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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： M. Aghapour R. Heidari M. M. Nazeri M. J. Ahmadi H. D. Taghirad Applied Robotics and AI Solutions (ARAS) Faculty of Electrical Engineering Industrial Control Center of Excellence K.N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

In this paper, a Graphical User Interface (GUI) with advanced 3D visualization was developed specifically for minimally invasive eye surgeries. This system visualizes a realistic eye model with color-coded feedback on the trainee's maneuvers based on the magnitude of applied forces. This real-time feedback enables the trainer surgeon to monitor the trainee's actions, enhancing spatial awareness and control within the eye's confined anatomy. This GUI was validated in an operating room environment and proved to be an advantageous training tool in live surgical settings.

关键词： Training Three-dimensional displays Minimally invasive surgery Mechatronics Real-time systems Anatomy Robots Monitoring Graphical user interfaces

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High–Frequency Transformer Development for Compact Dual Active Bridge Converters

High–Frequency Transformer Development for Compact Dual Act...

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International Conference on Actual Problems of Electronic Instrument engineering (APEIE)

作者： Galina Demidova Nikolai Poliakov Aleksandr Lukin Dmitry Lukichev Aleksandr Usolchev Jackson J. Justo Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Department of Electrical Engineering University of Dar es Salaam Dar es Salaam Tanzania

This paper presents a methodology for designing high–frequency transformers operating at 20 kHz made for operation in dual active bridge converter with a voltage setup of 600V/3x100V. The paper begins by explaining the calculation process for the transformer's design, focusing on crucial aspects such as leakage and magnetizing inductances. Specific techniques for the transformer winding process are discussed, ensuring accuracy and efficiency. Furthermore, the paper analyzed into calculating the parameters that make up the transformer's equivalent circuit, offering insights into its electrical characteristics. It also explores the impact of transformer leakage inductance on the converter's active power performance. To ensure the transformer's robust thermal performance, a thorough thermal analysis using Ansys software is conducted by considering various cooling methods. Finally, the construction details of the transformer, bridging the gap between theoretical design and practical realization are presented. The research concludes with the development of the final transformer construction, harmonizing the theoretical design with practical realization. This study contributes to the field of high–frequency transformer design and highlights the significance of design considerations, particularly in applications where compact and highly efficient power conversion solutions are required.

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A Survey of Robot Manipulation in Contact

arXiv

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arXiv 2021年

作者： Suomalainen, Markku Karayiannidis, Yiannis Kyrki, Ville Center of Ubiquitous Computing Faculty of Information Technology and Electrical Engineering University of Oulu Finland Systems and Control Department of Electrical Engineering Chalmers University of Technology Gothenburg Sweden Intelligent Robotics research group Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Helsinki Finland

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment to complete the task. Robots can perform more and more manipulation tasks that are still done by humans, and there is a growing number of publications on the topics of 1) performing tasks that always require contact and 2) mitigating uncertainty by leveraging the environment in tasks that, under perfect information, could be performed without contact. The recent trends have seen robots perform tasks earlier left for humans, such as massage, and in the classical tasks, such as peg-in-hole, there is a more efficient generalization to other similar tasks, better error tolerance, and faster planning or learning of the tasks. Thus, in this survey we cover the current stage of robots performing such tasks, starting from surveying all the different in-contact tasks robots can perform, observing how these tasks are controlled and represented, and finally presenting the learning and planning of the skills required to complete these tasks. © 2021, CC BY.

关键词： Surveys

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Experimental Prototype of High-Efficiency Wind Turbine Based on Magnus Effect

Experimental Prototype of High-Efficiency Wind Turbine Based...

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International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Aleksandr Lukin Galina L. Demidova Dmitry V. Lukichev Anton Rassõlkin Ants Kallaste Toomas Vaimann Anouar Belahcen Faculty of Control System and Robotics ITMO University Saint Petersburg Russia Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallin Estonia Department of Electrical Engineering and Automation Aalto University Helsinki Finland

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

The main feature of Magnus wind turbine is the ability to produce energy at low wind speed. This benefit lets to use such types of turbines in smart homes, which are an important part of the development of distributed energy systems, growth of blockchain electricity technology and needs for duplication of the solar energy system in the private buildings. This paper presents topology of two cylinders Magnus wind turbine in order to ensure the highest values of power coefficient and the Magnus force. The optimal ratio of wind speed and cylinder rotation speed were detected to eliminate the oscillations caused by the Von Karman vortex street phenomenon.

关键词： Wind turbines Force Drag Rotors Mathematical model Wind speed Generators

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Adaptive robust robot control using BP-SMENs

Adaptive robust robot control using BP-SMENs

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IEEE International Conference on Industrial Technology (ICIT)

作者： S. Yildirim R. Demirci M.F. Sukkar V. Aslautas Robotics Research Laboratory Engineering Faculty Erciyes University Kayseri Turkey Electrical Department Technical Education Faculty Abant Izzet Baysal University Duzce Bolu Turkey Automatic Control and Industrial Electronics Department Electrical and Electronics Engineering Faculty Aleppo University Aleppo Syria

This paper presents the development of a new adaptive recurrent neural network for the control of a nonlinear system represented by a two-link SCARA type planar robot manipulator. The standard backpropagation algorithm is used to adjust the weights of the networks. The proposed control system consists of an inverse neural model of robot (INNM), an INNM-based neural controller, a robust controller, a conventional PI controller, and a second order linear filter. To evaluate the performance of the proposed control scheme and neural network, a simulated SCARA type robot was studied and the results showed how well the proposed controller can minimise the error between an actual and desired end-effector trajectory. From simulation examples, the robot trajectory tracking showed superior performance that is very attractive for real-time implementation and application in complex industrial tasks. For comparison, the standard computed torque method is employed for controlling the robot.

