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Hardware Implementation of a GMDH Controller for Mobile Robot Obstacle Following/Avoidance

Hardware Implementation of a GMDH Controller for Mobile Robo...

引用

IEEE Latin American robotics Symposium, LARS

作者： M. A. Pastrana L. H. Oliveira M. S. Santana V. C. Oliveira Jose Mendoza-Peñaloza Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Graduate Program Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

Proportional, integral, and derivative (PID) controllers have been widely adopted for industrial applications. However, these controllers are not very efficient for non-linear systems. Artificial neural networks (ANN) based on the Group Method of Data Handling (GMDH) have great potential to replace the PID controllers due to their polynomial structure, allowing complex non-linear systems to be controlled. This work presents a hardware architecture of a GMDH network applied to speed control of a mobile robot platform. The proposed GMDH controller was implemented using a 16-bit floating-point arithmetic representation and was mapped on a Zynq7020 device. A hardware-in-the-loop based on the Universal Direct Memory Access methodology was developed to validate the proposed circuits, allowing for performance comparisons between a classical PID and the GMDH controllers for different simulated scenarios.

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Design of a Series Elastic Resistance Mechanism for Exercise and Rehabilitation

Design of a Series Elastic Resistance Mechanism for Exercise...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Kevin G. Gim Dennis W. Hong Robotics and Mechanism Laboratory Mechanical and Aerospace Engineering Department University of California Los Angeles United States

ISBN: (纸本)9781509047192

This paper introduces an initial investigation of a series elastic resistance mechanism for exercise and rehabilitation. The idea of Series Elastic Actuator is applied to a resistance mechanism that is designed to perform stable force control under safe operation in a cost effective way. The mechanism can generate various resistance force considering the biomechanical characteristic of a human by actively controlling resistance during an exercise stroke. As an initial investment of a series elastic resistance mechanism, a prototype hardware has been developed. Bluetooth communication is used to connect the prototype with a smartphone which sets resistance levels and receives experimental data log. A PID feedback controller is implemented with the prototype hardware to provide a constant, non-inertial resistance force by maintaining a constant deflection of springs during an exercise stroke. Dynamic simulation and experimental results of the prototype are also presented.

关键词： Immune system Force Springs Prototypes DC motors Mathematical model Electrical resistance measurement

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A development of experimental system for macro-micro teleoperation

A development of experimental system for macro-micro teleope...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： K. Kaneko H. Tokashiki K. Tanie K. Komoriya Department of Robotics Mechanical Engineering Laboratory Tsukuba Ibaraki Japan University of Tsukuba Tsukuba Ibaraki Japan

Micro components of micro machines, such as mechanisms, gears, sensors and actuators which are almost invisible, have been made by recent advance of mechanical and electronic engineering. The production of micro machines, however, requires new technologies for assembling micro parts into complete micro machines. Macro-micro teleoperation is one of the key technologies for constructing micro machines and will help human operators assemble micro parts with the skills they already have. First, we describe an experimental system for macro-micro teleoperation which we have developed. This system consists of a pair of prototype 2 DOF micro slave arms actuated by voice-coil motors to generate micro forces, and a pair of 2 DOF master arms actuated by the linear DD motors. Second, the basic characteristics of the system are introduced and the experimental results are presented.

关键词： Assembly Arm Micromotors Gears mechanical sensors Actuators Production Humans Prototypes Master-slave

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Adaptive inverse microstep tracking control of a hybrid stepper motor using RBF and MLP neural networks

Adaptive inverse microstep tracking control of a hybrid step...

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IEEE International Conference on Mechatronics and Automation

作者： Y. Bastani G.R. Vossoughi Center of Excellence in Design Robotics and Automation Mechanical Engineering Department Sharif University of Technology Tehran Iran

In this paper, a radial basis function neural network-based (RBFNN) adaptive inverse controller for real-time position tracking control of a two phase hybrid stepper motor in microstep mode is presented. To ensure system's robustness and closed loop stability and to improve the performance of the controller, the RBF based adaptive inverse control is combined with a closed loop PID controller. Experimental results are provided for various types of trajectories, comparing the performance of the proposed controller to the same neuro-controller using feed forward back-propagation neural networks (FFBP) proposed previously by the authors. The results show the superior performance of RBFNN over FFBP neural networks. Also the comparison of neuro controllers with a conventional fixed gain stand-alone PID controller show the improvement of the controller performance from 80% up to 99.7% decrease in the mean squared error (MSE) for different trajectories. Trajectories were tracked with the maximum error of 0.02 up to 0.06 degrees. Also the robustness of the method is confirmed through experimental results comparing neuro-controllers and the conventional PID controller by varying the load's inertia and disturbance torques. For this purpose two methods were examined. First using the same neuro-controllers trained by the initial training data and in the second method, neuro-controllers were adapted by new training data according to the new working conditions.

