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Smooth control action of sliding mode for a class of electro-hydraulic actuator

Smooth control action of sliding mode for a class of electro...

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IEEE International Conference on Mechatronics

作者： Zulfatman Rahmat, M.F. Husain, A.R. Ghazali, R. Rozali, S. Md. Dept. of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia

ISBN: (纸本)9781612844350

This paper presents a sliding mode control scheme to control a class of electro-hydraulic actuator system. A reaching law and varying boundary layers approaches are proposed in the scheme. The reaching law is aimed to solve the effect of chattering and minimize the reaching time. While, varying boundary layers algorithm is applied to ensure position tracking accuracy and smooth control action. The system is presented with the inclusion of friction and internal leakage in the system model. The proposed controller abilities are investigated through simulations works in Matlab Simulink environment based on the existing system parameters. The results indicate that the proposed scheme successfully reduces the reaching time, eliminates the chattering effect, improves the tracking accuracy, and results a smooth control action. In general, this improvement offers a significant contribution for accuracy in modern equipments positioning applications. © 2011 IEEE.

关键词： Position control

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Direct reading flame photometer using digital photography and image processing

Direct reading flame photometer using digital photography an...

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International Conference on instrumentation, Communication, Information Technology and Biomedical engineering 2011, ICICI-BME 2011

作者： Panditrao, Anagha M. Dept. of Instrumentation and Control Cummins College of Engineering for Women Karvenagar Pune: 411052 India

ISBN: (纸本)9781457711657

The work presents a new technique for the detection of percentage of electrolytes in a flame using digital photography and image processing. Various samples containing different concentrations of alkali metals like sodium and potassium are prepared and aspired in a flame photometer. The flame images are captured using a consumer grade digital camera of known resolution. The images for various concentrations are captured. By developing image processing algorithm the change in the flame colour is identified. Correlation between the colour and the concentration is developed using various analytical techniques. The results indicate that the image-based measurements agree with the corresponding known values within an error range of about ±5%. © 2011 IEEE.

关键词： Photometry

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Experiments and analysis of MCL based localization for mobile robot navigation

Experiments and analysis of MCL based localization for mobil...

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2011 2nd International Conference on Intelligent Systems, Modelling and Simulation, ISMS 2011

作者： Kim, Tae Gyun Ko, Nak Yong Kim, Kwang Jin Dept. Control and Instrumentation Eng. Chosun Univ. Gwangju Korea Republic of Dept. Control Instrumentation and Robot Eng. Chosun Univ. Gwangju Korea Republic of Dept. Information and Communication Eng. Chosun Univ. Gwangju Korea Republic of

ISBN: (纸本)9780769543369

This paper describes some experimental study on Monte Carlo Localization(MCL) approach of a mobile robot. The proposed method uses ultrasonic range data for localization. Ultrasonic signal is generated and radiated from a beacon whose location is given a priori. The receiver located on board a robot detects the range from the beacon using the received ultrasonic signal. The research proposes a sensor model for the range sensing based on statistical analysis of the sensor output. In the experiments, commercialized beacons and detectors are used. Through the experiments, the performance of the proposed method is verified and compared under various conditions. The experiments show the performance of the method in case of kidnapping. Especially, analysis on how the number of available beacons affects the localization performance is provided. The localization performance is investigated for the case of stationary robot and moving robot. Also, it presents the localization performance in the case where the wheels of the robot slip on the floor. Through the experiments and analysis, it is demonstrated that the method works in the cases of kidnapping, wheel slip, and possibly with only two sensor data available. © 2011 IEEE.

关键词： Mobile robots

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Monte Carlo localization of underwater robot using internal and external information

Monte Carlo localization of underwater robot using internal ...

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2011 IEEE Asia-Pacific Services Computing Conference, APSCC 2011

作者： Ko, Nak Yong Kim, Tae Gyun Noh, Sung Woo Dept. Control Instrumentation and Robot Eng. Chosun Univ. Gwangju Korea Republic of Dept. Control and Instrumentation Eng. Chosun Univ. Gwangju Korea Republic of Dept. Information and Communication Eng. Chosun Univ. Gwangju Korea Republic of

