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2012 13th International Carpathian Control Conference, ICCC 2012

作者： Samek, Andrzej AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Krakow Poland

ISBN: (纸本)9781457718687

The life of a machine may be divided in two main periods: virtual - the time of designing the machine, and real - the time of production and exploitation. The quality of machine exploitation depends mainly on the former. The quality of the designing system may be considered as a quality of a hybrid system of the designing team and equipment, and a computer with software. The quality of the production system is more conditional upon the quality of the machining and assembling stands and their equipment. The quality of control and management has a significant influence on the quality of production system activity. Last but not least, correct exploitation of a machine allows to obtain the required quality of activity. The aforementioned factors have different effects and are mutually interconnected. In all periods of the life of a machine, analysis is necessary to use adequate strategies to obtain a satisfactory final effect and exploitation quality. © 2012 IEEE.

关键词： Quality management

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Determining the orientation of a body in space using the Kalman filter

Determining the orientation of a body in space using the Kal...

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2012 13th International Carpathian Control Conference, ICCC 2012

作者： Kowal, Janusz Blok, Slawomir Sioma, Andrzej AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Krakow Poland

ISBN: (纸本)9781457718687

Using measurements from inertial sensors such as gyroscopes and accelerometers and other, orientation of solids can be defined in space. To solve this task, one type of sensor is not enough, because there are certain dependencies between the individual measurements. Estimation of orientation must be used in navigation and autopilot systems in aircraft. It uses a unique combination of well known filters, transformation and advanced Kalman filter in order to determine the three Euler angles that define the orientation of the body in space. © 2012 IEEE.

关键词： Accelerometers

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Methodology for identifying quadrotor parameters, attitude estimation and control

Methodology for identifying quadrotor parameters, attitude e...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： M. Elsamanty A. Khalifa M. Fanni A. Ramadan A. Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Production. Engineering & Mechanical Design Department Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467353199

This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an inertial measurement unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design.

关键词： Rotors Pulse width modulation Propellers Force Drag Angular velocity Assembly

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Non-classical algorithms for uncertainty in acoustics

Non-classical algorithms for uncertainty in acoustics

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9th European Conference on Noise Control, EURONOISE 2012

作者： Batko, Wojciech Stepien, Bartlomiej AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Mechanics and Vibroacoustics Poland

ISBN: (纸本)9788001050132

The rules given in the ISO/IEC Guide 98 are used in the calculations of uncertainty. The type A standard uncertainty defined by the standard deviation of the mean. It is usually determined by means of the classic variance estimators, under the assumptions: the normality of measurements results, adequate sample size, lack of correlation between elements of the sample and observation equivalence. However, such assumptions in relation to the acoustic measurements are rather questionable. This is the reason, that the authors indicated the necessity of implementation of non-classical statistical solutions: the kernel density estimation, bootstrap method, and Bayesian inference. These methods don't generate limitations for form and properties of analyzed statistics. There was presented algorithms determined on the basis of the proposed methods, and the example of calculation process which make possible determining searching estimators of expected value and variance of long-term noise indicators LDEN and LN. The illustration for indicated solutions and usefulness analysis were constant monitoring results of traffic noise recorded of Krakow, Poland. © European Acoustics Association.

关键词： Inference engines

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Evolvable Embryonics: 2-in-1 Approach to Self-healing Systems

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Procedia CIRP 2013年 11卷 394-399页

作者： Elhadj Benkhelifa Anthony Pipe Ashutosh Tiwari Faculty of Computing Engineering and Science Staffordshire University BeaconsideStafford ST18 0AD UK School of Science Technology and Health University Campus Suffolk Ipswich IP4 1QJ UK Bristol Robotics Laboratory University of the West of England Bristol BS34 8QZ UK School of Applied Science Cranfield University Bedfordshire MK43 0AL UK

This paper covers the authors’ recent research in the area of evolutionary design optimisation in electronic application domain (Evolvable Hardware). This will be also presented in the context of biologically inspired systems where Evolvable Hardware is concerned with evolutionary synthesis of self-healing systems and potentially hardware capable of online adaptation to dynamically changing environment. We will also illustrate how EAs can produce novel and unintuitive design solutions, and possibly new design principles. The novelty of this research project addresses this compelling change in the traditional landscape of the associated research disciplines by seeking to provide a novel biologically inspired mechanism to support the design optimisation of self-healing architectures, that is Evolvable-Embryonics.

关键词： Evolvable Hardware Self-Healing Systems Bio-Inpired Systems Fault Tolerance Evolutionary Design Opimisation

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Long survival observation of C. elegans inside Environmental SEM for nanomanipulations

Long survival observation of C. elegans inside Environmental...

