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Time delay control of a high-DOF robot manipulator through feedback linearization based predictor

ASME 2019 dynamic systems and control Conference, DSCC 2019

作者： Bagheri, Mostafa Naseradinmousavi, Peiman Krstic, Miroslav Dynamic Systems and Control Lab. Dept. of Mechanical and Aero. Eng. UC San Diego and San Diego State San DiegoCA92093 United States Dynamic Systems and Control Lab. Dept. of Mechanical Eng. San Diego State University San DiegoCA92115 United States Dynamic Systems and Control Dept. of Mechanical and Aero. Eng. University of California San Diego San DiegoCA92093 United States

ISBN: (纸本)9780791859162

We formulate a predictor-based controller for a high-DOF manipulator to compensate a time-invariant input delay during a pick-and-place task. Robot manipulators are widely used in telemanipulation systems on the account of their reliable, fast, and precise motions while they are subject to large delays. Using common control algorithms on such delay systems can cause not only poor control performance, but also catastrophic instability in engineering applications. Therefore, delays need to be compensated in designing robust control laws. As a case study, we focus on a 7-DOF Baxter manipulator subject to three different input delays. First, delay-free dynamic equations of the Baxter manipulator are derived using the Lagrangian method. Then, we formulate a predictor-based controller, in the presence of input delay, in order to track desired trajectories. Finally, the effects of input delays in the absence of a robust predictor are investigated, and then the performance of the predictor-based controller is experimentally evaluated to reveal robustness of the algorithm formulated. Simulation and experimental results demonstrate that the predictor-based controller effectively compensates input delays and achieves closed-loop stability. © 2019 ASME.

关键词： controllers

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Hazards identification and analysis for unmanned aircraft system operations 17

Hazards identification and analysis for unmanned aircraft sy...

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17th AIAA Aviation Technology, Integration, and Operations Conference, 2017

作者： Belcastro, Christine M. Newman, Richard L. Evans, Joni K. Klyde, David H. Barr, Lawrence C. Ancel, Ersin Dynamic Systems and Control Branch NASA Langley Research Center MS 308 HamptonVA23681 United States Crew Systems Post Office Box 25054 SeattleWA98165 United States Analytical Mechanics Associates Inc Aeronautics Systems Analysis Branch MS 442 HamptonVA23666 United States Systems Technology Inc HawthorneCA90250 United States Aviation Systems Engineering Division U.S. Department of Transportation Volpe Lab V342 CambridgeMA02142 United States Aeronautics Systems Analysis Branch NASA Langley Research Center MS 442 HamptonVA23681 United States

ISBN: (数字)9781624105081

ISBN: (纸本)9781624105081

Many beneficial civilian applications of commercial and public small unmanned aircraft systems (sUAS) in low-altitude uncontrolled airspace have been proposed and are being developed. Associated with the proliferation of civil applications for sUAS is a paradigm shift from single-UAS visual operations in restricted airspace to multi-UAS beyond visual line of sight operations with increasing use of autonomous systems and operations under increasing levels of urban development and airspace usage. Ensuring the safety of sUAS operations requires an understanding of associated current and future hazards. This is challenging for sUAS operations due to insufficient mishap (accident and incident) reporting for sUAS and the rapid growth of new sUAS applications (or use cases) that have not yet been implemented. These applications include imaging, construction, photography and video, precision agriculture, security, public safety, mapping and surveying, inspections, environmental conservation, communications, parcel delivery, and humanitarian efforts such as delivery of medical supplies in developing nations. This paper will summarize research results in the identification of: 1.) Current hazards through the analysis of sUAS mishaps;and 2.) Future hazards through the analysis of a collection of sUAS use cases. The mishaps analysis will include the identification of mishap precursors and an analysis of their individual contributions to the mishaps as well as an analysis of worst-case hazards combinations and sequences. The future hazards are identified through an assessment and categorization of use cases for sUAS, the identification of associated paradigm shifts in terms of operations and new vehicle systems (both cross-cutting and for specific use case categories), the determination of future potential hazards (relative to the vehicle, ground control station, operations, and UTM system) arising from these paradigm shifts, and future potential impacts and outcomes (relative t

关键词： Unmanned aerial vehicles (UAV)

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A novel input design approach for systems with quantized output data

A novel input design approach for systems with quantized out...

