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International Conference on Biomedical Engineering and Biotechnology (iCBEB)

作者： Wenya Nan Joao Pedro Rodrigues Feng Wan Peng Un Mak Pui In Mak Mang I. Vai Agostinho Rosa Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macao China LaSEEB-System and Robotics Institute Instituto Superior Tecnico Technical University of Lisbon Portugal

Our previous study successfully improved short term memory by individual alpha neurofeedback training. However, short term memory and its improvement in different languages are still not clear. Therefore, the purpose of this paper was to evaluate the memory performance in alphabetic and ideographic language groups. Besides, the relationship between initial memory and its improvement was investigated. The results indicated short term memory in ideographic language was higher than those in alphabetic language and forward digit span improvement was positive related to its initial performance.

关键词： Noise measurement Training Neurofeedback Electroencephalography Correlation Educational institutions Electrodes

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Fault Detection and Isolation and Fault Tolerant Control of Wind Turbines using Set-Valued Observers

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IFAC Proceedings Volumes 2012年第20期45卷 120-125页

作者： P. Casau, P. Rosa, S.M. Tabatabaeipour, C. Silvestre Institute for Systems and Robotics - Instituto Superior Técnico Av. Rovisco Pais 1 1049-001 Lisboa Portugal Aalborg University 9220 Aalborg East Denmark Faculty for Science and Technology University of Macau Taipa Macau

Research on wind turbine Operations & Maintenance (O&M) procedures is critical to the expansion of Wind Energy Conversion systems (WEC). In order to reduce O&M costs and increase the lifespan of the turbine, we study the application of Set-Valued Observers (SVO) to the problem of Fault Detection and Isolation (FDI) and Fault Tolerant Control (FTC) of wind turbines, by taking advantage of the recent advances in SVO theory for model invalidation. A simple wind turbine model is presented along with possible faulty scenarios. The FDI algorithm is built on top of the described model, taking into account process disturbances, uncertainty and sensor noise. The FTC strategy takes advantage of the proposed FDI algorithm, enabling the controller reconfiguration shortly after fault events. Additionally, a robust controller is designed so as to increase the wind turbine's performance during low severity faults. Finally, the FDI algorithm is assessed within a publicly available benchmark model, using Monte-Carlo simulation runs.

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Measurement of normal force in magnetorheological and ferrofluid lubricated bearings

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Key Engineering Materials 2011年 490卷 25-32页

作者： Salwinski, J. Horak, W. Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

Preliminary analysis of magnetorheological fluid usability in fluid lubricated bearings has been described in the present study. Results of the study aimed at rheological properties of chosen fluids, which possess magnetic properties (both ferrofluids and magnetorheological fluids) with respect to their application in slide bearings have been presented Preliminary analysis of potential advantages related with the magnetic fluid bearing construction was carried out. Results of measurements of normal force developed within magnetorheological fluid and ferrofluid in result of magnetic field action at various shear rate values have been presented. © (2012) Trans Tech Publications, Switzerland .

关键词： Magnetorheological fluids

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Influence of magnetorheological fluid volume onto obtained critical pressures on rotary shaft seals

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Key Engineering Materials 2011年 490卷 119-127页

作者： Potoczny, Marcin Zachara, Boleslaw AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Cracow Poland

Structure and basal application of magnetorheological fluids as well as their application in rotary shaft seals, have been presented in this study. As the application of magnetorheological fluid in seals is relatively purely known, the conducted studies were aimed at defining their operational parameters. The most essential was manner of the MR fluid delivery into oil gap, mostly the applied fluid volume. Not sufficient volume of the MR fluid often results in non-uniform oil gap filling what in turn decreases the seal efficiency. Results of studies on MR fluid-based seal burst pressure, conducted on specially designed testing stand, have been presented. The results comprise three oil gap sizes of ä=0,15mm, δ=0,3mm and δ=0,5mm, for tests conducted with various volume of MR fluid applied on single sealing stage. Comparative values of the seal burst pressures obtained for three oil gap sizes of multi-stage seal, with the same apparent volume of MR fluid (the same fluid and oil gap volume ratio), were also presented. © 2012 Trans Tech Publications, Switzerland.

关键词： Magnetorheological fluids

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A Two-step Control Strategy for Docking of Autonomous Underwater Vehicles

A Two-step Control Strategy for Docking of Autonomous Underw...

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American Control Conference

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Instituto Superior Tecnico Universidade Tecnica de Lisboa Av. Rovisco Pais 1049-001 Lisboa Portugal Faculty of Science and Technology of the University of Macau

ISBN: (纸本)9781457710957

This paper presents a novel integrated guidance and control strategy for docking of Autonomous Underwater Vehicles (AUVs). The approach to the base, and hence the control design, is divided in two steps: i) in the first, at higher speed, the vehicle dynamics is assumed to be underactuated and an appropriate control law is derived to steer the vehicle toward the final docking path, achieving convergence to zero of the appropriate error variables for almost all initial conditions;ii) in the second stage, at low speed, the vehicle is assumed to be fully actuated, and a robust control law is designed that achieves convergence to zero of the appropriate error variables for all initial conditions. Simulation are presented illustrating the performance of the proposed controllers.

