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AAS/AIAA Astrodynamics Specialist Conference, ASC 2015

作者： Condurache, Daniel Burlacu, Adrian Department of Theoretical Mechanics Technical University of Iaşi D. Mangeron Street No. 59 Iaşi700050 Romania Department of Automatic Control and Applied Informatics Technical University of Iaşi D. Mangeron Street No. 27 Iaşi700050 Romania

ISBN: (纸本)9780877036296

This main goal of this research is the development of a new pose parametrization technique based on fractional order Cayley transforms. Our study is based on the properties of maps that link dual vectors with unitary dual quaternions. For the first time a complete parametrization framework is constructed, completely embeds multiple of the reported attitude parameterization Cayley maps and extends them towards pose parameterization. The novelty of our methods over existing solutions is discussed and the main advantages are revealed.

关键词： Graph Databases

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Advanced control techniques to mitigate the stop-and-go waves on a highway traffic with different vehicles

Advanced control techniques to mitigate the stop-and-go wave...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Cosmin Copot Constantin F. Caruntu Robin De Keyset Department of Electrical energy Ghent University Ghent-Zwijnaarde Belgium Op3Mech University of Antwerp Antwerp Belgium Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Romania Universiteit Gent Gent BE

In this paper, the behavior of stop-and-go waves present on highways using different types of mobile robots was investigated. The paper illustrates one possible solution to mitigate the stop-and-go waves by designing an appropriated control architecture. Therefore, different control strategies from simple PI controllers to more advanced model based predictive controllers were implemented, tested and validated using simulation. A comparison between the designed controllers and a driver based controller was considered. The revealed results shows that by using a suitable control strategy, the effect of stop-and-go waves can be diminished.

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Adaptive fuzzy sliding mode active vibration control for rail vehicle pantograph

Adaptive fuzzy sliding mode active vibration control for rai...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Tsung-Chih Lin Jian-Lin Yeh Chia-Hao Kuo Yu-Chen Lin Valentina E. Balas Department of Electronic Engineering Feng-Chia University Taichung Taiwan Ph.D. Program of Electrical and Communications Engineering Feng-Chia University Taichung Taiwan Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Automation and Applied Informatics Aurel Vlaicu University of Arad Arad Romania

ISBN: (纸本)9781509006274

In this paper, the uncertain dynamic active pantograph-catenary system which considers the effect of time-varying stiffness resulting from the uneven overhead wire is investigated to improve current collection for light rail vehicle. In order to achieve stable current collection, and hence improve the performance of the overall electricity supply, sliding mode control strategy and adaptive fuzzy sliding mode control scheme are combined. The uplift force which is applied to pantograph frame by actuator is constructed by incorporating fuzzy neural network (FNN) and sliding mode control to attenuate the chattering problem resulting from the sliding mode control. Based on the Lyapunov stability theorem, the active control law and adaptive laws for the free parameters of the FNNs can be derived to effectively suppress vibration of the pantograph system.

关键词： Force Cats Dynamics Wires Sliding mode control Fuzzy neural networks Fuzzy control

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Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines

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Robotics and biomimetics 2017年第1期4卷 3页

作者： K M Goher A M Almeshal S A Agouri A N K Nasir M O Tokhi M R Alenezi T Al Zanki S O Fadlallah Department of Informatics and Enabling Technologies Lincoln University Lincoln New Zealand. Electronics Engineering Technology Department College of Technological Studies Public Authority for Applied Education and Training (PAAET) Adailiya Kuwait. Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield UK. Mechanical Engineering Department Auckland University of Technology Auckland New Zealand.

This paper presents the implementation of the hybrid spiral-dynamic bacteria-chemotaxis (HSDBC) approach to control two different configurations of a two-wheeled vehicle. The HSDBC is a combination of bacterial chemotaxis used in bacterial forging algorithm (BFA) and the spiral-dynamic algorithm (SDA). BFA provides a good exploration strategy due to the chemotaxis approach. However, it endures an oscillation problem near the end of the search process when using a large step size. Conversely; for a small step size, it affords better exploitation and accuracy with slower convergence. SDA provides better stability when approaching an optimum point and has faster convergence speed. This may cause the search agents to get trapped into local optima which results in low accurate solution. HSDBC exploits the chemotactic strategy of BFA and fitness accuracy and convergence speed of SDA so as to overcome the problems associated with both the SDA and BFA algorithms alone. The HSDBC thus developed is evaluated in optimizing the performance and energy consumption of two highly nonlinear platforms, namely single and double inverted pendulum-like vehicles with an extended rod. Comparative results with BFA and SDA show that the proposed algorithm is able to result in better performance of the highly nonlinear systems.

关键词： Bacteria chemotaxis Hybrid fuzzy logic control PD-like fuzzy logic control Spiral dynamics Two-wheeled inverted pendulum with new configuration

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Properties of carbide electro-spark coatings after laser processing

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AIP Conference Proceedings 2018年第1期2017卷

作者： Norbert Radek Izabela Pliszka Aneta Gądek-Moszczak Jarosław Rolek Jana Petru 1Kielce University of Technology Faculty of Mechatronics and Mechanical Engineering Al. 1000-lecia Państwa Polskiego 7 25-314 Kielce Poland 2Cracow University of Technology Institute of Applied Informatics Faculty of Mechanical Engineering Al. Jana Pawła II 37 31-864 Cracow Poland 3Kielce University of Technology Faculty of Electrical Engineering Automatic Control and Computer Science Al. 1000-lecia Państwa Polskiego 7 25-314 Kielce Poland 4VSB-TU Ostrava Faculty of Mechanical Engineering Department of Machining Assembly and Engineering Metrology 17. listopadu 15/2172 70833 Ostrava-Poruba Czech Republic

