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2017 Malaysian Technical Universities Conference on engineering and Technology, MUCET 2017

作者： Mohammed, Saeed Chee Soon, Chong Ghazali, Rozaimi Yusof, Ahmad Anas Md Sam, Yahaya Mau Shern, Chai Centre for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya Durian Tunggal Melaka76100 Malaysia Faculty of Mechanical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya Durian Tunggal Melaka76100 Malaysia Department of Control and Mechatronic Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor81310 Malaysia

Versatile engineering applications have been developed to assist, reduce, and avoid human being from any heavy or harmful manufacturing processes. The gradually increased demand in force and position controls have simultaneously increased the usage of Electro-Hydraulic Servo (EHS) system. However, the time varying characteristics such as high-speed, outburst starting and stopping dynamic have led the EHS system to suffer from uncertainties and nonlinearities effects. Therefore, in order to enhance the performance of an EHS to surmount the uncertain and nonlinear effects, a hybrid Fuzzy-PID control strategy is developed which particularly improve the accuracy of the system by enhancing the control performance during the positioning tracking. By measuring the performance of the proposed control approach, the transient response and steady-state analysis will be performed which taking linear and intelligent control strategies as the references in the assessment process. The finding indicates the capability of a hybrid Fuzzy-PID controller in reducing the control effort applied to the EHS system. © The Authors, published by EDP Sciences, 2018.

关键词： Position control

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Combined actuator sensor unit for interaction with honeybees

Combined actuator sensor unit for interaction with honeybees

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IEEE Sensors Applications Symposium, SAS

作者： Karlo Griparic Tomislav Haus Damjan Miklic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

Interacting with a specific animal society by integrating autonomous robot/s into the society, has become a powerful method to influence the behaviour of animals and investigate collective behaviour of both, animal and robot societies. In order to interact with animals, artificial unit/s should be well integrated into their society. In the European project ASSISIbf, a network of static autonomous robots called CASUs (Combined Actuator Sensor Units) for interaction with young honeybees has been designed. In the proposed approach CASUs can affect honeybees using three types of physical stimuli: heat, vibration and light. To provide feedback signals necessary for controlling CASU interaction with honeybees, accurate and reliable measurements of the stimuli are necessary. This paper describes the mechanical and electronic design of CASUs, capable of emitting controllable heat, vibration and light stimulations. Each CASU is equipped with temperature sensors, 3-axis accelerometers, infrared proximity sensors and microcontroller for data processing. Preliminary experimental results with honeybee groups are presented.

关键词： Robot sensing systems Vibrations Temperature measurement Temperature sensors Animals Heating

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On applying a generalized Padé approximation to stability analysis - experimental results

On applying a generalized Padé approximation to stability a...

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MECHATRONIKA International Symposium

作者： Dariusz Horla Faculty of Electrical Engineering Institute of Control Robotics and Information Engineering Poznan University of Technology Poznan Poland

ISBN: (纸本)9781538643648;9788021455429

The paper verifies by means of experiments the applicability of the generalized Padé approximation of the dead time to stability analysis (estimation of stability margins of the closed-loop system). Initial research carried on the topic revealed that there is a range of fractional orders of the generalized approximators, where the results obtained from fractional-order analysis give conservative results, and the approach is comparable to standard Padé approximation. In the paper, author aims at verifying this on the basis of experiments conducted with the use of FOMCON toolbox to implement fractional-order operators, and the Inteco Modular Servo System, comparing the identified model of the servo drive with added artificial open-loop delay, and the behaviour of the real closed-loop system. The analysis of the use of the generalized approximation, as well as application to a hardware-in-the-loop control problem, is the main novelty of the paper, since all prior approaches of various authors concentrated on time-domain analysis of the generalized approximator, not on stability issues.

关键词： Delays Closed loop systems Standards Servomotors Optimization Stability criteria

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Robust Output Regulation with Exact Unmatched Uncertainties Compensation Based on HOSM Observation

Robust Output Regulation with Exact Unmatched Uncertainties ...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Alejandra Ferreira de Loza Francisco Bejarano Leonid Fridman the Department of Control and Robotics Division of Electrical EngineeringEngineering FacultyNational Autonomous University of Mexico （UNAM）

This manuscript tackles the regulation problem of linear time invariant systems with unmatched perturbations. A high order sliding mode observer is used allowing theoretically exact state and perturbation estimation. A compensation control approach based on the identified perturbation values is proposed ensuring exact regulation of the unmatched states. A simulation example shows the feasibility of this approach.

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New Grid for Particle Filtering of Multivariable Nonlinear Objects

New Grid for Particle Filtering of Multivariable Nonlinear O...

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Federated Conference on Computer Science and Information Systems

作者： Piotr Kozierski Jacek Michalski Talar Sadalla Wojciech Giernacki Joanna Zietkiewicz Szymon Drgas Faculty of Computing Institute of Automation and Robotics Division of Signal Processing and Electronic Systems Poznan University of Technology Faculty of Electrical Engineering Institute of Control Robotics and Information Engineering Division of Control and Robotics Poznan University of Technology

ISBN: (纸本)9781538623718

In the paper a new grid (potentially linear, nonlinear and even semi-Markovian jump system) was presented. All transition and measurement functions were proposed. Moreover, the transition functions of two types were considered - dependent on one and many different state variables. Also 10 types of measurements were proposed for both nodal and branch cases. Based on the obtained results one can see, which measurement functions are "easy", and which are "hard" for state estimation task.