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European control Conference (ECC)

作者： Boris I. Godoy Patricio E. Valenzuela Cristian R. Rojas Juan C. Agüero Brett Ninness University of Newcastle Centre for Complex Dynamic Systems & Control NSW Australia Automatic Control Lab and ACCESS Linnaeus Center KTH-Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781479947287

In this paper, we explore the problem of input design for systems with quantized measurements. For the input design problem, we calculate and optimize a function of the Fisher Information Matrix (FIM). The calculation of the FIM is greatly simplified by using known relationships of the derivative of the likelihood function, and the auxiliary function arising from the Expectation Maximization (EM) algorithm. To optimize the FIM, we design an experiment using a recently published method based on graph theory. A numerical example shows that the proposed experiment can be successfully used in quantized systems.

关键词： Sensors Noise Finite impulse response filters Optimized production technology Markov processes Quantization (signal) Estimation

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Time-frequency domain properties on a compact multi-port IR-UWB antenna

Time-frequency domain properties on a compact multi-port IR-...

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Microwave, MTT-S International Symposium

作者： Hong-Li Peng Jian Ping Zhao Ni Ma Jinlong Zou Junfa Mao Key Lab of Ministry of Education for Research of Design and EMC High Speed Electronic Systems Shanghai Jiao Tong University Shanghai China Science and Technology on Electromechanical Dynamic Control Laboratory Xi'an China

A novel compact multi-port impulse radio ultra wideband (IR-UWB) antenna is presented in this paper. Its EM simulated models is developed through properly designed magneto-electric dipole. The time-frequency domain properties of this antenna for its specific multi-port excitations are studied in details by using simulations. Its VSWR and gain patterns are obtained and verified by the measurements. It is shown that the antenna is suitable for near field ground penetrating radar (GPR) applications.

关键词： Magnetoelectric effects Ultra wideband antennas

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Planar guided waves for SHM of plate structures using piezoelectric fiber transducers

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AIP Conference Proceedings 2013年第1期1511卷 254-261页

作者： M. H. Soorgee C. J. Lissenden J. L. Rose A. Yousefi-Koma Ultrasonic Research and Development Lab Department of Engineering Science and Mechanics Penn State PA 16802 USA and Advanced Dynamic and Control Systems Lab. (ADCSL) School of Mechanical Engineering Iran Ultrasonic Research and Development Lab Department of Engineering Science and Mechanics Penn State PA 16802 USA Advanced Dynamic and Control Systems Lab. (ADCSL) School of Mechanical Engineering University of Tehran Tehran Iran

A finite element model of piezoelectric fiber transducers bonded to an aluminum plate is used to study planar guided waves inspection of a plate. It has been shown that a linear combination of in-plane and out of plane strains matches the transducer obtained voltage better than it does displacements. A combination of infinite elements and viscous surface tractions were employed to minimize unwanted boundary reflections to enable study of sensor sensitivity to small defects. Finally, design of a piecewise sensing element has led to successfully defining the location of a crack that is only 1.5% the length of the transducer.

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Planar shear horizontal guided wave inspection of a plate using piezoelectric fiber transducers

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AIP Conference Proceedings 2013年第1期1511卷 223-229页

作者： M. H. Soorgee C. J. Lissenden J. L. Rose A. Yousefi-Koma Ultrasonic Research and Development Lab Department of Engineering Science and Mechanics Penn-State PA 16802 USA and Advanced Dynamic and Control Systems Lab. (ADCSL) School of Mechanical Engineering University of Tehran Iran Ultrasonic Research and Development Lab Department of Engineering Science and Mechanics Penn-State PA 16802 USA Advanced Dynamic and Control Systems Lab. (ADCSL) School of Mechanical Engineering University of Tehran Tehran Iran

Fundamental Shear Horizontal (SH0) guided waves have been simulated using finite element software in order to locate a crack in a plate structure. Long but narrow piezoelectric fiber composite strips have been considered as transducers to excite and receive SH guided waves. A segmented transducer, which enables piecewise sensing, has been shown by finite element analysis to be capable of locating a tiny through-thickness crack. The main benefits are that SH waves could be used to inspect fluid loaded structures and that it is possible to detect a crack oriented parallel to the wave vector.

