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Role of sensor technology in liquid level measurement of molten metal

Materials Today: Proceedings 2021年 45卷 2524-2527页

作者： P. Rajalakshmy G. Jayanthi J. Mohammed Feros Khan R. Kavin S. Sheeba Rani P. Subha Hency Jose Department of Robotics Engineering Karunya Institute of Technology and Sciences Coimbatore 641114 Tamil Nadu India Department of Instrumentation and Control Engineering Sri Sairam Engineering College Chennai 600 044 Tamil Nadu India Department of EEE Vickram College of Engineering Enathi Sivagangai 630561 Tamil Nadu India Department of EEE Sri Krishna College of Engineering and Technology Coimbatore 641 008 Tamil Nadu India Department of Biomedical Engineering Karunya Institute of Technology and Sciences Coimbatore 641114 Tamil Nadu India

In recent days, measuring a liquid level of molten metal is difficult in furnace. At the same, excess quantity of molten metal leads to increase the cost. The sufficient molten metal is provided for casting while using proper method of liquid measurement. The sensor technology is introduced to maintain the liquid level of molten metal and it’s used to provide the correct quantity of molten metal at right time without disturb the melting process. For this experimental investigation, the ultrasonic sensor is used. The experiment is conducted for liquid measurement of mild steel. The liquid level is measured through the change of velocity of the sound, time and Standoff Distance (SOD) between the molten metal level and sensor. The parametric contribution of liquid level is studied through variance analysis. The contour plot analysis was conducted to study the effect of parameters.

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Lassification of beams carrying orbital angular momentum propagating through underwater turbulence 3

Lassification of beams carrying orbital angular momentum pro...

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Environmental Effects on Light Propagation and Adaptive Systems III 2020

作者： Avramov-Zamurovi, Svetlana Nelson, Charles Esposito, Joel M. Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall Annapolis21402 United States Electrical and Computer Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall Annapolis21402 United States

ISBN: (纸本)9781510638778

There has been an ever-increasing demand for high data rates and security in underwater communication networks as well as sensor applications. The use of lasers has proven to be a realistic option given its inherently high bandwidth as well as low probability of intercept and detection by opponents. That said, laser light experiences degradation when propagated through random media, such as experienced underwater due to optical turbulence, absorption, and scattering. We are motivated to investigate the encoding, propagation, and performance of beams carrying orbital angular momentum through underwater turbulence as a mechanism for utilization in a high-performance communication system. Additionally, we seek to explore and quantify the performance characteristics of neural network techniques to classify and decode the received beams. © 2020 SPIE.

关键词： Turbulence

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Constraint Selection in Optimization-Based controllers

arXiv

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arXiv 2025年

作者： Lee, Haejoon Rousseas, Panagiotis Panagou, Dimitra Department of Robotics University of Michigan Ann ArborMI United States Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Aerospace Engineering University of Michigan Ann ArborMI United States

Human-machine collaboration often involves constrained optimization problems for decision-making processes. However, when the machine is a dynamical system with a continuously evolving state, infeasibility due to multiple conflicting constraints can lead to dangerous outcomes. In this work, we propose a heuristic-based method that resolves infeasibility at every time step by selectively disregarding a subset of soft constraints based on the past values of the Lagrange multipliers. Compared to existing approaches, our method requires the solution of a smaller optimization problem to determine feasibility, resulting in significantly faster computation. Through a series of simulations, we demonstrate that our algorithm achieves performance comparable to state-of-the-art methods while offering improved computational efficiency. © 2025, CC BY.

关键词： Lagrange multipliers

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Learning-based control for PMSM Using Distributed Gaussian Processes with Optimal Aggregation Strategy

Learning-based Control for PMSM Using Distributed Gaussian P...

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Annual Conference of Industrial Electronics Society

作者： Zhenxiao Yin Xiaobing Dai Zewen Yang Yang Shen Georges Hattab Hang Zhao Robotics and Autonomous Systems Thrust The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China Chair of Information-oriented Control Technical University of Munich Munich Germany Center for Artificial Intelligence in Public Health Research (ZKI-PH) Robert Koch Institute Berlin Germany Department of Mathematics and Computer Science Freie Universität Berlin Berlin Germany Department of Electronic & Computer Engineering The Hong Kong University of Science and Technology Hong Kong China

The growing demand for accurate control in varying and unknown environments has sparked a corresponding increase in the requirements for power supply components, including permanent magnet synchronous motors (PMSMs). To infer the unknown part of the system, machine learning techniques are widely employed, especially Gaussian process regression (GPR) due to its flexibility of continuous system modeling and its guaranteed performance. For practical implementation, distributed GPR is adopted to alleviate the high computational complexity. However, the study of distributed GPR from a control perspective remains an open problem. In this paper, a control-aware optimal aggregation strategy of distributed GPR for PMSMs is proposed based on the Lyapunov stability theory. This strategy exclusively leverages the posterior mean, thereby obviating the need for computationally intensive calculations associated with posterior variance in alternative approaches. Moreover, the straightforward calculation process of our proposed strategy lends itself to seamless implementation in high-frequency PMSM control. The effectiveness of the proposed strategy is demonstrated in the simulations.