ISBN: (纸本)9780769546247

This paper proposes a method for localization of an underwater robot. The method uses Monte Carlo algorithm called the particle filter. It predicts the pose of the robot using the internal sensor information from thrusters, inertial sensors, and electronic compass. A correction procedure follows the prediction. The correction uses external sensor information, that is, the distance from landmarks whose locations are known a priori. The prediction and correction process use samples of robot pose in stochastic and probabilistic approach. Though the external information available from the sensors could include dept., angle and angle rates of yaw, pitch, and roll, the proposed method uses only the distance from some beacons. In contrast to the classical methods which usually use either trilateration principle or deadreckoning to calculate the pose, the proposed approach fuses motion and internal sensor information with the external sensor information. The simulation shows that localization is possible even if only one or two beacons are available for range measurement. The experiments which uses two beacons in a tank suggest that the proposed method can be effective where the number of beacons is limited due to geographical features of the robot work area. © 2011 IEEE.

关键词： robots

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A study on the human identification technique for privacy protection in intelligent video surveillance system

A study on the human identification technique for privacy pr...

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2011 IEEE Asia-Pacific Services Computing Conference, APSCC 2011

作者： Kim, Min-Gu Moon, Hae-Min Won, Chulho Chung, Yongwha Pan, Sung Bum Dept. of Control and Instrumentation Engineering Chosun University 375 Seosuk-dong Dong-gu Gwangju Korea Republic of Dept. of Information and Communication Engineering Chosun University 375 Seosuk-dong Dong-gu Gwangju Korea Republic of Dept. of Electrical and Computer Engineering California State University Fresno CA United States Dept. of Computer and Information Science Korea Univ. Sejong Campus Chungnam Korea Republic of Dept. of Control Instrumentation and Robot Engineering Chosun University 375 Seosuk-dong Dong-gu Gwangju Korea Republic of

ISBN: (纸本)9780769546247

Recently as the incidences of terrorism and crime increase, the utilization of video surveillance system such as CCTV is increased. The increase of video surveillance system is useful in maintaining the safety of people's living and public order, however, the issue has been brought up about privacy invasion. For this, researches on the masking method to protect the privacy are being carried out. The masking method can protect privacy by eliminating the visual information but reduces the surveillance function. Therefore, the techniques that satisfy the human identification-based privacy protection and surveillance function at the same time have been researched. In this paper, the human identification method that is applicable to the existing privacy protection method and video surveillance system is explained. © 2011 IEEE.

关键词： Monitoring

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Locomotion mechanism and control method for a microrobot using the difference in the vibration characteristics of the legs (fabrication of a prototype microrobot;preliminary experiments and experiments in turning control)

Locomotion mechanism and control method for a microrobot usi...

引用

22nd Annual Symp. on Micro-Nano Mechatronics and Human Science, MHS 2011, Held Jointly with the Symp. on COE for Education and Research of Micro-Nano Mechatronics, Micro-Nano GCOE 2011, Symp. on Hyper Bio Assembler for 3D Cellular System Innovation

作者： Isogai, Masahiro Dept. of Electronic Control and Robot Engineering Aichi University of Technology 50-2 Manori Nishihazamacho Gamagori 443-0047 Japan

ISBN: (纸本)9781457713613

Recently, microrobots have been the subject of a large number of studies, and contests are held throughout the year with the aim of developing microrobot technologies. As a result, various types of microrobots have been proposed including motor-type, piezoelectric-element-type, and electromagnet-type microrobots. This study considers a novel locomotion mechanism and a control method for an electromagnet-type microrobot that can not only travel in a straight line, but can also turn using just a single electromagnet that utilizes the difference in the vibration characteristics of the left and right legs. In this study, a control method to change the turning radius is proposed, and a prototype microrobot and controller are fabricated. In addition, the characteristics of the turning radius are investigated and the effectiveness of the proposed control method is verified through experiments. © 2011 IEEE.

关键词： Vibration analysis

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On outage probability and channel capacity for the Nth best opportunistic ADF relay systems

On outage probability and channel capacity for the Nth best ...

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2011 International Conference on ICT Convergence, ICTC 2011

作者： Ko, Kyunbyoung Seo, Jeongtae Dept. of Control and Instrumentation Engineering Chungju National Univ. 72 Daehangno Chungju-si Chungbuk 380-702 Korea Republic of

ISBN: (纸本)9781457712678

In this paper, we derive an exact outage probability and average channel capacity for the Nth best opportunistic adaptive decode-and-forward (OADF) relay systems over Rayleigh fading channels. Based on error-events at relay nodes, the Nth best relay's selection probability is expressed as a form with the specified multiple summations and the specified length of each summation. Then, exact performance metrics are obtained as well-known closed-forms. Simulation results are finally presented to validate that the derived analytical expressions are general solutions to cover all Rayleigh fading channel conditions. © 2011 IEEE.

