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arXiv 2021年

作者： Bobtsov, Alexey Yi, Bowen Ortega, Romeo Astolfi, Alessandro Hangzhou310018 China The Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia Australian Centre for Field Robotics The University of Sydney SydneyNSW2006 Australia Departamento Académico de Sistemas Digitales ITAM Ciudad de México Mexico The Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom The DICII Universita di Roma "Tor Vergata" Via del Politecnico 1 Roma00133 Italy

The problem of estimating constant parameters from a standard vector linear regression equation in the absence of sufficient excitation in the regressor is addressed. The first step to solve the problem consists in transforming this equation into a set of scalar ones using the well-known dynamic regressor extension and mixing technique. Then a novel procedure to generate new scalar exciting regressors is proposed. The superior performance of a classical gradient estimator using this new regressor, instead of the original one, is illustrated with comprehensive simulations. © 2021, CC BY.

关键词： Parameter estimation

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Discrete State Estimation for Switched LPV Systems using Parameter Identification

Discrete State Estimation for Switched LPV Systems using Par...

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American control Conference

作者： H. Ríos D. Mincarelli D. Efimov W. Perruquetti J. Davila National Autonomous University of Mexico Department of Control and Robotics Division of Electrical Engineering Engineering Faculty C.P 04510 Mexico D.F. Non-A project at INRIA - LNE Parc Scientifique de la Haute Borne 40 avenue Halley Bt.A Park Plaza 59650 Villeneuve d'Ascq France. National Polytechnic Institute Section of Graduate Studies and Research ESIME-UPT C.P.07340 Mexico D.F.

ISBN: (纸本)9781479932757

In this paper the problem of discrete state estimation for a class of switched LPV systems is addressed. Identification techniques are applied to realize an approximate identification of the switched LPV system parameters with certain uncertainties, disturbances and/or noise. The discrete state estimation is realized by means of the parameter identification. The efficiency of the proposed method is illustrated by simulations.

关键词： Discrete State Estimation Switched LPV Systems using Parameter Identification State estimation Parameter identification discrete element

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HIGH-RISE BUILDINGS UNDER EARTHQUAKE EXCITATION: STABILIZATION USING SMC

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IFAC Proceedings Volumes 2006年第16期39卷 776-781页

作者： Georgi M. Dimirovski Jun Zhao Miomir K. Vukobratovic Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Rep. of Turkey Fax: ++90-216-327-9631 Tel: ++90-216-327-1104 SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Rep. of Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 P. R. of China Fax: ++86-24-8367-2273 Tel: ++86-24-2389-3000 Mihailo Pupin Institute Laboratory of Robotics & Automation Volgina 15 Karaburma 11000 F. R. Serbia and Montenegro Fax: ++381-11-2775-870 Tel: ++381-11-2774-236

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.

关键词： Earthquake sliding mode control structural systems vibration control

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Hybrid sliding mode control application in mathematical model of electronics throttle valve

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AIP Conference Proceedings 2024年第1期2998卷

作者： Maziyah Mat-Noh M. S. Bakar Robotics Intelligent System & Control Engineering (RISC) Research Group Faculty of Electrical and Electronics Engineering Technology University Malaysia Pahang (UMP) 26600 Pekan Pahang Malaysia Sustainable Energy & Power Electronics (SUPER) Research Group Faculty of Electrical and Electronics Engineering Technology University Malaysia Pahang (UMP) 26600 Pekan Pahang Malaysia

control the air flow in the engine cylinder is very important to maintain the performance of the vehicle. This performance is maintained by a device called electronic throttle (ET) that lower the emission of exhaust meeting the emission norms. The control of ET is quite challenge exercise due its multiple nonlinearities such as transmission friction, spring set (limp-home), backflash of the gear as well as external. The simulation of tracking performance ET openings angle using hybrid sliding mode control (SMC)is presented in this paper. The integration of two control algorithms is proposed using integral SMC and super twisting SMC that is applied on mathematical model of ET. The stability of the controller is examine using Lyapunov theorem. Theoretically, Lyapunov theorem has proven that the proposed control law satisfies sufficient condition of stability. The effectiveness of the proposed controller has been evaluated against integral SMC and super twisting SMC. The results of the simulation have demonstrated the controller proposed in work has enhanced the transient response, decreased steady-state error, and removed chattering effects in control input as well as sliding surface.

