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Low frequency damage analysis of electric pylon model by fuzzy logic application

Journal of Low Frequency Noise Vibration and Active control 2013年第3期32卷 239-251页

作者： Dominik, Ireneusz Iwaniec, Marek Lech, Lukasz Faculty of Mechanical Engineering and Robotics Department of Process Control AGH University of Science and Technology Krakow Poland

The paper presents a proposition of a new method for calculating the damage degree of electric pylon model by fuzzy logic application. Damage changes in constructions manifest themselves in small but detectable variations of frequency. The change of the speed of wave propagation, which is associated with the change of the natural frequency in the system, is caused by the deformation of the examined material. This phenomenon can be used for an indirect analysis of the construction damage. The main aim of the article is presentation of the results of the vibrations analyse of the electric pylons. In the preliminary tests the research was conducted on the simulation data of the electric pylon of power grid. Eight construction elements of pylon in different positions were chosen to simulate the damage by decreasing step by step the Young's modulus. The simulation data was obtained on the basis of the stiffness matrix updated in conjunction with the Finite Element Method. The preliminary research presented in the paper is aiming at creating the software which can monitor in real time the state of electric pylons.

关键词： Stiffness matrix

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Application of contract-based verification techniques for hybrid automata to surgical robotic systems

Application of contract-based verification techniques for hy...

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European control Conference (ECC)

作者： Luzie Schreiter Davide Bresolin Marta Capiluppi Joerg Raczkowsky Paolo Fiorini Heinz Woern Institute of Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Department of Computer Science and Engineering University of Bologna Bologna Italy Department of Computer Science University of Verona Verona Italy

ISBN: (纸本)9781479947287

Surgical robotic systems have to deliver a high quality of safety, since they deal with human lives. Their safety specifications must ensure the absence of risks for the patient and the operating room staff. To respect the modular nature of a surgical system, we propose a contract based verification approach for safety. We introduce a case study based on a typical surgical robotic operation scenario and model its components by using hybrid automata. We exploit the theory of parallel composition of contracts to verify properties on each component and prove that the property of the overall system can be obtained by composition.

关键词： Contracts Automata Safety Robot kinematics Manipulators Target tracking

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Platform of tracked electric tower wagon for eco-friendly agriculture

Platform of tracked electric tower wagon for eco-friendly ag...

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International Symposium on Soft Computing and Intelligent Systems (SCIS)

作者： Yongjun Lee Younghak Chang Young-Jae Ryoo Jaewhang Joo Department of Control Engineering and Robotics Mokpo National University Cheonggye-myeon Muan-gun Jeollanam-do Korea Han'a Esses CO. LTD Kwangsan-gu Kwangju Korea

ISBN: (纸本)9781479959563

In this paper, platform of tracked electric tower wagon for eco-friendly agriculture is proposed. Recently, climate change, including global warming, is progressing rapidly worldwide. To respond to climate change, the world is focusing its efforts. Agricultural field production methods are also needed transition for environmentally friendly farming systems. Currently, most of the agricultural equipment was used the engine power. Responding to a global environmental problem for the eco-friendly system for the conversion of agricultural platform is needed. Thus, eco-friendly platform of tracked electric tower wagon for agriculture using electric power was developed.

关键词： Poles and towers Agriculture Permanent magnet motors Brushless motors Engines Traction motors Soil

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Fault tolerant predictive control for multi-agent dynamical systems: Formation reconfiguration using set-theoretic approach

Fault tolerant predictive control for multi-agent dynamical ...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： M.T. Nguyen C. Stoica Maniu S. Olaru A. Grancharova SUPELEC Systems Sciences (E3S) - Automatic Control Department Gif-sur-Yvette France Bulgarian Academy of Sciences Institute of System Engineering and Robotics Sofia Bulgaria

This paper deals with the task assignment problem, which represents a major issue in dynamical formation control. The formation is defined in terms of a group of homogeneous dynamical agents. The position of each agent in the formation is predetermined by pre-imposing the distance between each pair of agents. Recently by using set-theoretic methods, the task assignment has been formulated in terms of an optimization problem allowing to keep the agents in a tight formation in real-time. In this paper we revisit these results and propose a new algorithm for the task assignment formulation in view of real-time control by including fault detection and isolation capabilities. The proposed methods will be illustrated by means of a numerical example.