关键词： Channel capacity

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Integrated sensor system framework for enhanced vehicle safety

Integrated sensor system framework for enhanced vehicle safe...

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作者： Kutty, Krishnan K. Vaidya, Vinay G. Soni, Vijay Joshi, Atul K. KPIT Cummins Infosystems Ltd Pune India Dept. of Instrumentation and Control MKSSS's Cummins College of Engineering for Women Pune India

With improvements in electronics and integrated safety systems, modern day cars are much safer than their predecessors. Unfortunately, cost is a very strong driving factor, when it comes to installation of a multitude of these safety systems on mid and low-segment cars. In this paper, we propose a novel integrated system of sensors that are strategically arranged around a car in order to provide safety at a reasonable cost. This generic framework of sensors would assist the driver under various driving scenarios like collision warning (forward and rear), overtake assist, parallel parking assist and adaptive cruise control. An invention disclosure has been filed with the Patent Cooperation Treaty for this work [8]. Copyright © 2011 SAE International.

关键词： Safety factor

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Performance evaluation of AGC of SHP with multi-area power system

Performance evaluation of AGC of SHP with multi-area power s...

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4th International Conference on Power and Energy Systems, ICPS 2011

作者： Puthumana, Lea J. Jaleel, J. Abdul Dept. of Industrial Instrumentation and Control T.K.M. College of Engineering 691005 Kerala India Dept. of Electrical and Electronics T.K.M. College of Engineering 691005 Kerala India

ISBN: (纸本)9781457715105

In this paper a detailed study of small hydro power plant, a novel technique to reduce the size of the dump load, auomatic generation control, its simulation and case study of Mankulam small hydro plant etc. is done. Two pipe and Three pipe strategy with proportional-integral controller and on/off controller is proposed here. By using Matlab / SIMULINK, frequency deviation response and dump load response, with step input and chirp input are plotted with different load conditions. The water flowing through the penstock is rerouted in smaller pipes, two or three fitted with motor operated valves. The opening or closing of the valves is achieved by on/off controls. The on/off control linearly raises or lowers the generation. A generalized transfer function model for the system is developed with an on/off control logic. Finally, the transient performance of the system is compared for the two-pipe case (50% dump load) and the three-pipe case (30% dump load). Therefore, the proposed scheme is very effective in automatic generation control of the small-hydro system in addition to reduction in the size of the dump load by 50% and/or 30%, and also, the cost of the controllers including valves is considerably less than the dump load cost, in addition to saving water. © 2011 IEEE.

关键词： controllers

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Effects of additive hydrogen gas on the instability due to air exposure in ZnO-based thin film transistors

Effects of additive hydrogen gas on the instability due to a...

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作者： Lee, Sang-Hyuk Bang, Jung-Hwan Kim, Won Uhm, Hyun-Seok Park, Jin-Seok Dept. of Electronic Electrical Control and Instrumentation Engineering Hanyang University 1271 Sa 3-dong Sangnok-gu Ansan Gyeonggi-do 426-791 Korea Republic of

The effect of adding hydrogen gas (H2) when depositing a zinc oxide (ZnO) thin film in a thin film transistor (TFT) using the ZnO as the channel layer on the electrical characteristics of the ZnO-TFTs, particularly the change in the characteristics according to long-term exposure to air, was investigated. As the amount of added H2 gas was increased, the resistivity of ZnO films was monotonously decreased and their crystallinity was weakened. Compared with the TFT using a ZnO without H2 addition, the threshold voltage (Vth) decreased and the on/off current ratio (Ion/Ioff) greatly increased, if the amount of H 2 entry was small (≤ 0.3 sccm). However, when an excessive (≥ 0.5 sccm) amount of H2 was added, the TFT's properties deteriorated. In addition, the ZnO TFTs showed a positive Vth-shift with increased air exposure time. The analysis using the X-ray photoelectron spectroscopy (XPS) confirmed that this was attributed to the reduction of oxygen vacancies due to air exposure. It was noticed that the TFTs that were manufactured using ZnO films with H2 addition showed significant suppression of the V th-shift according to air exposure.

关键词： Zinc oxide

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