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Automated Leukemia Screening and Sub-types Classification Using Deep Learning

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Computer Systems Science & engineering 2023年第9期46卷 3541-3558页

作者： Chaudhary Hassan Abbas Gondal Muhammad Irfan Sarmad Shafique Muhammad Salman Bashir Mansoor Ahmed Osama M.Alshehri Hassan H.Almasoudi Samar M.Alqhtani Mohammed M.Jalal Malik A.Altayar Khalaf F.Alsharif Department of Computer Science COMSATS University Islamabad44000Pakistan Electrical Engineering Department College of EngineeringNajran UniversityNajran61441Saudi Arabia Control Automotive and Robotics LabNational Center of Robotics and Automation(NCRA HEC)MirpurPakistan Mirpur University of Science and Technology(MUST)MirpurPakistan Department of Computer Science Virtual University of PakistanLahore54000Pakistan Department of Clinical Laboratory Sciences College of Applied Medical SciencesNajran UniversityNajran61441Saudi Arabia Department of Information Systems College of Computer Science and Information SystemsNajran UniversityNajran61441Saudi Arabia Department of Medical Laboratory Technology Faculty of Applied Medical SciencesUniversity of TabukTabukSaudi Arabia Department of Clinical Laboratory Sciences College of Applied Medical SciencesTaif UniversityP.O.Box 11099Taif21944Saudi Arabia

Leukemia is a kind of blood cancer that damages the cells in the blood and bone marrow of the human *** produces cancerous blood cells that disturb the human’s immune system and significantly affect bone marrow’s production ability to effectively create different types of blood cells like red blood cells(RBCs)and white blood cells(WBC),and *** can be diagnosed manually by taking a complete blood count test of the patient’s blood,from which medical professionals can investigate the signs of leukemia ***,two other methods,microscopic inspection of blood smears and bone marrow aspiration,are also utilized while examining the patient for ***,all these methods are labor-intensive,slow,inaccurate,and require a lot of human experience and *** authors have proposed automated detection systems for leukemia diagnosis to overcome these *** have deployed digital image processing and machine learning algorithms to classify the cells into normal and blast ***,these systems are more efficient,reliable,and fast than previous manual diagnosing ***,more work is required to classify leukemia-affected cells due to the complex characteristics of blood images and leukemia cells having much intra-class variability and inter-class *** this paper,we have proposed a robust automated system to diagnose leukemia and its *** have classified ALL into its sub-types based on FAB classification,i.e.,L1,L2,and L3 types with better *** have achieved 96.06%accuracy for subtypes classification,which is better when compared with the state-of-the-art methodologies.

关键词： Healthcare cancer detection deep learning convolutional neural network

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Heat distribution in the deep drawing device components working by high temperatures

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IOP Conference Series: Materials Science and engineering 2018年第1期393卷

作者： M Tropp F Brumerčík J Šteininger P Weis A Glowacz Univerzity of Žilina Faculty of Mechanical Engineering Department of Design and Mechanical Elements Univerzitná 1 Žilina 010 26 Slovakia AGHUniversity of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Al. A. Mickiewicza 30 30-059 Kraków Poland

The subject of the article is a simulation of heat affected components of a device for deep drawing by extreme conditions in vacuum by high temperatures required for forming of crystallization containers made from thin molybdenum sheets. The simulation is focused on the distribution of heat in particular components in relation with their shape. There are presented the design of working components and the boundary conditions of transient thermal simulations with the results.

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Opportunities and challenges for monitoring terrestrial biodiversity in the robotics age

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Nature Ecology & Evolution 2025年 1-12页

