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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhang, Yinlong An, Haibo Ding, Xiaojian Liang, Wei Yuan, Mingze Ji, Chunyang Tan, Jindong Shenyang Institute of Automation Guangzhou Chinese Academy of Sciences Guangzhou511548 China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Fifth Electronic Instituteof MIIT Guangzhou510610 China Department of Mechanical Aerospace and Biomedical Engineering University of Tennessee KonxvilleTN37996 United States

ISBN: (纸本)9781728163215

Reliable fault detection of rotate vector (RV) reducer is of paramount importance for the long-term maintenance of high-precision industrial robots. This paper proposes a Hidden Markov Model (HMM) based RV reducer fault detection using Acoustic Emission (AE) measurements. Compared with the conventional faults from the common rotating machinery (such as bearings and gears), the fault from the RV reducer is more complicated and undetectable due to its inherent inline and two-stage meshing structure. To this end, this work modifies the HMM model by taking into account not only the current observations and previous states, but also the subsequent series of observations within the posteriori probability framework. Through this way, the random and unknown disturbance, which is common in the industrial scenarios, could be reduced. Besides, the HMM is also applied to separate the AE signal bulks within one cycle that has 39 subcycles, which is a critical step for AE signal pre-processings. The proposed method has been evaluated on our collected AE signal dataset from the RV reducer in the industrial robotic platform. The experimental results and analysis validate that the proposed HMM based RV Reducer fault detection model can reliably and accurately detect reducer faults. © 2019 IEEE.

关键词： Hidden Markov models

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control system design for micro AUV based on open source hardware

Control system design for micro AUV based on open source har...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Wang, Chenguang Hu, Zhiqiang Yang, Yi Geng, Lingbo Wang, Ling Department of Control Theory and Engineering Shenyang Ligong University Shenyang Liaoning Province China Department of Ocean Robotics Shenyang Institute of Automation Shenyang Liaoning Province China Department of Electric Automation Shenyang Ligong University Shenyang Liaoning Province China

ISBN: (纸本)9781538680698

This paper mainly introduces the the control system of micro AUV based on open source hardware. The control system is the most important part of the AUV and its performance has a direct impact on the stability and reliability of AUV. Due to the small size and limited energy, micro AUV puts more restrictions on the volume and power consumption of the control system. In this paper, we choose the BeagleBone Black, the open source hardware, as the main controller, the rich peripheral interface of it facilitates data acquisition and centralized processing of the vehicle. Arduino, another type of open source hardware, is used as the node controller of the control system. Compared with the traditional hardware design, this architecture has the advantages of small volume, low power consumption, low cost, short period of development and maintenance, and it also had good performance in data processing and real-time control. The experimental results showed that the control system based on this architecture run effectively. © 2018 IEEE.

关键词： control systems

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Development of a Tetris playing robot controlled by KNR 15

Development of a Tetris playing robot controlled by KNR

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Wang, Ming Zhang, Yanlu Dong, Huifang Li, Xu Yu, Junzhi Department of Information and Electrical Engineering University of Shandong Jianzhu University Jinan250100 China Department of Intelligent Robotics State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781538660720

Robot plays an increasingly important role in daily life. This paper presents a vision-based wheeled robot for playing Tetris. How to control the robot is elaborated at length in this paper. The robot adopted a KNR controller as its core controller. With a CCD sensor, it identified colored blocks, lines and the destination. All algorithms are programed with LabVIEW. The experiments and the contest validated the effectiveness of the proposed vision-based wheeled robot system. © 2018 IEEE.

关键词： controllers

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Computer simulation of signal detection in non-Gaussian noise with the Neyman-Pearson moment quality criterion 9

Computer simulation of signal detection in non-Gaussian nois...