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Automatic strain sensing measurement on steel beam using strain gauge

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Materials Today: Proceedings 2021年 45卷 2578-2580页

作者： L.D. Vijay Anand D. Hepsiba Shanthi Palaniappan B. Sumathy P. Vijayakumar S. Sheeba Rani Department of Robotics Engineering Karunya Institute of Technology and Sciences Coimbatore 641114 Tamilnadu India Department of Biomedical Engineering Karunya Institute of Technology and Sciences Coimbatore 641114 Tamilnadu India Department of Computer Applications Sri Krishna College of Engineering and Technology Coimbatore 641008 Tamilnadu India Department of Instrumentation and Control Engineering Sri Sairam Engineering College Chennai 600044 Tamilnadu India School of Electronics Engineering Vellore Institute of Technology Chennai 600127 Tamilnadu India Department of EEE Sri Krishna College of Engineering and Technology Coimbatore 641008 Tamilnadu India

The metal beams are used in various fields such as industries, construction and vehicle structure. The capacity of load in metal beam depends on the metal and applications. The measurement of strain on the beam is difficult using conventional method. In recent years, strain gauge is used to measure the strain on mild steel beams. It is a sensor whose resistance values are changed with respect to the applied load. The change in resistance is small in magnitude which its effect can be sensed by a wheatstone bridge. It is directly proportional to the applied strain. The different process parameters and its effects are studied through optimization and variance analysis.

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Modelling mobile robot navigation in 3D environments: camera-based stairs recognition in Gazebo

Modelling mobile robot navigation in 3D environments: camera...

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Moscow Workshop on Electronic and Networking Technologies (MWENT)

作者： Maksim Mustafin Tatyana Tsoy Edgar A. Martí nez-Garcí a Roman Meshcheryakov Evgeni Magid Intelligent Robotics Department Kazan Federal University Kazan Russia Industrial Engineering and Manufacturing Dept. Autonomous University of Ciudad Juarez Chihuahua Mexico Cyber-physical Lab V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences Moscow Russia HSE University Moscow Russia

The task of sensory-based autonomous navigation of mobile robots requires data fusion from multiple sources in order to properly detect and recognize environmental obstacles. One of important issues mobile robots deal in a typical multi-level indoor environment is a stair well detection and negotiation. This paper presents ROS-based stairs detection implementation using onboard cameras of the Russian mobile crawler robot Servosila Engineer. Virtual experiments were performed in Gazebo environment with a single camera and a stereo camera.

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Bandit Learning in Convex Non-Strictly Monotone Games

arXiv

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arXiv 2020年

作者： Tatarenko, Tatiana Kamgarpour, Maryam The Department of Control Theory and Robotics TU Darmstadt Germany The EPFL School of Engineering Sycamore Lab Switzerland

We address learning Nash equilibria in convex games under the payoff information setting. We consider the case in which the game pseudo-gradient is monotone but not necessarily strictly monotone. This relaxation of strict monotonicity enables application of learning algorithms to a larger class of games, such as, for example, a zero-sum game with a merely convex-concave cost function. We derive an algorithm whose iterates provably converge to the least-norm Nash equilibrium in this setting. From the perspective of a single player using the proposed algorithm, we view the game as an instance of online optimization. Through this lens, we quantify the regret rate of the algorithm and provide an approach to choose the algorithm's parameters to minimize the regret rate. © 2020, CC BY.

关键词： Learning algorithms

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Heat Transfer Optimization of end Winding Rotor Generator by the Use of Modified Axial Spacer: A Case Study 1

Heat Transfer Optimization of end Winding Rotor Generator by...

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1st International Conference on Industrial Automation, Smart Grid and its Application, ICIASGA 2020

作者： Baskoro, Y. Jaya, I. Glowacz, A. Sulowicz, M. Caesarendra, W. PT Indonesia Power Indonesia Department of Automatic Control and Robotics AGH University of Science and Technology Kraków30-059 Poland Institute of Electromechanical Energy Conversion Faculty of Electrical and Computer Engineering Cracow University of Technology Warszawska 24 Cracow31-155 Poland Faculty of Integrated Technologies Universiti Brunei Darussalam Jalan Tungku Link Gadong Brunei Darussalam BE1410 Brunei

This paper presents a case study of a rotor fault occurring in the rotor generator of a steam power plant located in Lontar, Banten Province, Indonesia. The steam power plant has 3 x 315 MV capacity and uses hydrogen in the cooling system. The issue arising during the operation was caused by heat transfer exceeding the normal level. The grounding of the rotor occurred through rising vibration and temperature, tripping the generator unit. During repairs, the axial spacer was replaced with a new model, where it is longer than the original, adding a bar spacer at a previously unavailable position and creating a cooling track profile. This is a case study on the replacement of the axial spacer model aimed at preventing the expansion of the winding, so as not to touch with each other, through the installation of a longer axial spacer and the addition of the spacer bar, and lastly adding the track profile to the cooling hydrogen gas flow thereby maximizing the cooling process from the end winding rotor generator. Heat transfer is an analysed parameter related to the model change of the axial spacer. The addition of a track cooling gas flow has been able to maximize the heat transfer process, which is simulated in this paper. The performance of the rotor generator increased through several parameters after the replacement of the axial spacer model. © Published under licence by IOP Publishing Ltd.

关键词： Cooling

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Robust Output Regulation of Permanent Magnet Synchronous Motors by Enhanced Extended Observer ⁎

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IFAC-PapersOnLine 2020年第2期53卷 4881-4886页

作者： Oleg I. Borisov Anton A. Pyrkin Alberto Isidori ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia University of Rome “La Sapienza” Department of Computer Control and Management Engineering “A. Ruberti” Rome Italy

This paper presents an application of the enhanced extended observer design with regard to the problem of robust output regulation of permanent magnet synchronous motors. The control framework is further advanced by means of the internal model so as to cope with disturbances represented by the time-varying load torque. The paper shows simulation of regulating a motor for different cases of torque loads and references and provides an explicit procedure of the recursive calculation of the enhanced extended observer coefficients.

关键词： Dayawansa’s lemma Robust observers Nonlinear systems High-gain observers Permanent magnet synchronous motors

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Simultaneously Calibration of Multi Hand-Eye Robot System Based on Graph

arXiv

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arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

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