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Elaborated modeling and control for autonomous small size helicopters

Elaborated modeling and control for autonomous small size he...

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作者： Kondak, Konstantin Bernard, Markus Losse, Nikolas Hommel, Günter Technische Universität Berlin Faculty of Electrical Engineering and Computer Science Real-Time Systems and Robotics Einsteinufer 17/EN10 10587 Berlin

A mathematical model and control for autonomous small size helicopters were analyzed, which were equipped with different sensors, and can be used in many practical applications. Based on the derived model, a control for the basic helicopter and one for the helicopter with heavy or bulky load rigidly attached to the fuselage are designed and tested in laboratory flight experiments. The main rotor was modeled as a separate rigid body as a result of the contribution estimation. The demonstration of good match between model and flight experiment dynamics were analyzed. A controller was designed, and its good performance was demonstrated by using the derived model.

关键词： Helicopters

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Rapid Prototyping of Mechatronic Systems with Mixed Continuous and Discrete-Event Dynamics

Rapid Prototyping of Mechatronic Systems with Mixed Continuo...

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International Conference on Mechatronics (ICM)

作者： Karel Jezernik Ales Polic Ales Hace Faculty of Electrical Engineering and Computer Science Institute of Robotics University of Maribor Maribor Slovenia

This paper presents rapid prototyping approach for control devices in mechatronics with special attention paid to the unified description and interaction of continuous and discrete-event processes. Traditionally, different dynamics of continuous processes one hand, and logical discrete event processes on the other hand, requires a different theoretical approaches for the description of both kind of processes. However, a complete functionality of the mechatronic system is achieved by settling interaction between both kinds of processes. In this paper, the idea of well known state space description of continuous systems is widened to the field of event driven systems, which results in a unified recursive modeling approach for both kinds of processes. The interaction between the continuous and event-driven processes is introduced by converting continuous values into the logical conditions on one side, and by converting discrete logic states into the appropriate continuous reference values on the other side. The interaction process is illustrated on the single axis drive position initialization procedure. The experiment is implemented using a high performance DSP/FPGA experimental board, supported with graphical programming environment

关键词： Prototypes Mechatronics State-space methods Continuous time systems Switches Mathematical model computer science Drives Robots Control systems

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Speed Sensorless Variable Structure Control of PMSM

Speed Sensorless Variable Structure Control of PMSM

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Annual Conference of Industrial Electronics Society

作者： Evgen Urlep Karel Jezernik Faculty of Electrical Engineering and Computer Science Institute of Robotics University of Maribor Maribor Slovenia

Digital implementation of algorithms, designed for speed sensorless control is accounted for in the control design. For that reason, the transformation from rotating to stationary frame is achieved using rotor flux itself instead of rotor flux angle. The stability of presented model based rotor flux observer is proved by Lyapunov stability criteria. Both, the observer and the control system is tested especially at low speed with simulations and experiments

关键词： Sensorless control Rotors Stators Synchronous motors Voltage Tellurium Torque control Stability criteria Lyapunov method Current measurement

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Rapid Control Prototyping of Mechatronic Systems

Rapid Control Prototyping of Mechatronic Systems

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Annual Conference of Industrial Electronics Society

作者： Ales Hace Ales Polic karel Jezernik Faculty of Electrical Engineering and Computer Science Institute of Robotics University of Maribor Maribor Slovenia

This paper presents a new approach to the rapid prototyping of mechatronic control devices. The mechatronic control device as found in practice can be considered as a hybrid system: it is composed of a time-driven subsystem and an event-driven subsystem. For modeling of such a system a unified recursive approach is presented in this paper. The rapid logic control prototyping paradigm is illustrated by a simple case study that involves implementation on an in-house developed high-performance DSP/FPGA experimental platform

关键词： Control systems Prototypes Mechatronics Mathematical model Digital signal processing Field programmable gate arrays Life testing System testing Software prototyping Logic devices

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Robust adaptive control for complex systems employing ANN emulation of nonlinear functions

Robust adaptive control for complex systems employing ANN em...

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8th Seminar on Neural Network Applications in Electrical Engineering, Neurel-2006

作者： Dimirovski, Georgi M. Jing, Yuanwei Zhang, Yanxin Vukobratovic, Miomir K. IEEE Dogus University Department of Computer Engineering Acibadem - Kadikoy 34722 Istanbul Turkey SS Cyril and Methodius University Faculty of Electrical Engineering Skopje Macedonia School of Information Science and Engineering Northeastern University Shenyang China Mihailo Pupn Institute Laboratory of Robotics and Flexible Automation Karaburma 11000 Belgrade Serbia

ISBN: (纸本)1424404339

A new robust adaptive control design synthesis, which employs both high-order neural networks and math-analytical results, for a class of complex nonlinear mechatronic systems possessing similarity property has been derived. This approach makes an adequate use of the structural feature of composite similarity systems and neural networks to resolve the representation issue of uncertainty interconnections and subsystem gains by on-line updating the weights. This synthesis does guarantee the real stability in closed-loop but requires skills to obtain larger attraction domains. Mechatronic example of an axis-tray drive system, possessing uncertainties, is used to illustrate the proposed technique. © 2006 IEEE.

关键词： Neural networks

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High-rise buildings under earthquake excitation: Stabilization using SMC

High-rise buildings under earthquake excitation: Stabilizati...