关键词： Programmable control Adaptive control Robust control Robot control Service robots Adaptive systems Recurrent neural networks Nonlinear control systems control systems Nonlinear systems

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Intelligent Vision-Assisted Obstacle Avoidance and Unknown Seasonal Products Navigation in Farmer's Market for the Visually Impaired

SSRN

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SSRN 2023年

作者： Liu, Mei Chen, Yunhua Djoulde, Aristide He, Mengfan Rao, Jinjun Giernacki, Wojciech Wang, Zhiming Chen, Jinbo Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Piotrowo 3a Poznan60-965 Poland

Abstract: Shopping at a farmer's market is a considerable daily challenge for the visually impaired. General indoor obstacle avoidance and navigation algorithms are not fully applicable to the crowded and dynamic shopping environment of farmer's market. To overcome these challenges and provide precise assistance to visually impaired, this paper proposes an intelligent vision-assisted (IVA) algorithm for navigating narrow and crowded farmer's market aisles. The algorithm employs a pedestrian detection camera based on deep learning as the hardware to intelligently detect the type and number of pedestrians in front, and guides a navigation robot to adopt corresponding obstacle avoidance strategies in time according to the detection results. Different from general obstacle avoidance methods, IVA doesn't have issues of guiding robot to make frequent turns and change routes when avoiding obstacles in a crowded and narrow environment, making it more suitable for the visually impaired. Additionally, this paper proposes an unknown seasonal product navigation (USPN) algorithm for robots to automatically search for navigation information that has changed. When used in conjunction with a camera driven by deep learning, USPN successfully guided a navigation robot to identify the names and coordinates of newly listed products. Compared with general navigation algorithms, USPN can guide robots to update product information timely and intelligently. Experimental tests conducted in a farmer's market demonstrated that IVA is more intelligent and efficient than the dynamic window approach (DWA) in obstacle avoidance performance, and it is more suitable for guiding the visually impaired;furthermore, USPN successfully guides the robot to automatically acquire products information that changes with the seasons, and the acquired product categories and locations are precise. Particularly, IVA and USPN can be used as references when designing guide robots for use in public spaces like super

关键词： Navigation

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Magnus Wind Turbine: Finite Element Analysis and control System

Magnus Wind Turbine: Finite Element Analysis and Control Sys...

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International Symposium on Power Electronics, electrical Drives, Automation and Motion, SPEEDAM

作者： Galina L. Demidova Alecksey Anuchin Aleksandr Lukin Dmitry Lukichev Anton Rassõlkin Anouar Belahcen Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Department of Electrical Engineering and Automation Aalto University Helsinki Finland

ISBN: (数字)9781728170190

ISBN: (纸本)9781728170206

Due to its special features, the Magnus effect wind turbine allows you to produce energy at a very low speed of the wind. This fact, as well as the growing interest in the of blockchain technology, makes it possible to use this type of wind turbine in private household as part of a distributed energy system in addition to solar panels. The article describes a two blades Magnus wind turbine whose cylinders rotate by means of embedded motors. To avoid a von Karman vortex street effect that occur when the cylinders rotate in the air flow, as well as to ensure maximum power, the optimal ratio between the wind speed and the cylinder rotation speed is determined using finite element analysis. Further, the obtained relations are used in the algorithms of the wind turbine control system.

关键词： Wind turbines Force Wind speed Generators Mathematical model Torque control systems

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Gradient-tracking over directed graphs for solving leaderless multi-cluster games

arXiv

引用

arXiv 2021年

作者： Zimmermann, Jan Tatarenko, Tatiana Willert, Volker Adamy, Jürgen Control Methods and Robotics Lab Department of Electrical Engineering and Information Science Technical University of Darmstadt Darmstadt64283 Germany Faculty of Electrical Engineering University of Applied Sciences Würzburg-Schweinfurt Schweinfurt97421 Germany

We are concerned with finding Nash Equilibria in agent-based multi-cluster games, where agents are separated into distinct clusters. While the agents inside each cluster collaborate to achieve a common goal, the clusters are considered to be virtual players that compete against each other in a non-cooperative game with respect to a coupled cost function. In such scenarios, the inner-cluster problem and the game between the clusters need to be solved simultaneously. Therefore, the resulting inter-cluster Nash Equilibrium should also be a minimizer of the social welfare problem inside the clusters. In this work, this setup is cast as a distributed optimization problem with sparse state information. Hence, critical information, such as the agent’s cost functions, remain private. We present a distributed algorithm that converges with a linear rate to the optimal solution. Furthermore, we apply our algorithm to an extended cournot game to verify our theoretical results. © 2021, CC BY.

关键词： Game theory

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Multiphase flow reconstruction in oil pipelines by portable capacitance tomography

Multiphase flow reconstruction in oil pipelines by portable ...

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IEEE SENSORS

作者： Elmy Johana Mohamad Ruzairi Abdul Rahim Department of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Process Tomography Research Group (PROTOM) Department of Control & Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

A portable capacitance tomography system for real-time imaging of multiphase flows is developed and presented in this work. The earlier research shows that the electrical Capacitance Tomography (ECT) System is applicable in flow visualization (image reconstruction). The acquired concentration profile that obtains from capacitance measurements is able to imaging liquid and gas mixture in pipelines meanwhile the system development is designed to attach on a vessel. The electrode plates which act as the sensor has been assembled and fixed on the pipeline, thus it causes difficulty for the production to have any new process installation in the future. Therefore portable capacitance is a new approach technology on ECT system. The purpose of the system is for on-line monitoring of concentration profile in multiphase flow-rate measurement system for oil, water and gas flow in oil pipelines.

关键词： Electrodes Capacitance Pipelines Capacitance measurement Materials Sensors Image reconstruction

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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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