关键词： programmable control Adaptive control Micromotors Neural networks Control systems Three-term control Robust control Robust stability Training data Adaptive systems

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Dynamic modeling and vibration measurement of power transmission line 44

Dynamic modeling and vibration measurement of power transmis...

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44th International Congress and Exposition on Noise Control engineering, INTER-NOISE 2015

作者： Kwak, Moon K. Shin, Ji-Hwan Kim, Seung-Ki Choi, Min-Sup Koo, Jae R. Department of Mechanical Robotics and Energy Engineering Dongguk University 30 Pildong-ro 1-gil Jung-gu Seoul100-715 Korea Republic of Department of Mechanical Engineering Dongguk University 30 Pildong-ro 1-gil Jung-gu Seoul100-715 Korea Republic of Korea Electric Power Research Institute 105 Munji-Ro Yuseong-Gu Daejeon305-760 Korea Republic of

This paper is concerned with the dynamic modeling and vibration measurement of a single or bundled power transmission line. The bundled power transmission line may consists of two or more electric lines, which are connected by spacers. By assuming each electric line as a suspended uniform cable and the spacer as a spring, the dynamic model for the bundled power transmission line was derived by using the assumed mode method. The resulting equations of motion are expressed in matrix form, which are suitable for numerical simulations. The vibration measurements were carried out by using an accelerometer and image processing technique. The image processing technique was developed to measure the displacement profile of the cable and applied to the transmission line of a test site. Experimental natural frequencies obtained by using the image processing method were compared to theoretical natural frequencies. It was found that experimental natural frequencies are in good agreement with theoretical natural frequencies thus validating the theoretical model proposed in this study. It was found both theoretically and experimentally that the tension in the cable greatly affects the natural vibration characteristics. © 2015 by ASME.

关键词： Electric lines

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Optimal Hyperbolic Tangent Model for Outer Bypass MR Damper with Meandering Type Valve

Optimal Hyperbolic Tangent Model for Outer Bypass MR Damper ...

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International Conference on Technology, Informatics, Management, engineering, and Environment (TIME-E)

作者： R. Lullus Lambang GH Fitrian Imaduddin Budi Santoso Ubaidillah Student of Mechanical Engineering Doctoral Program Faculty of Engineering Universitas Sebelas Maret Surakarta Indonesia Staff of Mechanical Engineering Department Faculty of Engineering Universitas Sebelas Maret Surakarta Indonesia

ISBN: (数字)9798350364750

ISBN: (纸本)9798350364767

This research discusses the application of the hyperbolic tangent model for an outer bypass MR damper with a meandering valve, which was developed by one of the authors. The hyperbolic tangent model consists of six parameters. In this study, parameter reduction was carried out using local and global sensitivity analysis, and a parameter identification strategy based on Particle Swarm Optimization (PSO) was employed. The objective function is the relative error between the model's force and the force obtained from experiments with an outer bypass MR damper prototype featuring a meandering valve. The sensitivity analysis identifies an optimal hyperbolic tangent model with two sensitive parameters, while the remaining parameters are determined to be constant. The results show an improvement in accuracy, with the optimal hyperbolic tangent model reducing the error from 8.06 % to 7.1 %. This indicates that the optimal hyperbolic tangent model can be obtained by applying the sensitivity analysis method developed in this research.

关键词： Analytical models Accuracy Parameter estimation Sensitivity analysis Force Prototypes Valves Hypercubes Shock absorbers Particle swarm optimization

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Conditioning of Vitrified Bond CBN grinding wheels using a picosecond laser 17

Conditioning of Vitrified Bond CBN grinding wheels using a p...

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17th International Symposium on Advances in Abrasive Technology, ISAAT 2014

作者： Zahedi, Ali Tawakoli, Taghi Akbari, Javad Azarhoushang, Bahman Furtwangen University SchwenningenBaden-W��rttemberg Germany Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Advanced Manufacturing and Material Processing - Micro Mechanism Research Group Department of Engineering Design and Manufacture University of Malaya Kuala Lumpur Malaysia

ISBN: (纸本)9783038352211

Laser ablation is a novel non-mechanical wheel preparation method for optimizing the treatment costs of superabrasive tools. In this study the thermal effects of picosecond laser radiation on CBN superabrasive grinding wheel surface is analytically and experimentally investigated. The analytical approach is intended to find threshold process parameters for selective ablation of cutting grains and bond material. It has been analytically and experimentally shown that, the extent of material degradation is defined by the maximum surface temperature induced by the laser radiation which is in turn defined by the laser beam energy. It is also suggested that, the depth of laser thermal effects is governed by the relative speed of the laser scanner with respect to the wheel surface. © (2014) Trans Tech Publications, Switzerland.