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作者： Dimirovski, Georgi M. Zhao, Jun Vukobratovic, Miomir K. Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 China Mihailo Pupin Institute Laboratory of Robotics and Automation Volgina 15 Karaburma 11000 Serbia

ISBN: (纸本)9783902661173

The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors. Copyright © 2006 IFAC.

关键词： Earthquakes

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Experiencing New Capabilities of Humans in Hybrid Telematic Teams

Experiencing New Capabilities of Humans in Hybrid Telematic ...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： J. Pavlicek R. Mazl L. Preucil F. Driewer K. Schilling Department of Cybernetics Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Computer Science VII: Robotics and Telematics Julius-Maximilians University Würzburg Wurzburg Germany

The paper investigates new methods and tools in design of the next generation telematic systems-building hybrid teams of cooperating robots and humans. The following presents some core aspects of such systems design, taking into account the issues of building presence in telematic systems, diverse systems integration and cooperation. The presented approach is focused onto a rescue and search task and accompanied by evaluation of achieved results in practical experiments

关键词： Humans Telematics Robot kinematics Robot sensing systems Cognitive robotics Navigation Humanoid robots Orbital robotics Cybernetics computer science

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The TactaPack: A Wireless Sensor/Actuator Package for Physical Therapy Applications

The TactaPack: A Wireless Sensor/Actuator Package for Physic...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： R.W. Lindeman Y. Yanagida K. Hosaka S. Abe Department of Computer Science Worcester Polytechnic Institute USA Department of Information Engineering Faculty of Science and Technology Meijo University Japan Media Information Science Laboratories ATR International Japan Intelligent Robotics and Communication Laboratories ATR International Japan

In this paper, we present preliminary work we have done on designing the TactaPack, a wearable sensor/actuator device that uses a Bluetooth wireless connection to return sensor data to a host, and to receive commands to initiate expressive vibrotactile stimuli. We present our work in the context of a physical therapy application designed to provide more autonomy for patients when performing rehabilitative exercises. This assistive technology has the potential to reduce injuries during therapy due to improper patient joint movement, and decrease the workload of physical therapists, thereby reducing healthcare costs. Though still in the early stages of design, we believe the TactaPack can be used to produce systems that are less cumbersome than current, wired solutions, and simplify the creation of high-level applications by offloading from the CPU to the device the process of sensing, testing against threshold values, and actuation.

关键词： Wireless sensor networks Actuators Packaging Medical treatment Wearable sensors Bluetooth Injuries Medical services Costs System testing

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Introducing Grammatical Evolution in Fetal Heart Rate Analysis and Classification

Introducing Grammatical Evolution in Fetal Heart Rate Analys...

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International IEEE Conference on Intelligent Systems, IS

作者： Ioannis Tsoulos George Georgoulas Dimitris Gavrilis Chrysostomos Stylios Joao Bemardes Peter Groumpos Computer Science Department University of Ioannina Ioannina Greece Laboratory for Automation and Robotics University of Patras Patras Greece Department of Electrical and Computer Engineering University of Patras Patras Greece Laboratory for Automation and Robotics Informatics and Management Artas Greece Department of Gynecology and Obstetrics Porto Portugal Department of Gynecology and Obstetrics Porto Faculty of Medicine Porto Portugal Laboratory for Automation & Robotics University of Patras Patras Greece

Electronic fetal monitoring is an essential tool for fetal surveillance during labor. It is mainly based on the monitoring and evaluation of the fetal heart rate (FHR) signal, which has to be interpreted online. Evaluation and interpretation of FHR gives an indication of the fetal condition. A lot of research efforts have been done towards the development of automatic and reliable methods for processing and evaluating FHR. This research work introduces an integrated methodology for processing and classifying FHR based on the novel approach of grammatical evolution for feature construction and selection. The proposed methodology is presented, and it is applied to a data set. Experimental results are promising paving the way for further research in that direction

关键词： Fetal heart rate robotics and automation Signal processing Heart rate measurement computerized monitoring Neural networks Cardiology Laboratories Telephony Medical robotics

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Development of a Sensor System for Outdoor Service Robot

Development of a Sensor System for Outdoor Service Robot

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SICE Annual Conference

作者： Takeshi Nishida Yuji Takemura Yasuhiro Fuchikawa Shuichi Kurogi Shuji Ito Masayuki Obata Norio Hiratsuka Hidekazu Miyagawa Yasuhiro Watanabe Toshinori Suehiro Yoshinori Kawamura Fujio Ohkawa Faculty of Engineering Kyushu Institute of Technology Fukuoka Japan YASKAWA INFORMATION SYSTEMS Corporation Fukuoka Japan Mechanics and Electronics Research Institute Fukuoka Industrial Technology Center Fukuoka Japan Fukuoka Industry Science and Technology Foundation Fukuoka Japan FAIS Robotics Research Institute Fukuoka Japan Faculty of Computer Science and System Engineering Kyushu Institute of Technology Fukuoka Japan

The outdoor service robot, which we call OSR-02, is presently under development intended for cleaning up urban areas by means of collecting discarded trash such as plastic bottles, cans, plastic bags and so on. Additionally, we have developed a novel sensor system for the achievement of the task by this robot; it is constructed with LRF (laser rangefinder), two cameras, and three stepping motors. In this paper, we describe the sensor system and its applications

关键词： Sensor systems Service robots Cameras Robot vision systems Robot sensing systems Robot kinematics computer industry Electronics industry Plastics industry Cleaning

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