关键词： Autonomous underwater vehicles Berthing control law two-step control Vehicle dynamics underwater vehicles vehicle Zero design control control strategy INITIAL CONDITIONS Converge

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Fault Detection and Isolation for Inertial Measurement Units

Fault Detection and Isolation for Inertial Measurement Units

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IEEE Conference on Decision and Control

作者： S. Brás P. Rosa C. Silvestre P. Oliveira Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Técnico Universidade Técnica de Lisboa Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macao China

This paper addresses the problem of Fault Detection and Isolation (FDI) for navigation systems equipped with sensors providing inertial measurements and vector observations. Two strategies are proposed. The first one takes advantage of existing hardware redundancy, providing sufficient conditions for the isolation of faults. The second approach exploits the analytical redundancy between the angular velocity measurements and the vector observations, by resorting to Set-Valued Observers (SVOs). The behavior of both strategies are illustrated in simulation.

关键词： Vectors Redundancy Noise Sensor systems Angular velocity Noise measurement

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Model testing of flow phenomena in the squeeze chamber of a cold-chamber diecasting machine

Solid State Phenomena

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Solid State Phenomena 2011年 177卷 151-158页

作者： Stojek, Jerzy Dańko, Rafal Faculty of Mechanical Engineering and Robotics AGH Univesity of Science and Technology Cracow Poland Faculty of Foundry Engineering AGH Univesity of Science and Technology Cracow Poland

A review of the studies carried out on this subject so far was made, and the available mathematical models applicable at Phase I of the diecasing process were presented. Own model testing of the examined process phase was described. The tests were conducted on a laboratory station designed and constructed to serve this purpose. Basing on the obtained results, the fundamental Garber's model was modified and extended further to include the coefficient of liquid metal viscosity. © (2011) Trans Tech Publications, Switzerland.

关键词： Air Occlusion Die Casting Model Testing Statistical Analysis of Measurements Theory of Experiments

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A Stiffness Probe Based on Force and Vision Sensing for Soft Tissue Diagnosis

A Stiffness Probe Based on Force and Vision Sensing for Soft...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Jichun Li Hongbin Liu Kaspar Althoefer Lakmal D. Seneviratne Centre for Robotics Research Kings College London UK Centre for Robotics Research king's College London Strand London WC2R 2LS UK and Faculty of Engineering Khalifa University of Science Technology & Research Abu Dhabi UAE

ISBN: (纸本)9781424441198

this paper introduces a novel approach of stiffness measurement based on force and vision sensing for tissue diagnosis. The developed probe is mainly composed of a force sensor and an image acquisition unit capable of obtaining contact area of probe-soft tissue interaction. By measuring the change of diameter of contact area during indentation test, the indentation depth can be determined. The stiffness of target soft tissue then can be evaluated by measuring indentation force and depth simultaneously. The probe can generalize a mechanical image to visualize the stiffness distribution for localization of abnormalities when sliding over soft tissue. The performance of the developed probe was validated by experiments on multiple materials including silicone phantoms and pork organs. The results show that the probe can perform stiffness measurement effectively when the probe indents or slides on the tissue surface.

关键词： stiffness developed obtaining

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Sensor-based Simultaneous Localization and Mapping - Part I: GAS Robocentric Filter

Sensor-based Simultaneous Localization and Mapping - Part I:...

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American Control Conference

作者： Bruno J. Guerreiro Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Instituto Superior Tecnico at the Technical University of Lisbon Av. Rovisco Pais 1 1049-001 Lisboa Portugal Faculty of Science and Technology University of Macau Taipa Macau

ISBN: (纸本)9781457710957

This paper presents the design, analysis, and experimental validation of a sensor-based globally asymptotically stable (GAS) filter for simultaneous localization and mapping (SLAM) with application to uninhabited aerial vehicles (UAVs). The SLAM problem is first formulated in a sensor-based framework, without any type of vehicle pose information, and modified in such a way that the underlying system structure can be regarded as linear time varying for observability, filter design, and convergence analysis purposes. Thus, a Kalman filter follows naturally with GAS error dynamics that estimates, in a robocentric coordinate frame, the positions of the landmarks, the velocity of the vehicle, and the bias of the angular velocity measurement. The online inertial map and trajectory estimation is detailed in a companion paper and follows from the estimation solution provided by the SLAM filter herein presented. The performance and consistency of the proposed method are successfully validated experimentally in a structured real world environment using a quadrotor instrumented platform.

关键词： Vehicles Simultaneous localization and mapping Observability Vehicle dynamics Vectors Kalman filters

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Sensor-based Simultaneous Localization and Mapping - Part II: Online Inertial Map and Trajectory Estimation

Sensor-based Simultaneous Localization and Mapping - Part II...

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American Control Conference

ISBN: (纸本)9781457710957

A novel sensor-based filter for simultaneous localization and mapping (SLAM), featuring globally asymptotically stable error dynamics, is proposed in a companion paper, with application to uninhabited aerial vehicles (UAVs). This paper presents the second part of the algorithm, detailing a computationally efficient and numerically robust method for online inertial map and trajectory estimation based on the estimates provided by the SLAM filter previously derived. Central to the solution is the formulation of an optimization problem, that of finding the translation and the rotation that best explain the transformation between two sets of landmarks, with known associations, for consecutive time instants. The validation, performance, and consistency assessment of the proposed SLAM algorithm is successfully performed with real data, which was acquired by an instrumented quadrotor.

关键词： simultaneous localization and mapping supersonic low altitude missile Inertial trajectory landmarks MAPPING(MATHEMATICAL) maps

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