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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Bauer, Waldemar Zagórowska, Marta Baranowski, Jerzy Dept. of Automatic Control & Robotics AGH University of Krakow Krakow Poland Dept. of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

ISBN: (纸本)9781665464543

Fault monitoring and diagnostics are important to ensure reliability of electric motors. Efficient algorithms for fault detection improve reliability, yet development of cost-effective and reliable classifiers for diagnostics of equipment is challenging, in particular due to unavailability of well-balanced datasets, with signals from properly functioning equipment and those from faulty equipment. Thus, we propose to use a Bayesian neural network to detect and classify faults in electric motors, given its efficacy with imbalanced training data. The performance of the proposed network is demonstrated on real life signals, and a robustness analysis of the proposed solution is provided. © 2024 IEEE.

关键词： Damage detection

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Aerogel defect detection using terahertz waves 11

Aerogel defect detection using terahertz waves

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Infrared, Millimeter-Wave, and Terahertz Technologies XI 2024

作者： Maa, Yehao Shen, Liran Cao, Yuqi Hou, Dibo Zhang, Guangxin State Key Laboratory of Industrial Control Technology Dept. of Control Science and Engineering Zhejiang University Hangzhou310027 China Robotics Institute Ningbo University of Technology Ningbo315211 China

ISBN: (数字)9781510682238

ISBN: (纸本)9781510682221

Aerogel is known as super insulation materials and has already been applied to manufacture thermal protection parts of aerospace equipment. Terahertz (THz) wave has good penetration to non-metallic and non-polar materials. To explore its potential in aerogel defect detection, the absorption coefficient and refractive index of aerogel were studied. As a result, the absorption spectrum of aerogel has not obvious absorption peak, and THz wave has great penetration for aerogel. Additionally, two aerogel samples with different sizes of defects were imaged with two time domain parameters (pulse peak and pulse valley) and two frequency domain parameters (absorption coefficient and refractive index). In contrast to other three parameters, the refractive index presents the greatest performance in defect detection, defects in the aerogel can be observed more clearly through the refractive index. The study is of key importance for THz wave in nondestructive testing for aerogel, offering a rapid and non-destructive detection method for aerogel defects. © 2024 SPIE.

关键词： Refractive index

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Multi-Aspect Optimal Sliding Mode controller for a Mecanum Wheeled Robot 11

Multi-Aspect Optimal Sliding Mode Controller for a Mecanum W...

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11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Allahyari, Sohrab Rahmanei, Hamid Moosavian, S. Ali A. K. N. Toosi University of Technology Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Dept. of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798350308105

Four-wheel drive Mecanum robots have gained attention due to their ability to move in all directions, which allows them to work in tight and complex environments. For this reason, ensuring precise control of these robots along predefined trajectories is crucial. This work presents a comparative study on the effects of parametric uncertainties, external disturbances, measurement noises, and initial deviations on the trajectory-Tracking performance of a 4-wheel drive Mecanum robot. First, the kinematic and kinetic models of the Mecanum robot are introduced. Then, the integral sliding mode control is designed, and proof of stability is provided. In addition, we explore other control strategies, including PID, feedback linearization, sliding mode, and adaptive sliding mode control, that are designed for this robot. Furthermore, the particle swarm optimization algorithm is hired for the controllers with a cost function as the total sum of average error, maximum error, and final error. Optimization has been done on all controllers to compare the results fairly. To appraise the effectiveness of the proposed control optimization methods, simulations are carried out in MATLAB/Simulink. The results reveal that the proposed ISMC method performs best in both defined scenarios compared to other controllers. However, it must be noted that the ISMC controller exhibits limitations when facing significant uncertainties in the dynamic model. This study underscores the effectiveness of our proposed control method and provides valuable insights into the practical implementation controller for the Mecanum robot in real-world applications. © 2023 IEEE.

关键词： Three term control systems

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Parameter Adjustments in POMDP-Based Trajectory Planning for Unsignalized Intersections 10

Parameter Adjustments in POMDP-Based Trajectory Planning for...

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10th International Conference on Vehicle Technology and Intelligent Transport Systems, VEHITS 2024

作者： Kollarčík, Adam Hanzálek, Zdeněk Dept. of Control Engineering Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University Prague Czech Republic

ISBN: (纸本)9789897587030

This paper investigates the problem of trajectory planning for autonomous vehicles at unsignalized intersections, specifically focusing on scenarios where the vehicle lacks the right of way and yet must cross safely. To address this issue, we have employed a method based on the Partially Observable Markov Decision Processes (POMDPs) framework designed for planning under uncertainty. The method utilizes the Adaptive Belief Tree (ABT) algorithm as an approximate solver for the POMDPs. We outline the POMDP formulation, beginning with discretizing the intersection's topology. Additionally, we present a dynamics model for the prediction of the evolving states of vehicles, such as their position and velocity. Using an observation model, we also describe the connection of those states with the imperfect (noisy) available measurements. Our results confirmed that the method is able to plan collision-free trajectories in a series of simulations utilizing real-world traffic data from aerial footage of two distinct intersections. Furthermore, we studied the impact of parameter adjustments of the ABT algorithm on the method's performance. This provides guidance in determining reasonable parameter settings, which is valuable for future method applications. Copyright © 2024 by SCITEPRESS - Science and Technology Publications, Lda.