作者： Stephen Pringle Jessica C. Fisher Gail E. Austen Jake E. Bicknell Nicolas J. Deere Mohammad S. Farhadinia Charlie J. Gardner Richard A. Griffiths Daniel J. Ingram Matthew J. Struebig Natalie Yoh Zoe G. Davies Martin Dallimer Mark A. Goddard Katherine C. R. Baldock Miranda T. Prendergast-Miller Léni K. Le Goff Emma Hart Simón C. Smith Simon J. Langdale Sara-Adela Abad Marc Ancrenaz Fabio Angeoletto Fernando Auat Cheein Joseph J. Bailey Lindsay F. Banin Cristina Banks-Leite Aliyu S. Barau Reshu Bashyal Adam J. Bates Jon Bielby Serge Wich Christopher D. Williams Petra Bosilj Marc Hanheide Emma R. Bush Simon J. Butler Dan Carpenter Christopher F. Clements Antoine Cully Kendi F. Davies Brett A. Melbourne Michael Dodd Rosie Drinkwater Don A. Driscoll Guillaume Dutilleux Mads Dyrmann David P. Edwards Aisyah Faruk Richard Field Franziska Schrodt Robert J. Fletcher Chris W. Foster Richard Fox Richard M. Francksen Aldina M. A. Franco Alison M. Gainsbury Ioanna Giorgi Giovanni L. Masala Salua Hamaza Matt W. Hayward Marcus Hedblom Thorunn Helgason Sui P. Heon Kevin A. Hughes Edmund R. Hunt George Jackson-Mills Kelly Jowett Timothy H. Keitt Laura N. Kloepper Stephanie Kramer-Schadt Jim Labisko Frédéric Labrosse Jenna Lawson Nicolas Lecomte Ricardo F. de Lima Nick A. Littlewood Harry H. Marshall Lindsay C. Maskell Eleni Matechou Barbara Mazzolai Alistair McConnell Aslan Miriyev Eric Djomo Nana Alessandro Ossola Sarah Papworth Catherine L. Parr Ana Payo-Payo Gad Perry Nathalie Pettorelli Marcus Rowcliffe Rajeev Pillay Simon G. Potts Lan Qie Carl D. Soulsbury Persie Rolley-Parnell Stephen J. Rossiter Heather Rumble Jon P. Sadler Christopher J. Sandom Asiem Sanyal Sarab S. Sethi Adi Shabrani Robert Siddall Robbert P. H. Snep Margaret C. Stanley Philip A. Stephens P. J. Stephenson Matthew Studley Martin Svátek Gilbert Tang Nicholas K. Taylor Kate D. L. Umbers Robert J. Ward Patrick J. C. White Mark J. Whittingham Ibrahim B. Yakubu Syed A. R. Zaidi Anna Zmarz Joeri A. Zwerts Durrell Institute of Conservation and Ecology (DICE) School of Natural Sciences University of Kent Canterbury UK Centre for Environmental Policy Imperial College London London UK Department of Geography and Environmental Sciences Northumbria University Newcastle upon Tyne UK School of Computing Engineering and the Built Environment Edinburgh Napier University Edinburgh UK Synthotech Ltd Milner Court Hornbeam Square Harrogate UK Mechanical Engineering Department University College London London UK HUTAN SWD Kota Kinabalu Malaysia Programa de Pós-Graduação em Gestão e Tecnologia Ambiental da Universidade Federal de Rondonópolis Rondonópolis Brasil Department of Engineering Harper Adams University Newport UK Applied Ecology Research Group School of Life Sciences Anglia Ruskin University Cambridge UK Centre for Ecology and Hydrology Penicuik UK Department of Life Sciences Imperial College London Silwood Park Campus Ascot UK Department of Urban and Regional Planning Faculty of Earth and Environmental Sciences Bayero University Kano Nigeria Greenhood Nepal Kathmandu Nepal Animal Rural & Environmental Sciences Nottingham Trent University Nottinghamshire UK School of Biological and Environmental Sciences Liverpool John Moores University Liverpool UK Lincoln Centre for Autonomous Systems University of Lincoln Lincoln UK Royal Botanic Garden Edinburgh Edinburgh UK School of Biological Sciences University of East Anglia Norwich Research Park Norwich UK Digital Ecology Limited Bristol UK School of Biological Sciences University of Bristol Bristol UK Department of Computing Imperial College London London UK Department of Ecology and Evolutionary Biology University of Colorado Boulder CO USA Faculty of Science Technology Engineering and Mathematics (STEM) The Open University Walton Hall Milton Keynes UK Palaeogenomics Group Faculty of Veterinary Medicine Ludwig Maximilian University Munich Munich Germany School of Life and Environmental Sciences

With biodiversity loss escalating globally, a step change is needed in our capacity to accurately monitor species populations across ecosystems. Robotic and autonomous systems (RAS) offer technological solutions that may substantially advance terrestrial biodiversity monitoring, but this potential is yet to be considered systematically. We used a modified Delphi technique to synthesize knowledge from 98 biodiversity experts and 31 RAS experts, who identified the major methodological barriers that currently hinder monitoring, and explored the opportunities and challenges that RAS offer in overcoming these barriers. Biodiversity experts identified four barrier categories: site access, species and individual identification, data handling and storage, and power and network availability. robotics experts highlighted technologies that could overcome these barriers and identified the developments needed to facilitate RAS-based autonomous biodiversity monitoring. Some existing RAS could be optimized relatively easily to survey species but would require development to be suitable for monitoring of more ‘difficult’ taxa and robust enough to work under uncontrolled conditions within ecosystems. Other nascent technologies (for instance, new sensors and biodegradable robots) need accelerated research. Overall, it was felt that RAS could lead to major progress in monitoring of terrestrial biodiversity by supplementing rather than supplanting existing methods. Transdisciplinarity needs to be fostered between biodiversity and RAS experts so that future ideas and technologies can be codeveloped effectively.