关键词： Safety Trajectory Optimization Silicon Fault detection Equations Real-time systems

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H ∞ Synthesis Method for control of Non-linear Flexible Joint Models

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IFAC Proceedings Volumes 2014年第3期47卷 8372-8377页

作者： Patrik Axelsson Goele Pipeleers Anders Helmersson Mikael Norrlöf Division of Automatic Control Department of Electrical Engineering Linköping University SE-581 83 Linköping Sweden Department of Mechanical Engineering Katholieke Universiteit Leuven Celestijnenlaan 300B B-3001 Heverlee Belgium ABB AB – Robotics SE-721 68 Västerás Sweden

An ℋ ∞ synthesis method for control of a flexible joint, with non-linear spring characteristic, is proposed. The first step of the synthesis method is to extend the joint model with an uncertainty description of the stiffness parameter. In the second step, a non-linear optimisation problem, based on nominal performance and robust stability requirements, has to be solved. Using the Lyapunov shaping paradigm and a change of variables, the non-linear optimisation problem can be rewritten as a convex, yet conservative, LMI problem. The method is motivated by the assumption that the joint operates in a specific stiffness region of the nonlinear spring most of the time, hence the performance requirements are only valid in that region. However, the controller must stabilise the system in all stiffness regions. The method is validated in simulations on a non-linear flexible joint model originating from an industrial robot.

关键词： Mechanical systems Flexible Robust H-infinity control

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Cyclic Scheduling of Multimodal Processes in Crystalline-like Network Structures

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Procedia Computer Science 2014年 35卷 1567-1576页

作者： Grzegorz Bocewicz Robert Wójcik Zbigniew Banaszak Department of Electronics and Computer Science Koszalin University of Technology Sniadeckich 2 Koszalin Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland Department of Business Informatics Warsaw University of Technology Narbutta 85 02-524 Warsaw Poland

The paper introduces the concept of a crystalline-like model of a computer communication network (CCN) composed of routers forming a repeating or periodic arrangement. The considered homogenous network assumes the same routers servicing the same number of transmissions form an array. In such a network several isomorphic sub-networks encompassing packet transmission processes serviced by each router, interact each other as to provide a variety of demand-responsive host-server transmission services. In that context, a crystalline-like layout of physically different, however functionally identical, routers provides a homogenous array supporting computer network flows. In turn, packet transmission flows are treated as multimodal processes encompassing arbitrarily given inter-computer communications. Assuming the packets passing their origin-destination routes are synchronized by the same mechanism of packet transmission the problem boils down to a communication processes scheduling. Since concurrent transmission flows are processed along the same presumed routes, hence the schedules sought are cyclic ones. In general case, cycles of multimodal processes depend on CNN's periodicity. That objective to develop conditions allowing one to calculate the cyclic schedule of whole CCN while taking into account only periodicity of its repeating isomorphic structure.

关键词： cyclic scheduling multimodal networks constraint programming structures composition

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Optimal Sensor Trajectories for Mobile Underwater Target Positioning with Noisy Range Measurements

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IFAC Proceedings Volumes 2014年第3期47卷 5139-5144页

作者： D. Moreno-Salinas A.M. Pascoal J. Aranda Department of Computer Science and Automatic Control National University Distance Education (UNED) Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico (IST) University of Lisbon Portugal Adjunct Scientist National Institute of Oceanography (NIO) Goa India

There is considerable interest in reducing the number of sensors/beacons involved in underwater positioning/navigation systems since this has the potential to drastically reduce the costs and the time spent in deploying, calibrating, and recovering acoustic equipment at sea. Motivated by these considerations, we address the problem of single underwater target positioning based on acoustic range measurements between the target and a moving sensor at the sea surface. In particular, the goal of the present work is to compute optimal geometric trajectories for the surface sensor that will, in a well defined sense, maximize the range-related information available for underwater target positioning and tracking. To this effect, the Fisher Information Matrix and the maximization of its determinant are used to determine the sensor trajectory that yields the most accurate positioning of the target, while the latter describes a preplanned trajectory. It is shown that the optimal trajectory depends on the velocity of the sensor, the velocity and trajectory of the target, the sampling time between measurements, the measurement error model, and the number of measurements used to compute the FIM. Simulation examples illustrate the key results derived.

