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International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM

作者： Maksim A. Sokolov Rafal P. Jastrzebski Seppo E. Saarakkala Marko Hinkkanen Arkadiusz Mystkowski Juha Pyrhönen Olli Pyrhönen Department of Electrical Engineering and Automation Aalto University Department of Electrical Engineering Lappeenranta University of Technology Department of Automatic Control and Robotics Bialystok University of Technology

This paper presents a novel analytical method for electro-mechanical design of a high speed long-term flywheel energy storage system and thermal evaluation of possible operating modes of the system. Flywheel's composite shell rotor along with the motor/generator unit are assumed to be placed into a sealed vacuum chamber, which presents a challenge of heat transfer, produced by rotor losses. Developed method takes into account thermal radiation properties of the rotor and is realised using Mathcad software, which allows for quick investigation of any flywheel configuration. The method involves calculations for preliminary rotor sizing and determining achievable operation modes, while keeping the rotor under a specified temperature limit. Results of using this method for studying dependencies of thermal performance on initial system parameters are presented and conclusions are drawn. Based on the conducted study, recommendations on system design considerations are given.

关键词： Rotors Energy storage Temperature Mathematical model Design methodology Heating Thermal analysis

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Rapid Detection of Chinese Liquors Using a Portable E-nose Based on C-SVM

Rapid Detection of Chinese Liquors Using a Portable E-nose B...

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World Congress on Intelligent control and Automation

作者： Pei-Feng Qi Qing-Hao Meng Ya-Qi Jing Ming Zeng Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Department of Robotics College of Science and Engineering Ritsumeikan University

ISBN: (纸本)9781467384155

We designed a portable electronic nose (e-nose) for rapid detection of Chinese liquors. The e-nose had an evaporation chamber wrapped with silicone heating band, which could vaporize the liquor samples in 1 minute. The sequential sampling and clean-out lasted 100 seconds and 3 minutes, respectively. Hence, one fast detection process could be finished within 3 minutes without regard to clean-out. In order to acquire enough information from array's sampling curves for classification, we chose 60 features (including 6 features per sensor) according to the response curves, the derivative of the response curves and the relative change rate curves of conductivity. Then the dimension of features was reduced by principle component analysis (PCA). Finally, classification of Chinese liquors was performed using C-Support Vector Machine (C-SVM) and the classification rate was 96.7%.

关键词： Sensor arrays Conductivity Principal component analysis Gas detectors Heating Support vector machine classification Support vector machine classification Electronic Nose Gas detectors Sensor arrays principal components analysis conductivity response curves change rate Heating Chinese Chinese Chinese philosophy Chinese art

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Fostering cooperation of selfish agents through public goods in relation to the loners

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Physical Review E 2016年第3期93卷 032320-032320页

作者： Jianlei Zhang Zengqiang Chen Zhongxin Liu Department of Automation College of Computer and Control Engineering Nankai University Tianjin 300071 People's Republic of China and Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University Tianjin 300071 People's Republic of China

Altruistic behaviors in multiplayer groups have obtained great attention in the context of the public goods game, which poses a riddle from the evolutionary viewpoint. Here we focus on a particular type of public goods game model in which the benefits of cooperation are either discounted or synergistically enhanced at the appearance of multiple cooperators in a group. Moreover, we focus on the three-strategies profile by adding the role of loners, besides the often-used cooperation and defection. Using the replicator dynamic equations, we investigate a range of dynamical portraits that characterizes the properties of the steady state. Analysis results indicate that loners and cooperators both have chances to be the stable equilibrium points in the presence of perturbations, while defectors fail to do so in this three-strategy competition. Moreover, the coexistence state, in which all three strategies exist in equilibrium, can be led by suitable parameters and stabilized for perturbations. These results elucidate the interplay between the characteristics of the public goods game and evolutionary dynamics in well-mixed systems.

关键词： Social system dynamics Social networks Game theory models

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Robot 2015: Second Iberian robotics conference: Advances in robotics, volume 1 2nd

Robot 2015: Second Iberian Robotics conference: Advances in ...

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2nd Iberian robotics Conference, ROBOT 2015

作者： Reis, Luís Paulo Moreira, António Paulo Lima, Pedro U. Montano, Luis Muñoz-Martinez, Victor University of Minho School of Engineering Information Systems Department Guimarães Portugal University of Porto INESC-TEC Porto Portugal University of Lisbon Instituto Superior Técnico Institute for Systems and Robotics Lisboa Portugal University of Zaragoza School of Engineering and Architecture Computer Systems Engineering Department Zaragoza Spain University of Malaga Superior Technical School of Industrial Engineers Automatic Control Systems Engineering Department Málaga Spain

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On local analysis of distributed optimization

On local analysis of distributed optimization

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American control Conference

作者： Tatiana Tatarenko Behrouz Touri Department of Control Theory and Robotics TU Darmstadt Germany Department of Electrical Computer and Energy Engineering University of Colorado Boulder USA

ISBN: (纸本)9781467386838

We study distributed non-convex optimization on a time-varying multiagent network. Each node has access to its own smooth local cost function, and the collective goal is to minimize the sum of these functions. The perturbed push-sum algorithm used for convex distributed optimization in [17] is considered and further studied in [8]. We generalize the result obtained in [8] to the case of non-convex functions. Under some additional assumptions on the gradients we prove the convergence of the distributed push-sum algorithm to the set of critical points of the objective function. Moreover, by utilizing perturbations on the update process, we show the almost sure convergence of the perturbed dynamics to a local minimum of the global objective function.