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9th IEEE International Conference on Dependable Systems, Services and Technologies, DESSERT 2018

作者： Palahin, Volodymyr Juhar, Jozef Leleko, Serhiy Polozhaenko, Serhiy Palahina, Elena Department of Radio Engineering Telecommunication and Robotics Systems Cherkasy State Technological University Cherkasy Ukraine Department of Electronics and Multimedia Communications Technical University of Kosice Kosice Slovakia Department of Computerized Control Systems Odessa National Polytechnic University Odessa Ukraine

ISBN: (纸本)9781538659038

This paper considers the problem of signal detection in non-Gaussian noise. We propose the novel moment quality criterion decision making, where the moment's description of a random process is used for synthesis of polynomial decision rules. It is shown that the nonlinear processing of samples and taking into account higher order statistics of random process can increase the efficiency of signal detection. It is shown that the proposed models and methods allow us to increase the efficiency of signal processing in comparison with the known results. © 2018 IEEE.

关键词： Stochastic systems

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Fault Detection and Isolation for a 3-DOF Helicopter with Sliding Mode Strategies 15

Fault Detection and Isolation for a 3-DOF Helicopter with Sl...

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15th International Workshop on Variable Structure Systems, VSS 2018

作者： Perez, U. Capello, E. Punta, E. Perea, J. Fridman, L. Department of Control and Robotics Division of Electrical Engineering Engineering Faculty National Autonomous University of Mexico C.P. 04510 Mexico Politecnico di Torino Department of Mechanical and Aerospace Engineering Torino10129 Italy National Research Council of Italy CNR-IEIIT Institute of Electronics Computer and Telecommunication Engineering Torino Italy

ISBN: (纸本)9781538664391

This paper analyzes the problem of detection and isolation of faults in the actuators of a 3-Degree-of-Freedom (3-DOF) helicopter by a residual-based approach. A third-order sliding mode differentiator is designed for the evaluation of the residuals. Moreover, two sliding mode controllers are suitably designed to stabilize the angular positions and velocities: (i) a super twisting control system and (ii) a continuous twisting control system. The performance of the designed controllers and the effectiveness of the residual-based method are illustrated by simulations. © 2018 IEEE.

关键词： controllers

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Design of a fuzzy integral sliding mode tracking controller for T-S fuzzy systems

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Journal of Institute of control, robotics and Systems 2018年第6期24卷 561-566页

作者： Kim, Han Sol Joo, Young Hoon Park, Jin Bae School of Electrical and Electronic Engineering Yonsei University Korea Republic of Department of Control and Robotics Engineering Kunsan National University Korea Republic of

In this paper, a reference model tracking control for a nonlinear system expressed as a Takagi-Sugeno (T-S) fuzzy model is set through a fuzzy integral sliding mode controller. The stabilization conditions for the sliding motion are derived in terms of a linear matrix inequality, and the fuzzy integral sliding mode controller is designed. Moreover, it is verified through the Lyapunov stability condition that the designed controller allows the error dynamics model to reach the sliding surface. Finally, in the simulation example, it is shown that the proposed method successfully achieves the fuzzy tracking control. In addition, a performance comparison between the proposed method and the existing state feedback control technique is provided. © ICROS 2018.

关键词： Linear matrix inequalities

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Sampled-data fuzzy tracking control of nonlinear control systems

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Transactions of the Korean Institute of Electrical Engineers 2017年第1期66卷 159-164页

作者： Kim, Han Sol Park, Jin Bae Joo, Young Hoon School of Electrical and Electronic Engineering Yonsei University Korea Republic of Department of Control and Robotics Engineering Kunsan National University Korea Republic of

In this paper, we propose a method of designing the sampled-data tracking controller for nonlinear systems expressed by the Takagi-Sugeno (T-S) fuzzy model. A sufficient condition that asymptotically stabilizes the state error between the linear reference model and the T-S fuzzy model is derived in terms of linear matrix inequalities. To this end, error dynamics are constructed, and the exact discretization method and the Lyapunov stability theory are employed in this paper. Finally, we validate the proposed method through the simulation example. Copyright © The Korean Institute of Electrical Engineers.

