The Authors. All rights reserved.

关键词： Nonlinear optics

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The Effectiveness of Colour Constancy on Segmenting Leukemia Cells Using Unsupervised Clustering Technique

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Journal of Physics: Conference Series 2018年第1期1019卷

作者： Nurul Hazwani Abd Halim Mohd Yusoff Mashor Aimi Salihah Abdul Nasir Rosline Hassan Electronic& Biomedical Intelligent Systems (EBItS) Research Group School of Mechatronics Engineering University Malaysia Perlis 02600 KampusPauh Putra Perlis Malaysia. Department of Hematology School of Medical Science University Science Malaysia Kubang Kerian Kelantan Malaysia.

Nowadays, colour image segmentation plays important tasks in medical field application such as brain, eyes, glaucoma and so on. This paper aims to compare the performance between different colour constancy of gray world (GW) and white patch (WP) that will be fusion with clustering algorithm to segment the nucleus of blast cells. First, both of the colour constancy algorithms are utilized on leukemia images to improve the microscopic quality of the blast *** unsupervised clustering, namely moving k-means algorithm is utilized on the various colour constancies of GWand WP for the purpose of segmentation. Both colour constancy algorithms have been analysedto identify which one can give the good segmentation performance. Since there is some noise in the segmented nucleus,the combination of median filter and region growing technique plays important tasks inreducing noise. The results show that WP is the best colour constancy in segmenting thenucleus as compared to Gray World.

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Knowledge, information and creativity support systems: Selected papers from KICSS’2014— 9th international conference, held in Limassol, Cyprus, on november 6–8, 2014 9th

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9th International Conference on Knowledge, Information and Creativity Support systems, KICSS 2014

作者： Kunifuji, Susumu Papadopoulos, George Angelos Skulimowski, Andrzej M. J. Kacprzyk, Janusz Kanazawa Japan Department of Computer Science University of Cyprus Nicosia Cyprus Department of Automatic Control and Biomedical Engineering AGH University of Science and Technology Kraków Poland Systems Research Institute Polish Academy of Sciences Warsaw Poland

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Quantitative graph theory: A new branch of graph theory and network science

arXiv

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arXiv 2017年

作者： Dehmer, Matthias Emmert-Streib, Frank Shi, Yongtang Department of Computer Science Universität der Bundeswehr München Germany Department of Mechatronics and Biomedical Computer Science UMIT Hall in Tyrol Austria Computational Medicine and Statistical Learning Laboratory Department of Signal Processing Tampere University of Technology Finland Institute of Biosciences and Medical Technology Tampere33520 Finland Center for Combinatorics and LPMC-TJKLC Nankai University Tianjin300071 China College of Computer and Control Engineering Nankai University Tianjin300071 China

In this paper, we describe quantitative graph theory and argue it is a new graph-theoretical branch in network science, however, with significant different features compared to classical graph theory. The main goal of quantitative graph theory is the structural quantification of information contained in complex networks by employing a measurement approach based on numerical invariants and comparisons. Furthermore, the methods as well as the networks do not need to be deterministic but can be statistic. As such this complements the field of classical graph theory, which is descriptive and deterministic in nature. We provide examples of how quantitative graph theory can be used for novel applications in the context of the overarching concept network science. Copyright © 2017, The Authors. All rights reserved.

关键词： Complex networks

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Set-up of active magnetic bearings for control of flexible shaft

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AIP Conference Proceedings 2018年第1期2029卷

作者： Adam Piłat Bartosz Sikora Jan Klocek Jan Cieślik 1AGH University of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Mickiewicza 30 30-059 Krakow Poland 2Optister Jalowcowa 50 31-329 Krakow Poland 3AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems Mickiewicza 30 30-059 Krakow Poland

This paper presents the new laboratory test rig of the vertical axis flexible shaft supported by two active magnetic bearings. Behind the motivation of establishing this setup is the control of vibration modes of the flexible rotor - shaft assembly, while the rotational speed varies and the unbalanced mass on the whirling disc is introduced to the system. The proposed model is aimed to simulate real operation conditions of the rotating machinery with an applied external load, with a variable structure caused by a change of material properties of the rotor - shaft assembly, or due to a fault of some elements coupled with the rotor.