关键词： Autonomous underwater vehicles Fisher information matrix Cramer-Rao Bound optimization positioning single tracker

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Behavior control algorithm of swarm robots to maintain network connectivity

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Journal of Institute of control, robotics and Systems 2013年第12期19卷 1132-1137页

作者： Kim, Jong Seon Jeong, June Young Ji, Sang Hoon Joo, Young Hoon Department of Control and Robotics Engineering Kunsan National University Korea Republic of Applied Robot Technology Korea Institute of Industrial Technology Korea Republic of

In swarm robot systems, it is vital to maintain network connectivity to ensure cooperative behavior between robots. This paper deals with the behavior control algorithm of the swarm robots for maintaining network connectivity. To do this, we divide swarm robots into search-robots, base-robots, and relay-robots. Using these robots, we propose behavior control algorithm to maintain network connectivity. The behavior control algorithms to maintain network connectivity are proposed for the local path planning using virtual force and global path planning using the Delaunay triangulation, respectively. Finally, we demonstrate the effectiveness and applicability of the proposed method through some simulations. © ICROS 2013.

关键词： Behavioral research

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Passive Upper Limb Assessment Device

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Procedia Computer Science 2014年 42卷 287-292页

作者： H.A. Rahman K.X. Khor L.S. Sim C.F. Yeong E.L.M. Su Department of Control and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia Malaysian-Japan International Institute of Technology (MJIIT) Universiti Teknologi Malaysia 54100 Kuala Lumpur Malayisa Centre of Artificial Intelligence and Robotics (CAIRO) Unversiti Teknologi Malaysia 54100 Kuala Lumpur Malaysia Department of Electronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia

Stroke is the leading cause of disability. Reaching movement is the most important movement for many daily activities routine. Rehabilitation is to encourage and enhanced recovery process. Conventional rehabilitation is one-to-one intervention where labour intensive and lack of repeatability. In addition, the stroke assessments by physiotherapist are subjective and not independent. Thus, this paper will describe the design and development of non-motorized system for assessing the patients’ motor function. This system will be used in the future to find the correlation between conventional assessments scales such Fugl-Mayer Assessment (FMA), Chedoke-McMaster Stroke Assessment Scale (CMSA) and Motor Assessment Scale (MAS) and robotic assessment.

关键词： Stroke assessment scale robotic upper limb rehabilitation.

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A Novel Hybrid Rehabilitation Robot for Upper and Lower Limbs Rehabilitation Training

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Procedia Computer Science 2014年 42卷 293-300页

作者： K.X. Khor H.A. Rahman S.K. Fu L.S. Sim C.F. Yeong E.L.M. Su Malaysian-Japan International Institute of Technology (MJIIT) Universiti Teknologi Malaysia 54100 Kuala Lumpur Malayisa Department of Control and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia Centre of Artificial Intelligence and Robotics (CAIRO) Unversiti Teknologi Malaysia 54100 Kuala Lumpur Malaysia Department of Electronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia

Stroke is the leading cause of severe disability worldwide, with up to 15 million of people suffer stroke every year. Survivors of stroke can recover their physical strength, provided they undergo proper rehabilitation. However, most of the rehabilitation centres provide only basic tools as they can rarely afford the expensive and advanced rehabilitation devices. Besides that, training with therapists is limited to few hours per week due to the large number of patients and the stroke patients are generally sent home once they are mobile, although their upper limbs functions are not recovered. Stroke patients need to continue training after stroke to avoid muscle contraction, but due to large number of patients, they are not able to train frequently in the hospital. Therefore, the goal of this project is to develop a low-cost, simple yet compact rehabilitation robot for stroke patient to train both upper and lower limbs reaching movement. Compact Rehabilitation Robot (CR2) is expected to help the stroke patients training reaching movement in an enhanced virtual reality environment with haptic feedback and to provide the stroke patients with a faster track towards recovery.

关键词： Rehabilitation robot stroke propotional control biomechanics

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