关键词： Linear matrix inequalities

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Distributed algorithms that solve boolean equations with local and differential privacies

arXiv

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arXiv 2020年

作者： Qi, Hongsheng Li, Bo Jing, Rui-Juan Wang, Lei Proutiere, Alexandre Shi, Guodong Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Faculty of Science Jiangsu University Zhenjiang212013 China Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW2006 Australia Department of Automatic Control Kth Royal Institute of Technology Stockholm100-44 Sweden

In this paper, we propose distributed algorithms that solve a system of Boolean equations over a network, where each node in the network possesses only one Boolean equation from the system. The Boolean equation assigned at any particular node is a private equation known to this node only, and the nodes aim to compute the exact set of solutions to the system without exchanging their local equations. We show that each private Boolean equation can be locally lifted to a linear algebraic equation under a basis of Boolean vectors, leading to a network linear equation that is distributedly solvable using existing distributed linear equation algorithms as a subroutine. A number of exact or approximate solutions to the induced linear equation are then computed at each node from different initial values. The solutions to the original Boolean equations are eventually computed locally via a Boolean vector search algorithm. We prove that given solvable Boolean equations, when the initial values of the nodes for the distributed linear equation solving step are i.i.d selected according to a uniform distribution in a high-dimensional cube, our algorithms return the exact solution set of the Boolean equations at each node with high probability. Furthermore, we present an algorithm for distributed verification of the satisfiability of Boolean equations, and prove its correctness. Finally, we show that by utilizing linear equation solvers with differential privacy to replace the in-network computing routines, the overall distributed Boolean equation algorithms can be made differentially private. Under the standard Laplace mechanism, we prove an explicit level of noises that can be injected in the linear equation steps for ensuring a prescribed level of differential privacy. Copyright © 2020, The Authors. All rights reserved.

关键词： Linear equations

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Heat distribution in the deep drawing device components working by high temperatures 10

Heat distribution in the deep drawing device components work...

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10th International Conference Machine and Industrial Design in Mechanical engineering, KOD 2018

作者： Tropp, M. Brumerčík, F. Šteininger, J. Weis, P. Glowacz, A. Univerzity of Žilina Faculty of Mechanical Engineering Department of Design and Mechanical Elements Univerzitná 1 Žilina010 26 Slovakia AGHUniversity of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Al. A. Mickiewicza 30 Kraków30-059 Poland

The subject of the article is a simulation of heat affected components of a device for deep drawing by extreme conditions in vacuum by high temperatures required for forming of crystallization containers made from thin molybdenum sheets. The simulation is focused on the distribution of heat in particular components in relation with their shape. There are presented the design of working components and the boundary conditions of transient thermal simulations with the results. © 2018 Institute of Physics Publishing. All rights reserved.

关键词： Deep drawing

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Bio-Syncretic Light-gated Field-Effect Transistor: Fabrication and Characterization

Bio-Syncretic Light-gated Field-Effect Transistor: Fabricati...

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IEEE Conference on Nanotechnology

作者： Jia Yang Wenxue Wang Gongxin Li Guangyong Li Ning Xi Lianqing Liu State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Jiangnan University Wuxi China Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh United States Emerging Technologies Institute University of Hong Kong Pokfulam Hong Kong

Biological visual system has many intrinsic functional superiorities, such as small size, high sensitivity and no heat-sink cooling, which are hard to be completely replicated by electromechanical systems. The bio-syncretic design of sensing device with living materials may provide some functional superiorities to those conventional sensing devices, and will have great potential benefits in both biomedical and engineering applications. In this study, we developed a novel bio-syncretic light-gated field-effect transistor (FET), in which optogenetically engineered cells were used as the gate substitute for conventional gate electrode, and the exposure of the cells to light irradiation results in the variation of the transistor's channel current. The bio-syncretic transistor was fabricated by virtue of graphene film and optogenetically engineered cells, and its basic photo-responsive performance was then tested and characterized. This reference-less bio-syncretic transistor has a wide range of potential applications in photodetection and biosensing with good biocompatibility and stability.

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