关键词： Measuring Function Particle filters grids Grid State variable Multivariable nonlinearity

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Output-based Finite Time control of LTI systems with matched perturbations using HOSM

Output-based Finite Time Control of LTI systems with matched...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Marco Tulio Angulo Leonid Fridman Department of Control Engineering and Robotics Electrical Engineering DivisionFaculty of EngineeringNational Autonomous University of Mexico (UNAM)

Finite Time Stability of LTI systems with matched perturbations using dynamic output feedback is achieved under the assumptions of strong observability,controllability and known bounds for the *** is shown that only global controllers are well suited for this *** cases are studied: when the relative degree is well-defined and when it is *** examples are presented in order to illustrate the proposed approach.

关键词： origin Output-based Finite Time control of LTI systems with matched perturbations using HOSM LTI

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Toward lightweight acoustic fault detection and identification of UAV rotors

Toward lightweight acoustic fault detection and identificati...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Marek Kołodziejczak Radosław Puchalski Adam Bondyra Sasa Sladic Wojciech Giernacki Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznań Poland Faculty of Engineering University of Rijeka Rijeka Croatia

Data-driven Fault Detection and Isolation (FDI) systems receive a lot of attention from researchers. Several recent applications utilize acoustic signals recorded on-board of the Unmanned Aerial Vehicle (UAV) to assess the condition of propulsion system and diagnose rotor blade impairments. In this work, we propose two major improvements to the previously developed FDI scheme. They are aimed at reducing the computational load of the deep LSTM-based (Long ShortTerm Memory) fault classifier. First, the PCA-based (Principal Component Analysis) feature space reduction allows reducing the size of neural networks and thus decreasing the number of mathematical operations. Secondly, a modified algorithm introduces an ensemble of multiple weak classifiers with a decision-fusion strategy that provides the final status of the system. The developed schemes were evaluated in comparison to the original algorithm, using an extensive dataset of real-flight acoustic data. The results show that the proposed improvements significantly reduce the computation time within the assumed performance constraints.

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Enhanced Robotic Vision System Based on Deep Learning and Image Fusion

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Computers, Materials & Continua 2022年第10期73卷 1845-1861页

作者： E.A.Alabdulkreem Ahmed Sedik Abeer D.Algarni Ghada M.El Banby Fathi E.Abd El-Samie Naglaa F.Soliman Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of the Robotics and Intelligent Machines Faculty of Artificial IntelligenceKafrelSheikh UniversityKafrelsheikh33511Egypt Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadh84428Saudi Arabia Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department Electronics and Electrical Communications Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Electronics and Communications Faculty of EngineeringZagazig UniversityZagazig44519Egypt

Image fusion has become one of the interesting fields that attract researchers to integrate information from different image *** is involved in several *** of the recent applications is the robotic *** application necessitates image enhancement of both infrared(IR)and visible *** paper presents a Robot Human Interaction System(RHIS)based on image fusion and deep *** basic objective of this system is to fuse visual and IR images for efficient feature extraction from the captured ***,an enhancement model is carried out on the fused image to increase its *** image enhancement models such as fuzzy logic,Convolutional Neural Network(CNN)and residual network(ResNet)pre-trained model are utilized on the fusion results and they are compared with each other and with the state-of-the-art *** results prove that the fuzzy logic enhancement gives the best results from the image quality ***,the proposed system can be considered as an efficient solution for the robotic vision problem with multi-modality images.

关键词： Deep learning fuzzy logic image fusion IR images

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Force-based Feedback for Haptic Device of Mobile Assembly Robot 27

Force-based Feedback for Haptic Device of Mobile Assembly Ro...

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27th International Workshop on Electric Drives: MPEI Department of Electric Drives 90th Anniversary, IWED 2020

作者： Lukin, Aleksandr Demidova, Galina L. Rassolkin, Anton Vaimann, Toomas Roozbahani, Hamid ITMO University Faculty of Control System and Robotics Saint Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallin Estonia Lappeenranta University of Technology Laboratory of Intelligent Machines Lappeenranta Finland

ISBN: (纸本)9781728141589

This paper describes the control system for twin serial robot manipulators, installed on TIERA mobile robot, focusing in Robot Operating System (ROS) based control network and haptic feedback. Forward and inverse kinematics were used to translate the angular positions of Geomagic touch into joint angles of both UR10 manipulators. Force feedback allows the operator to sense forces applied to both grippers of robotic arms simultaneously using two Geomagic touch. Field tests of TIERA have shown that haptic feedback was established accurately, directions of forces inside the haptic device correspond with directions of forces affecting the gripper, and the current scaling coefficient is enough to sense forces on the haptic device. © 2020 IEEE.

关键词： Mobile robots

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The impact of vocabulary size and language model order on the polish whispery speech recognition

The impact of vocabulary size and language model order on th...

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

作者： Piotr Kozierski Talar Sadalla Szymon Drgas Adam Dąbrowski Joanna Zietkiewicz Poznan University of Technology Pozuan Faculty of Computing Institute of Automation and Robotics Faculty of Electrical Engineering Institute of Control

The article presents studies on the automatic whispery speech recognition. In the performed research a new corpus with whispery speech has been used. The aim of studies presented in this paper was to check, how the vocabulary size and the language model order influence on the speech recognition quality. It has been concluded that even using recordings with 5,000 different words only it is possible to prepare large vocabulary continuous speech recognition (LVCSR) model. It has been also found that the third order of language model is the best choice. The difference between normal and whispery speech is negligible and is manifested only in higher word error rate index (about 1.5 times higher for whispery speech).

关键词： Speech Speech recognition Vocabulary Training Hidden Markov models Error analysis

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