The aim of the study was to determine the influence of the laser processing on the properties of electro-spark coatings. The properties were assessed by analyzing the coating microstructure, X-ray radiation, microhardness, corrosion resistance, porosity and tribological tests. In addition, the paper presents the results of measurements and analysis of electrical pulse during ESD. The tests were carried out on WC-Cu coating (the anode) obtained by electro spark deposition over carbon steel C45 (the cathode) and molten with a laser beam. The coatings were deposited by means of the EIL-8A and they were laser treated with the Nd:YAG. The tests show that the laser-treated electro-spark deposited WC-Cu coatings are characterized by lower hardness and friction force, higher seizure resistance, roughness. The laser treatment process causes the homogenization of the chemical composition, the structure refinement and the healing of microcracks and pores of the electro-spark deposited coatings. Laser treated electro-spark deposited coatings are likely to be applied in sliding friction pairs and as protective coatings.

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Distributed control of voltage supply system used in electric vehicles

Distributed control of voltage supply system used in electri...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Ioan - Alex Alexa Alexandru Onea Department of automatic control and applied informatics “Gh. Asachi” Technical University of Iasi Romania Department of automatic control and applied informatics “Gh. Asachi” Technical University of Iasi Iasi Romania

The actual trend in automotive is to reduce as much as possible pollution caused by motor vehicle emissions. This could be achieved by using electrical propulsion systems which usually contains: electrical machine, three phase voltage source inverter (VSI), voltage supply system. The main problem of the full electric vehicles represents the autonomy due to low energy capacity of batteries. This issue could be solved by using a hydrogen fuel cell in parallel with a battery pack to extend the range of the electrical vehicles. This paper presents a voltage supply system which connects to a DC bus a battery, a fuel cell, and a supercapacitor using DCDC converters. The focus of this work is on keeping controlling the voltage level of DC bus and on energy distribution between elements of voltage supply system. The proposed algorithm is validated using a close loop model which contains simulation of: fuel cell, battery pack, supercapacitor, DCDC converter, distributed control strategy of voltage supply system, DC Link capacitor, VSI, electrical machine, vehicle dynamics, and driver. The model is developed in Matlab/Simulink.

关键词： Batteries Supercapacitors Fuel cells Voltage control Mathematical model Integrated circuit modeling

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Predictive control based on piecewise nonlinear models for vehicle drivetrains

Predictive control based on piecewise nonlinear models for v...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Constantin F. Caruntu Romania Department of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of lasi

This paper deals with the problem of damping driveline oscillations, which is crucial to improving driveability and passenger comfort. This problem has received an increased interest due to the introduction of the dual-clutch powershift automatic transmission with dry clutches. This type of transmission improves fuel economy, but it results in a challenging control problem, due to driveline oscillations. These oscillations occur during gear-shift, while traversing backlash or when tip-in and tip-out maneuvers are performed. This paper presents the derivation of an accurate piecewise nonlinear drivetrain model with three inertias. Then, a horizon-1 predictive controller based on flexible Lyapunov functions is designed for the piecewise nonlinear drivetrain model. Several simulations show that the proposed control scheme can handle both the performance and physical constraints and the strict limitations on the computational complexity, while obtaining better performances compared to using PWA models of the vehicle drivetrain.

关键词： Engines Vehicles Torque Oscillators Wheels Damping Computational modeling

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Numerical simulations and comparative study for auction-based sample gathering solutions

Numerical simulations and comparative study for auction-base...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Adriana-Eliza Cozma Virginia Gabriela Seliman Adrian Burlacu Marius Kloetzer Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Romania

This work answers the question “Which robot is best suited to perform a certain task?” by implementing the auction concept into different types of algorithms. This idea outlines a framework where an auctioneer presents tasks to buyers, which submit bids for accomplishing them based on the required costs. The winner is determined through a designed mechanism, after a full analysis of all received bids. The purpose of this work is to plan a team of mobile agents to gather the samples that exist in the work environment at known locations by applying the auction-based task allocation scheme. The static environment is modeled by a graph, where an edge weight represents the distance between the linked nodes. Given the initial locations of robots and samples, the tasks allocations are determined before the agents start to move. The resulted solutions are exemplified in the *** simulator on a particular work space.

关键词： Resource management Robot kinematics Mobile robots Standards Algorithm design and analysis Planning

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A rule-based approach for a multi-robot application

A rule-based approach for a multi-robot application

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Doru Panescu Carlos Pascal Razvan Marian Olaeru Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Romania

This paper presents a solution for planning and coordinating a multi-robot system with industrial manipulators that uses a decisional component developed in the rule-based approach. Some hints on the overall control architecture are presented, with details concerning the rule-based program and robots' programs. The obtained benefits regard an increased adaptability and time optimization.

关键词： Planning Collision avoidance Robot kinematics Service robots Multi-robot systems Manipulators

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A practical implementation of face detection by using Matlab cascade object detector

A practical implementation of face detection by using Matlab...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Elena Alionte Corneliu Lazar Department of Automatic Control and Applied Informatics Technical University “Gheorghe Asachi” of Iasi Iasi Romania

The detection of faces in an image is a subject often studied in computer vision literature. The algorithm which allowed face detection, imposing new standards in this area, was the Viola - Jones algorithm. In this paper, a practical implementation of a face detector based on Viola-Jones algorithm using Matlab cascade object detector is presented. Employing the system type object ***, eight face detectors were developed using the trainCascadeObjectDetector function and tuning the number of cascade layer and the False Alarm Rate. For different tuning parameters, the performances of the face detectors were analyzed.

关键词： Detectors Face Training Face detection Feature extraction Classification algorithms MATLAB

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