关键词： Vehicles

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Design of Output and Impacts control Systems

Design of Output and Impacts Control Systems

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2023 International Russian Automation Conference, RusAutoCon 2023

作者： Gaiduk, Anatoly Prokopenko, Nikolay Chumakov, Vladislav Southern Federal University Scientific Design Office Robotics and Control Systems Taganrog Dept. of Automatic Control Systems Rostov-on-Don Russia Don State Technical University Dept. of Scientific Research Dept. of Information Systems and Radio Engineering Rostov-on-Don Russia

ISBN: (纸本)9798350345551

To design linear control systems a new method is suggested on the basis of the principle of output and impacts control. The main difference of this principle consists in the use of only measurable variables and separate operators for each input signal of the control device. The design problem has a solution if the plant is completely controllable, and at least the controllable variable is measured. The suggested approach makes it possible to eliminate the well-known contradiction between the accuracy and stability of systems with control on deviation, and to provide the required astatism orders or selective invariance to the external actions. At the same time, the conditions of ensuring the direct indicators of the transient quality and the physical implementation of the control device are taken into account. The coefficients of the equation of the output and impacts control device are determined by solving a system of linear algebraic equations. The control device can be implemented on the basis of either operational amplifiers or sufficiently high-speed digital automation tools. The suggested method can be applied for designing high-quality linear control systems for various purposes. © 2023 IEEE.

关键词： Operational amplifiers

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Optical Evanescent Field for Direct Observation of Sub-100nm Particle Motion on Glass Surface 1

Optical Evanescent Field for Direct Observation of Sub-100nm...

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1st International Conference on robotics, engineering, Science, and Technology, RESTCON 2024

作者： Khajornrungruang, Panart Permpatdechakul, Thitipat Suzuki, Keisuke Blattler, Aran Terayama, Yutaka Goto, Daiki Phaisalpanumas, Pipat Bun-Athuek, Natthaphon Phunopas, Amornphun Kyushu Institute of Technology Iizuka-Shi Mechanical Science and Technology Division Dept. of Intelligent and Control System Faculty of Computer Science and Systems Engineering Fukuoka Japan Kyushu Institute of Technology Iizuka-Shi Mechanical Information Science and Technology Division Dept. of Interdisciplinary Informatics Graduate School of Computer Science and Systems Engineering Fukuoka Japan King Mongkut's University of Technology North Bangkok Bangsue Faculty of Engineering Dept. of Production and Robotics Engineering Bangkok Thailand Kyushu Institute of Technology Iizuka-Shi Mechanical Science and Technology Course Dept. of Intelligent and Control System Graduate School of Computer Science and Systems Engineering Fukuoka Japan King Mongkut's University of Technology North Bangkok Bangsue Faculty of Engineering Dept. of Industiral Engineering Bangkok Thailand King Mongkut's University of Technology North Bangkok Bangsue College of Industrial Technology Dept. of Mechanical Engineering Technology Bangkok Thailand

ISBN: (纸本)9798350348842

To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and observation of each sub-100 nm sized particle that is moving on an interface such as a silica glass surface by applying an evanescent field have been proposing. Subsequently, we developed an experimental apparatus equipped with an optical microscopy system for verifying the moving particle observation method in a laboratory scale. This article introduces some experimentally direct observation results of duplicated wet processes. © 2024 IEEE.

关键词： Visualization

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Detection of Electric Motor Damage Through Analysis of Sound Signals Using Bayesian Neural Networks

Detection of Electric Motor Damage Through Analysis of Sound...

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Annual Conference of Industrial Electronics Society

作者： Waldemar Bauer Marta Zagórowska Jerzy Baranowski Dept. of Automatic Control & Robotics AGH University of Krakow Krakow Poland Dept. of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

关键词： Accuracy Fault detection Neural networks Training data Robustness Bayes methods Wind turbines Signal representation Time-domain analysis Electric motors

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Detection of Electric Motor Damage Through Analysis of Sound Signals Using Bayesian Neural Networks

arXiv

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arXiv 2024年

关键词： Electric motors

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Adaptive control Using a Quaternion Wavelet Neural Network

Adaptive Control Using a Quaternion Wavelet Neural Network

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International Workshop on Robot Motion and control (RoMoCo)

作者： Gerardo Martínez-Terán Eduardo Bayro-Corrochano Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico Institute of Automatic Control and Robotics Poznan University of Technology

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

robotics and haptic systems have allowed new and diverse applications in the field of medicine, such as assisted surgery and teleoperation which have increasingly stringent requirements for accuracy, convergence, and low computational consumption. In this paper an adaptive PID control law (Proportional Integral Derivative controller, PID), of indirect architecture is presented for movement paths in a haptic system of open chain, where the identification of the plant is through a quaternionic wavelet neural network (Quaternion Wavelet Neural Network, QWNN) for tune the PID values, this allows the optimal movement into the regions of the workspace.

关键词： Uncertainty Quaternions Neural networks Surgery Robustness Haptic interfaces Topology

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Newton-Euler Modeling of Robot Dynamics Using Geometric Algebra

Newton-Euler Modeling of Robot Dynamics Using Geometric Alge...

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

作者： Eduardo Bayro-Corrochano Daniel Alvarado-Mejia Institute of Automatic Control and Robotics Poznan University of Technology Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. The modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.

关键词： Algebra Heuristic algorithms Computational modeling Optimal control Motors Real-time systems Mathematical models

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