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Feature extraction of gear-localized defect using adaptive lifting scheme and local gradient maps

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Engineering Sciences 2013年第1期11卷 78-82,88页

作者： Zhang Lu Zhao Hong Li Zhen Qi Keyu Li Zongyao Yao Nianling State Key Lab oratory for Manufacturing Systems Engineering Xi'an Jiaotong University Tiandi (Changzhou) Automation Co. Ltd. Science and Technology on Electromechanical Dynamic Control Laboratory The Fourth Military Medical University Xijing Hospital

In this paper,the adaptive lifting scheme (ALS) and local gradient maps (LGM) are proposed to isolate the transient feature components from the gearbox vibration signals. Based on entropy minimization rule,the ALS is employed to change properties of an initial wavelet and design adaptive wavelet. Then LGM is applied to characterize the transient feature components in detail signal of decomposition results using ALS. In the present studies, the orthogonal Daubechies 4 (Db 4) wavelet is used as the initial wavelet. The proposed method is applied to both simulated signals and vibration signals acquired from a gearbox for periodic impulses detection. The two conventional methods (cepstrum analysis and Hilbert envelope analysis) and the orthogonal Db4 wavelet are also used to analyze the same signals for comparison. The results demonstrate that the proposed method is more effective in extracting transient components from noisy signals.

关键词： adaptive lifting scheme local gradient maps gearbox fault detection

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Path-loss modeling for on-body UWB and off-body WiMax combined-channel

Path-loss modeling for on-body UWB and off-body WiMax combin...

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IEEE MTT-S International Microwave Workshop Series on RF and Wireless Technologies for Biomedical and Healthcare Applications (IMWS-BIO)

作者： Qihao Xu Anmin Gao Hongli Peng Jinlong Zou Key Lab of Ministry of Education for Research of Design and EMC High Speed Electronic Systems Shanghai Jiao Tong University Shanghai China Science and Technology on Electromechanical Dynamic Control Laboratory Xian China

An on- and off- combined body channel path loss (PL) model, along with its link realistic antennas effects, is developed in this paper. Based on a heterogeneous human body phantom and the verified antenna structures, the PL parameters of this model are extracted through the SEMCAD simulated results. This PL model is finally verified experimentally on a volunteer body.

关键词： Biomedical measurement Antenna measurements WiMAX Ultra wideband antennas Position measurement

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A novel LVQ classification method for crack detection in plates using lamb waves

A novel LVQ classification method for crack detection in pla...

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16th International Congress on Sound and Vibration 2009, ICSV 2009

作者： Soorgee, M.H. Koma-Yousefi, A. Afshar, S. Advanced Dynamic and Control Systems Lab. Faculty of Mechanical Eng. University of Tehran P.Box:11365-4563 Tehran Iran

ISBN: (纸本)9781615677368

In this paper a new method for crack detection in plates based on lamb wave propagation and fuzzy rule based classification is presented. Lamb wave propagation within an aluminium plate has been modelled using explicit dynamic finite element method and verified by experimental works in literature. Having developed a reliable FEM model for lamb wave propagation, a piezoelectric actuator, eight piezoelectric sensors and a tiny groove as the crack, have been placed on the plate to produce and sense lamb waves. All sensors signals have been obtained and processed by new developed signal processing method, Hilbert Huang Transform, to find the first three peaks in their energy density spectrum. Having changed the location of the crack, numerous simulations have been done and sensor responses have been gathered to provide necessary amount of data to be used as fuzzy rule based classification data. The feature space of the problem has been classified into labelled classes using Linear Vector Quantization (LVQ) algorithm. Cluster Mean Selection (CMS) method has been employed to initiate LVQ by means of clustering the input space into some clusters using Gustafson-Kessel (GK) method. The aluminium plate has also been divided into eight Voronoi regions and a unique correspondence between each cluster and plate region has been found to role as a reliable fuzzy system for crack locating.

关键词： Surface waves

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