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IEEE Conference on Nanotechnology

作者： Masahiro Nakajima Naoya Nakanishi Naoki Hisamoto Masaru Takeuchi Hirotaka Tajima Michio Homma Qiang Huang Toshio Fukuda Center For Micro-nano Mechatronics Nagoya University Nagoya Aichi Japan Department of Micro-Nano Systems Engineering Nagoya University Nagoya Aichi Japan Division of Biological Science Nagoya University Nagoya Aichi Japan Intelligem Robotics Institute Beijing Institute of Technology Faculty of Science and Engineering Meijo University Nagoya Aichi Japan

This paper presents a novel technique for long survival observation of Caenorhabditis elegans (C. elegans) inside Environmental-SEM (E-SEM) for nanomanipulations. We have developed the nanorobotic manipulation system inside an Environmental-Scanning Electron Microscope (E-SEM) integrated optical microscope (OM) for nanobiomanipulation platform. Our platform provides a real-time high resolution image under water-contained condition in nano-meter high-magnification image. One of the difficulties on the E-SEM observation is to maintain the biological sample on survival condition in long time. In this paper, we propose a coating method on the C. elegans or sample substrate for maintain the survival condition to keep in wet-condition. The proposed technique is useful to operate the nanomanipulation on C. elegans body, for example nano-injection of functional micro-nano beads as demonstrated in this paper.

关键词： Nanobioscience Optical microscopy Scanning electron microscopy Biomedical optical imaging

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Proportional-integrative controller design of Pneumatic system using particle swarm optimization

Proportional-integrative controller design of Pneumatic syst...

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Student Conference on Research and Development (SCOReD)

作者： Khairuddin Osman Ahmad Athif Mohd Faudzi M. F. Rahmat Nu'man Din Mustafa Amar Faiz Zainal Abidin Koichi Suzumori Faculty of Electronic and Computer Engineering Universiti Teknikal Malaysia Melaka Durian Tunggal Melaka Malaysia Centre for Artificial Intelligent and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor MY Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Bahru Malaysia Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor MY Graduate School of Natural Science and Technology Okayama University Okayama Japan

Pneumatic systems are well known for their advantages, simplicity and can be applied in various industrial applications. This paper presents a comparative study of tuning methods on Proportional-Integral (PI) controller for position control performance both in simulation and in real system. A PI controller designed by optimization with the Particle Swarm Optimization (PSO) algorithm is proposed and its output is compared with the Ziegler-Nichols (Z-N) formula and manual (trial and error) results. Performance assessment of the tuned controllers was performed in MATLAB Simulink. It was observed that the controller designed using PSO gives better results and performance compared to the Z-N formula and manual tuning in simulation and real-time.

关键词： Tuning Pneumatic systems Particle swarm optimization System identification Mathematical model Mechatronics Real-time systems

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Multibody bionic systems modeling: The puppet master approach

Multibody bionic systems modeling: The puppet master approac...

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2012 13th International Carpathian Control Conference, ICCC 2012

作者： Kowal, Janusz Lepiarz, Wojciech Sioma, Andrzej AGH - University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9781457718687

In this study, the puppet master approach to solve the kinematics of complex multi-body systems is introduced. The puppet master approach is shown in comparison with traditional analytical one. The method is used to solve multi-body systems of bio-inspired concept prototypes. In these examples the strong and weak sides of this approach are shown. The puppet master approach can be used to rapidly evaluate and compare different concept prototypes. © 2012 IEEE.

关键词： Biomimetics

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The application of a piezoelectric stack for control of small flow intensity hydraulic fluid

The application of a piezoelectric stack for control of smal...

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2012 13th International Carpathian Control Conference, ICCC 2012

作者： Pluta, Janusz Sibielak, Marek AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9781457718687

This paper aims to present the throttle valve, in which a piezoelectric stack was used for adjustment of the flow section area of the throttle aperture. The valve was built based on a proprietary design, using the components of a standard manufactured overflow valve. Laboratory tests were carried out to establish the valve's characteristics, describing its usefulness for control of small flow intensity. LabView software was used for measuring the data gathered. The test results, after conversion, were developed using the Matlab/Simuling software package. This paper presents the most notable results of the tests of a valve equipped with a high-voltage piezoelectric stack. Based on the results obtained, the functional correlation between the volumetric flow rate, pressure drop in the throttling aperture and control signal input to the piezoelectric stack were determined. © 2012 IEEE.

关键词： MATLAB

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Bi-axial exciter of mechanical vibrations

Bi-axial exciter of mechanical vibrations

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2012 13th International Carpathian Control Conference, ICCC 2012

作者： Pluta, Janusz Orkisz, Pawel AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9781457718687

This article presents mechanical vibrations exciter, which is electrohydraulic device designed to extorting bi-axial vibrations. The priority task of exciter is to excite physical model with related to exploitations real conditions parameters of signals The building of working device and his important assemblies are described. The most important part of exciter is electrohydraulic control system which ensures the obtainment of required parameters of generated signal. Exciter is compound from: mechanical construction, two servomechanisms, station of hydraulic power supply, electric power supply and control system. The possibility of built device with can extorting vibrations of horizontal platform both in one, as in two axis was introduced. For end the results after two years of exploitation were showed. © 2012 IEEE.

关键词： Control systems

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