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Set-up of active magnetic bearings for control of flexible shaft

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AIP Conference Proceedings 2018年第1期2029卷

作者： Adam Piłat Bartosz Sikora Jan Klocek Jan Cieślik 1AGH University of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Mickiewicza 30 30-059 Krakow Poland 2Optister Jalowcowa 50 31-329 Krakow Poland 3AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems Mickiewicza 30 30-059 Krakow Poland

This paper presents the new laboratory test rig of the vertical axis flexible shaft supported by two active magnetic bearings. Behind the motivation of establishing this setup is the control of vibration modes of the flexible rotor - shaft assembly, while the rotational speed varies and the unbalanced mass on the whirling disc is introduced to the system. The proposed model is aimed to simulate real operation conditions of the rotating machinery with an applied external load, with a variable structure caused by a change of material properties of the rotor - shaft assembly, or due to a fault of some elements coupled with the rotor.

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Harmonic insertion in PWM inverter drive schemes

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European Transactions on electrical Power 1992年第3期2卷 143-151页

作者： Theocharis, J. Petridis, V. Dr.-Ing. John Theocharis (1956) graduated as an Electrical Engineer from Aristotelian University of Thessaloniki.Greece in 1980. From 1980 to 1985 he has been with the scientific staff of the Department of Electrical Engineering at the Aristotelian University where he received the Ph.D. degree in 1985. Since 1986 he is working as a lecturer and in 1990 he became assistant professor at the Department of Electronics and Computer Engineering in the m e university. His research activities include control power electronics and electrical motor drives. Recently he is working with the Neural Network Systems with applications to field oriented control problems. Aristotelian University of Thessaloniki School of Engineering Faculty of Electrical Engineering Dept. of Electronics & Computer Engineering P.O. Box 438 GR-Thessalonikil/Greece.T+3131/219784Fax + 3031/274868) Prof. Dr.-Ing. Vasilis Petridis (1946) graduated from National Technical University of Athens Greece in 1969.He obtained the M.Sc. and the Ph.D. in electronics and systems from the University of London in 1970 and 1974. respectively. H i s interests include applied automatic control neural networks drives dynamic systems robotics etc. He is currently professor in the Department of Electronics and Computer Engineering of the University of Thessaloniki. (Aristotelian University of Thessaloniki. School of EngineeringFaculty of Electrical Engineering Dept. of Electronics & Computer Engineering P.O. Box 438. GR-ThessaloniW Greece T+3031/219784.Fax+3031/274868)

The procedure of harmonic insertion is generalized in this paper. Analytical expressions of the voltage spectra are derived. The insertion of the 3rd harmonic to the modulating signal, which is of particular interest, is considered as a special case. It is demonstrated in this case that the fundamental harmonic component of the phase and the line‐to‐line voltage is not affected by the insertion of the 3rd harmonic for sufficiently high values of the chopping ratio. However it has been shown that the higher harmonic spectrum is significantly improved as compared to the case of pure sinusoidal modulation. For different values of the fundamental component the optimal values of the amplitude of the third harmonic to be inserted have been calculated so that the distortion factor of the higher harmonic spectrum is minimized. Other cases of harmonic insertion are also considered which provide spectrum efficiency improvement. Experimental results are given which have been obtained by means of a microcomputer controlled PWM generator constructed for this purpose. Copyright © 1992 John Wiley & Sons, Ltd.

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Kinematics and Error Analysis of Single Motor Driving Multi-Stage Metamorphic Mechanism

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IOP Conference Series: Materials Science and engineering 2019年第5期677卷

作者： Zhuang Ge Leichao Xie Shangkui Yang Shuyun Zhu Yongzhan Cao Yuwang Liu School of Mechanical Engineering and Automation Northeastern University Shenyang Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Liaoning China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang Liaoning China Information and Control Engineering Faculty Shenyang Jianzhu University Shenyang Liaoning China

Traditional series robots have the disadvantages of complex structure and complicated control. Almost all of them have no adaptive ability. Although soft robots have good adaptive characteristics, they also have the limitations of poor bearing capacity and low stiffness. In addition, their motion trajectory and motion precision are difficult to achieve accurate control. In order to solve the above problems, based on a single motor-driving multi-stage metamorphic mechanism, this paper carries out kinematic analysis and error analysis to determine the motion trajectory and motion accuracy of the multi-stage metamorphic mechanism. And this paper uses ADAMS to carry out simulation calculation. Comparing the theoretical calculation results and simulation calculation results, and determining the errors between the multi-stage metamorphic mechanisms, so as to ensure the accurate position of the multi-stage metamorphic mechanism during work. The multi-stage metamorphic mechanism realizes stable and efficient work.

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