关键词： Grinding (machining)

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Lamb wave signals for damage detection using a probability-based imaging algorithm 7

Lamb wave signals for damage detection using a probability-b...

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7th International Workshop on Structural Health Monitoring: From System Integration to Autonomous Systems, IWSHM 2009

作者： Lu, Y. Ye, L. Wang, D. Wang, X. Su, Z. School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW2006 Australia Urban Systems Program CSIRO Sustainable Ecosystems Commonwealth Scientific and Industrial Research Organisation 37 Graham Road Highett MelbourneVIC3190 Australia Department of Mechanical Engineering Hong Kong Polytechnic University Hong Kong Hong Kong

ISBN: (纸本)9781605950075

Identification of multiple notches in an aluminium plate was investigated with the aid of probability-based imaging evaluation of Lamb wave signals activated and captured by a piezoelectric sensor network. A signal processing algorithm featuring signal synchronization and correlation is proposed to facilitate the extraction of damage-scattered waves, by the means of which the corresponding arrival times of the scattered waves are obtained. Using a virtually-meshed grid in the plate, an image with respect to the probability of the arrival time at individual nodes is achieved, indicating the location of damage as perceived by individual actuator-sensor paths. Compromised and conjunctive data fusion techniques are applied to aggregate the images for all engaged actuator-sensor paths, to provide a complete appraisal of the location of damage. The diagnostic results demonstrate that the proposed approach is capable of identifying multiple notches with good accuracy in terms of their position.

关键词： Surface waves

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Automated Treatment Planning in Radiation Therapy using Generative Adversarial Networks 3

Automated Treatment Planning in Radiation Therapy using Gene...

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3rd Machine Learning for Healthcare Conference, MLHC 2018

作者： Mahmood, Rafid Babier, Aaron McNiven, Andrea Diamant, Adam Chan, Timothy C.Y. Department of Mechanical and Industrial Engineering University of Toronto TorontoON Canada Radiation Medicine Program Princess Margaret Cancer Centre TorontoON Canada Schulich School of Business York University TorontoON Canada

Knowledge-based planning (KBP) is an automated approach to radiation therapy treatment planning that involves predicting desirable treatment plans before they are then corrected to deliverable ones. We propose a generative adversarial network (GAN) approach for predicting desirable 3D dose distributions that eschews the previous paradigms of site-specific feature engineering and predicting low-dimensional representations of the plan. Experiments on a dataset of oropharyngeal cancer patients show that our approach significantly outperforms previous methods on several clinical satisfaction criteria and similarity metrics. © 2018 R. Mahmood, A. Babier, A. McNiven, A. Diamant & T.C.Y. Chan.

关键词： Generative adversarial networks

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Advanced Obstacle Avoidance in Walking Aids: Overcoming the Challenges of Low-Lying Obstacles with Deep Learning

Advanced Obstacle Avoidance in Walking Aids: Overcoming the ...

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Recent Advances in Systems Science and engineering (RASSE), IEEE International Conference on

作者： Yu-Shao Kao Shih-Ting Wang I-Hsum Li Department of Mechanical and Electro-Mechanical Engineering Tamkang University Taiwan Department of Mechanical Engineering National Chung Hsing University Taiwan Undergraduate Program of Intellectual Creativity Engineering National Chung Hsing University Taiwan

ISBN: (数字)9798331528263

ISBN: (纸本)9798331528270

An autonomous walking aid is a type of Autonomous Mobile Robots (AMRs) designed to navigate and perform tasks independently. In this paper, we introduce an innovative obstacle avoidance approach for walking aids, with a particular emphasis on avoiding non-stereotypical obstacles such as water puddles. Traditional methods relying on LiDAR, depth sensors, or cameras often struggle with low-lying obstacles due to challenges in detecting reflective surfaces and interpreting complex visual data. To overcome these limitations, we developed two deep learning-based network architectures: the Single-Image Action Network (SIAN) and the Sequence-to-Action Network with Feedback Network (SAN-FN). The first architecture processes a single image to generate an action sequence for obstacle avoidance, while the second architecture takes an image sequence and feedback from wheel velocities to infer real-time action responses. In addition, we employed Gazebo to create a 3D simulation environment and gather training data for deep learning networks, significantly reducing the cost and effort associated with data collection. The first approach achieved a 100 % success rate in simulated obstacle avoidance tests involving puddles, while the second approach demonstrated a 76% success rate. This study highlights the significant potential of deep learning in enhancing the obstacle avoidance capabilities of walking aids, particularly in the context of challenging obstacles like water puddles.

关键词： Legged locomotion Deep learning Training Visualization Three-dimensional displays Wheels Training data Real-time systems Collision avoidance Surface treatment

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