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Computational analysis of the structural properties of economic and financial networks

arXiv

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arXiv 2017年

作者： Emmert-Streib, Frank Musa, Aliyu Baltakys, Kestutis Kanniainen, Juho Tripathi, Shailesh Yli-Harja, Olli Jodlbauer, Herbert Dehmer, Matthias Predictive Medicine and Data Analytics Lab Department of Signal Processing Tampere University of Technology Finland Institute of Biosciences and Medical Technology Tampere Finland Industrial and Information Management Tampere University of Technology Tampere Finland Institute for Systems Biology Seattle United States Institute for Intelligent Production Faculty for Management University of Applied Sciences Upper Austria Steyr Campus Austria Department for Biomedical Computer Science and Mechatronics UMIT - The Health and Lifesciences University Hall in Tyrol Austria College of Computer and Control Engineering Nankai University Tianjin300350 China

In recent years, methods from network science are gaining rapidly interest in economics and finance. A reason for this is that in a globalized world the interconnectedness among economic and financial entities are crucial to understand and networks provide a natural framework for representing and studying such systems. In this paper, we are surveying the use of networks and network-based methods for studying economy related questions. We start with a brief overview of graph theory and basic definitions. Then we discuss descriptive network measures and network complexity measures for quantifying structural properties of economic networks. Finally, we discuss different network and tree structures as relevant for applications. Copyright © 2017, The Authors. All rights reserved.

关键词： Finance

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A Spatial-Cue-Based Probabilistic Model for Bird Song Scene Analysis

A Spatial-Cue-Based Probabilistic Model for Bird Song Scene ...

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International Conference on Data Science and Advanced Analytics (DSAA)

作者： Ryosuke Kojima Osamu Sugiyama Kotaro Hoshiba Reiji Suzuki Kazuhiro Nakadai Department of Biomedical Data Intelligence Kyoto University Kyoto Japan Preemptive Medicine & Lifestyle-Related Disease Research Center Kyoto University Hospital Kyoto Japan Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo JAPAN Graduate School of Information Science Nagoya University Aichi Japan Honda Research Institute Japan Co. Ltd. Saitama JAPAN

This paper addresses bird song scene analysis focusing on location of birds and acoustic features of bird songs. Such a research area usually requires manual annotation related to positions and/or vocalization types of the target animals for a large amount of observed data. However, this manual annotation has two problems. One is that it is tough to annotate data observed in real environments because environmental noise exist and sound is reflected by trees and the ground, and also several birds at different locations may sing at the same time. The other is that it is inevitable that manual annotation produces inaccurate and inconsistent labels due to human errors and annotators' individual differences. For the first problem, we propose a Spatial-Cue-Based Probabilistic Model (SCBPM), which is a probabilistic model to estimate the maximum likelihood result for a bird song scene analysis by integrating sound source detection, localization, separation and identification based on spatial information of sound sources. For the second problem, we employ a semiautomatic annotation approach, in which a semi-supervised training method is deduced for SCBPM. This method decreases the amount of manual annotation. Preliminary experiments using recorded bird song data from the wild revealed that our system outperformed a conventional bird song scene analysis system by simply connecting sound source detection, localization, separation and identification in a cascade way in terms of identification accuracy.

关键词： Birds Acoustics Computational modeling Microphone arrays Multiple signal classification Spectrogram

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A Novel Tool Wear Measurement Method in Ultra-precision Raster Milling 4th

A Novel Tool Wear Measurement Method in Ultra-precision Rast...

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4th Asia Pacific Conference on Optics Manufacture, APCOM 2014

作者： Zhang, Guoqing To, Suet College of Mechatronics and Control Engineering Shenzhen University Shenzhen China State Key Laboratory of Ultra-precision Machining Technology Department of Industrial and Systems Engineering The Hong Kong Polytechnic University Kowloon Hong Kong Shenzhen Research Institute of The Hong Kong Polytechnic University Shenzhen China

ISBN: (纸本)9783038356387

Tool wear measurement has drawn a significant of attention in the past decades. However, no research has been found on the investigation of tool wear measurement in ultra-precision raster milling (UPRM) process since it is a relative complex cutting process. In the present study, tool wear characteristics were identified by using cutting chip morphologies and a groove cutting. Tool wear investigation using cutting chips is effective because diamond tool wear characteristics can be directly imprinted on the cutting chip surface. Through the inspection of chip surfaces, the profile and location of the tool fracture can be identified. Also, through the groove cutting, the cutting edge retreat due to the tool flank wear can be identified. In this research, a mathematical model was established to calculate the tool retreat. The experimental result shows that the proposed tool wear investigation method is an effective method. © 2016 Trans Tech Publications Ltd, Switzerland.

关键词： Milling (machining)

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