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IEEE Annual Conference on Decision and control

作者： Antonio Rosales Leonid Fridman Yuri Shtessel Deparment of Control and Robotics Faculty of Engineering National Autonomus University of Mexico 4510 Mexico City Mexico Electrical and Computer Engineering Dept. The University of Alabama in Huntsville Huntsville AL 35899 USA

ISBN: (纸本)9781467360890

In this work, the performance of the real sliding mode is characterized with the notion of performance margins under the assumption that the real sliding motion presents a limit cycle with acceptable amplitude and acceptable frequency. The performance of sliding mode controllers, in real sliding motion, is improved by means of the addition of linear compensators in cascade connection with the plant. The applied compensators are phase lead controllers which modify the frequency response of the plant in order to meet the required performance margins adding robustness to the system. Bode diagram interpretation of performance margins is presented for the first time allowing the utilization of SMC combined with the classical methodology of linear compensator design where it is possible shape the Bode diagram in order to obtain desired values of performance margins. Examples supporting the proposed idea are presented.

关键词： Bode diagrams frequency response margins limit cycles Cascade connections design performance COMPENSATORS Sliding mode

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Unified hysteresis and creep compensation in AFM tip positioning with an extended PI model

Unified hysteresis and creep compensation in AFM tip positio...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zhiyu Wang Lianqing Liu Zhidong Wang Wenxue Wang Dept. of Advanced Robotics Chiba Institute of Technology Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences (CAS) China College of Electrical and Control Engineering Liaoning Technical University and University of Chinese Academy of Sciences China

The nonlinearities such as hysteresis and creep are the major factors inherent in PZT actuation that affect the tip positioning precision and manipulation performance of the AFM system. In this study, an extended PI model is generalized by introducing a creep model to the basic hysteretic operator of the PI model at the inflexion point of the hysteresis loop. Unified compensation for hysteresis and creep can be implemented with the extended PI model. Experiment results demonstrate the validity and effectiveness of the extended PI model and it is implied that the inflexion creep compensation not only improves the tip positioning precision at the inflexion points on the hysteresis loops, but also the localization effectiveness during the whole process of PZT actuation.

关键词： Creep Hysteresis Computational modeling Mathematical model Calibration Trajectory Load modeling

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Cyclic scheduling of multimodal processes in mesh-like environment

Cyclic scheduling of multimodal processes in mesh-like envir...

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2013 IEEE 18th International Conference on Emerging Technologies and Factory Automation, ETFA 2013

作者： Bocewicz, Grzegorz Muszyński, Wojciech Banaszak, Zbigniew Koszalin University of Technology Dept. of Computer Science and Management Koszalin Poland Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Wroclaw Poland

ISBN: (纸本)9781479908622

A processes composed of sequences of local cyclic The theoretical prediction of the behavioral properties of periodic structures is less difficult than in the case of nonperiodic ones. That is because all the information needed to describe the entire structure is given by the elementary substructure itself and by the manner it repeats in the whole periodic structure. So, only a small portion of the structure (which includes the repeating substructure) needs to be considered to obtain the properties of the whole periodic structure. In that context, the contribution provides the discussion of some system periodicity issues, and is aimed at modeling and evaluation of relationships linking the system structure features with required system's functioning. © 2013 IEEE.

关键词： Periodic structures

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Declarative approach to AGVS modeling and cyclic scheduling

Declarative approach to AGVS modeling and cyclic scheduling

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4th International Conference on Information Technology for Manufacturing Systems, ITMS 2013

作者： Grzegorz, Bocewicz Wojciech, Muszyński Zbigniew, Banaszak Dept. of Electronics and Computer Science Koszalin University of Technology Koszalin Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Dept. of Business informatics Warsaw University of Technology Warsaw Poland

ISBN: (纸本)9783037858783

The paper presents constraint satisfaction problem driven approach to analytical solution of the cyclic scheduling problem in the Flexible Manufacturing System (FMS) producing multi-type parts where for material handling are used the Automated Guide Vehicles Systems (AGVS). Finding the conditions guaranteeing the AGVs deadlock-free and collision-free movement policy is the aim of our researches. The AGVs co-sharing the common parts of the transportation route while executing repetitive processes, i.e. being assigned to AGVs passing along machines in a cyclic way, can be modeled in terms of Cyclic Concurrent Process Systems (CCPS). Schedulability analysis for a given CCPS answers the question whether a cyclic schedule exists or not. The paper suggests approach for schedulability analysis of multimodal processes representing real manufacturing employing the declarative modeling. © (2013) Trans Tech Publications, Switzerland.

关键词： Decision support systems

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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Declarative Approach to AGVS Modeling and Cyclic Scheduling

Declarative Approach to AGVS Modeling and Cyclic Scheduling

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2013 4th International Conference on Information Technology for Manufacturing Systems(ITMS 2013)

作者： Bocewicz Grzegorz Muszyński Wojciech Banaszak Zbigniew Dept. of Electronics and Computer Science Koszalin University of Technology Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Dept. of Business informatics Warsaw University of Technology

The paper presents constraint satisfaction problem driven approach to analytical solution of the cyclic scheduling problem in the Flexible Manufacturing System(FMS) producing multi-type parts where for material handling are used the Automated Guide Vehicles Systems(AGVS). Finding the conditions guaranteeing the AGVs deadlock-free and collision-free movement policy is the aim of our researches. The AGVs co-sharing the common parts of the transportation route while executing repetitive processes, i.e. being assigned to AGVs passing along machines in a cyclic way, can be modeled in terms of Cyclic Concurrent Process Systems(CCPS). Schedulability analysis for a given CCPS answers the question whether a cyclic schedule exists or not. The paper suggests approach for schedulability analysis of multimodal processes representing real manufacturing employing the declarative modeling.