关键词： Optimization Convergence Linear programming Approximation algorithms Algorithm design and analysis Signal processing algorithms Markov processes

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A position accuracy enhancement algorithm for a low-cost GPS receiver under distance boundary consideration

A position accuracy enhancement algorithm for a low-cost GPS...

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International Conference on robotics and Automation engineering (ICRAE)

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

ISBN: (纸本)9781509040735

This paper proposes a position accuracy improvement algorithm for a low-cost global positioning system (GPS) receiver of a car navigation system considering a distance boundary. The proposed method enhances the position accuracy by matching the trajectory of a vehicle acquired by a GPS receiver with prebuilt map information. After acquiring the trajectory of a vehicle, the iterative closest point method is employed to compute the rotational and the translational errors among the trajectory of a vehicle and map information. These computed errors are used to correct the trajectory of a vehicle. Unlike previous studies, in the proposed method, some of map information over a certain distance away from the trajectory is ignored so that the computational efficiency can be guaranteed. Finally, the superiority of our method is proved throughout real experimental results.

关键词： Global Positioning System Trajectory Receivers Automobiles Robot sensing systems

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A Comparative Study of Two Decoupling control Strategies for a Coupled Tank System

A Comparative Study of Two Decoupling Control Strategies for...

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IEEE Region 10 Conference

作者： Soumya Ranjan Mahapatro Bidyadhar Subudhi Sandip Ghosh Pawel Dworak Department of Electrical Engineering National Institute of Technology Rourkela Department of Electrical Engineering Indian Institute of Technology BHU Department of Control Engineering and Robotics West Pomeranian University of Technology in Szczecin

ISBN: (纸本)9781509025985

This paper presents a comparative study of two controllers namely Internal Model control (IMC) decoupling controller and an inverted decoupling controller applied to a coupled-tank liquid level system. These controllers are designed based on identified First Order Plus Dead Time (FOPDT) model of a coupled tank system. The performance of the two decoupling controllers are studied considering input and output multiplicative uncertainties. From the simulation and experimental studies, it is found that the inverted decoupling approach is more robust compared to IMC.

关键词： Decoupling control Inverted decoupling control Internal Model control (IMC) Multi Input Multi Output (MIMO) Coupled Tank System (CTS)

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A manipulator with counterbalancing mechanism for safety in human-robot collaboration

A manipulator with counterbalancing mechanism for safety in ...

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Annual Conference of Industrial Electronics Society

作者： Hyun Min Do Hwi-Su Kim Doo Hyeong Kim Youngsu Son Youngsu Cho Joono Cheong Department of Robotics and Mechatronics Korea Institute of Machinery and Materials Daejeon Korea Department of Control and Instrumentation Engineering Korea University Sejong Korea

Demands for human-robot collaboration in production line has increased and the problem of safety in robot becomes more and more important. This paper presents a manipulator with counterbalancing mechanism to secure safety of a human worker in human-robot collaboration environment by reducing a needed power to drive a manipulator. A counterbalancing torque to cancel out a gravitational torque was generated by a restoring force of spring. Also a control algorithm to minimize the effect of spring on tracking performance was proposed. Experimental results were suggested to verify the performance of the proposed method.

关键词： Torque Force Manipulators Clamps Safety Collision avoidance

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Dynamic Underactuated Flying-Walking (DUCK) Robot

Dynamic Underactuated Flying-Walking (DUCK) Robot

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IEEE International Conference on robotics and Automation

作者： Christopher J. Pratt Kam K. Leang DARC (Design Automation Robotics and Control) Lab University of Utah Robotics Center and Department of Mechanical Engineering University of Utah Salt Lake City 84112 United States of America

ISBN: (纸本)9781467380270

This paper describes the development of a flying and walking robot, called the dynamic underactuated flying-walking (DUCK) robot. The DUCK robot combines a high-mobility flying platform, such as a quadcopter (quadrotor helicopter), with passive-dynamic legs to create a versatile system that can fly and walk. One of the advantages of passive-dynamic legs for walking is that additional actuators are not needed for terrestrial locomotion. Herein, a mathematical model is presented and simulations are used to help design a prototype robot. Experimental results demonstrate the feasibility of combining an aerial platform with passive-dynamic legs to create an effective flying and walking robot. In particular, two modes of walking are demonstrated: (1) passive walking down inclined surfaces for low-energy terrestrial locomotion, and (2) active (powered) walking by leveraging the capabilities of the flying platform, where thrust from the quadcopter's rotors enables the DUCK robot to take steps and walk on flat surfaces or up inclined surfaces.

关键词： DUCK low-energy terrestrial

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The method of frequency determination of impulse response components based on cross-correlation vs. fast Fourier transform

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Diagnostyka 2016年第1期17卷 59-64页

作者： Kotowski, Adam Faculty of Mechanical Engineering Department of Automatic Control and Robotics Bialystok University of Technology ul. Wiejska 45C Bialystok15-351 Poland

The paper presents results of impulse response spectral analysis that has been obtained using a method based on cross-correlation. The impulse response spectrum is achieved by correlating the impulse response and reference single-harmonic signals and using Hilbert transform to obtain an envelope of cross-correlation. Then, surface area under the envelope is calculating and its plot in frequency domain is making. The spectrum obtained this way has its advantage over the fast Fourier transform (FFT) that its spectral resolution does not depend on length of impulse response. At the same time, the spectral resolution can be much greater than spectral resolution resultant from FFT. Obtained results show that presented method gives possibilities to determine frequencies of impulse response components more accurate in comparison to FFT particularly for short-time impulse responses.

关键词： Impulse response

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