关键词： Discrete event simulation DEVS Environmental science Decision support systems

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Modeling and control of a Novel Hybrid Ground Aerial Robot

Modeling and Control of a Novel Hybrid Ground Aerial Robot

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IEEE International Conference on Mechatronics and Automation

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt Adjunct Professor at Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology. Prod. Eng. & Mechanical Design Dept. Mansoura University Mansoura Egypt. Adjunct Professor at Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology. Computers Engineering & Automatic Control Dept. Tanta University Tanta Egypt.

ISBN: (纸本)9781467355599

This paper presents the dynamic modeling and control simulation of a novel robot that combines flying motion and on ground motion into an integrated single robot. The ground motion is based on four wheels configuration that provides more stability. The flying motion is depending on the flying mechanism of quadrotor system. Smart transformation mechanism is developed to switch the robot from the ground motion configuration to the flying motion configuration and vice versa without adding any additional actuators. A manipulator with 3 DOF is added to handle an object during the ground motion and it is useful to hold this object during the flying motion. A CAD model is developed using SOLIDWORKS. The dynamic model of this robot is derived to achieve the eccentricity of the payload, the weight of the eccentric manipulator and managing the variation of the payload in the dynamic model. The derived robot dynamics are highly nonlinear. A controller is designed based on feedback linearization technique to stabilize the robot attitude and altitude. controlling the horizontal movements' nonholonomic constraints is used to generate the desired trajectories of robot attitudes. Another dynamic model and controller have been established for the transformation mechanism. Finally, the simulation results using MATLAB/SIMULINK show that the controller successfully vanish the eccentric effect and stabilize the robot attitude.

关键词： Flying robot Dynamic Modeling of UA V Feedback Linearization technique controller design

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A constant dc-capacitor voltage control based strategy for current balancer in single-phase three-wire distribution systems

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IEEJ Transactions on Industry Applications 2012年第5期132卷 581-587+8页

作者： Baba, Yusuke Okamoto, Masayuki Hiraki, Eiji Tanaka, Toshihiko Lee, Seong Ryong Graduate School of Yamaguchi University 2-16-1 Tokiwadai Ube 755-8611 Japan Dept. of Control and Robotics Engineering Kunsan National University 68 Miryong-dong Gunsan-si Jeollabuk-do 573-701 Korea Republic of

This paper proposes a strategy based on constant dc-capacitor voltage control for a current balancer in single-phase three-wire distribution systems. The proposed control strategy involves the use of only the constant dc-capacitor voltage control block commonly used in active power conditioners for the calculation of the compensation current. No calculation block is required to obtain the reactive and unbalanced-active components. Thus, we provide the simplest possible control strategy for the current balancer. The basic principle of the proposed control method is discussed in detail and its validity, which is confirmed by a digital computer simulation using PSIM software, is shown. A prototype experimental model is constructed and tested. Experimental results demonstrate that balanced source currents with a power factor of unity are obtained on the secondary side of a pole-mounted distribution transformer while unbalanced load current conditions with a lagging power factor are retained. © 2012 The Institute of Electrical Engineers of Japan.

关键词： Phase locked loops

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Intelligent Platform Design of Agricultural Robot Inspired by Farmer Assistance (AGRIFA)

Intelligent Platform Design of Agricultural Robot Inspired b...

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International Conference on Soft Computing and Intelligent Systems

作者： Young-Jae Ryoo Ki-Nam Lee Pil-Gong Choi Dept. of Control Engineering and Robotics Mokpo National University

ISBN: (纸本)9781467327428

In this paper, a platform design of agricultural robots inspired by farmer assistance (AGRIFA) is described. The AGRIFA has functions of an automatic driving, a farmer following, and an automatic agrochemical job. It would replace farmers that have to work in a hazardous and harmful environment. The intelligent design concept, design of mechanism, and design of control system are described in this paper.

关键词： Agricultural robot Farmer assistance

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A stochastic state prediction in AFM based nanomanipulation

A stochastic state prediction in AFM based nanomanipulation

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Wang, Zhiyu Liu, Lianqing Wang, Zhidong Dong, Zaili Yuan, Shuai Hou, Jing State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Graduate School Chinese Academy of Sciences Beijing 100001 China

ISBN: (纸本)9781467312776

The reliability of AFM based nanomanipulation is one of the prerequisites for nano fabricating, thus uncertainties of the target nano-particle position need to be controlled within a pointed limits, which lead to two problem to be solved: one is how to describe state uncertainties at every different sample times;the other is how to deduce the next state uncertainty according to the current one. This paper provides a method to construct a stochastic predictive model to covering those problems. In the concrete, the predictive model uses Gaussian and Beta distribution as well as Mont Carlo Method to describe and deduce the state uncertainties respectively. The method is also applied to the process of pushing a nano-particle using AFM. © 2012 IEEE.

关键词： Stochastic systems

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