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International Symposium on mechatronics and its Applications

作者： Ehab I. Al Khatib Mohammad A. Jaradat Mamoun Abdel-Hafez Milad Roigari Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE Department of Mechanical Engineering American University of Sharjah Sharjah UAE

ISBN: (纸本)9781467377980

Navigation is an important topic in mobile robots. In this paper, an Extended Kalman Filter (EKF) is used to localize a mobile robot equipped with an encoder, compass, IMU and GPS utilizing three different approaches. Subsequently, an input output state feedback linearization (I-O SFL) method is used to control the robot along the desired robot trajectory. The presented algorithms are verified when the robot was steered along two different track shapes. Additionally, the performance of the method is demonstrated when a faultwas simulated on the sensors.

关键词： Localization Extended Kalman Filter (EKF) Navigation Input Output State Feedback linearization (IO-SFL) Mobile Robot

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Nonlinear control of quadrotor using multi Lyapunov functions

Nonlinear control of quadrotor using multi Lyapunov function...

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2014 American Control Conference, ACC 2014

作者： Yesildirek, Aydin Imran, Bara Department of Electrical Engineering American University of Sharjah United Arab Emirates Mechatronics Graduate Program American University of Sharjah United Arab Emirates

ISBN: (纸本)9781479932726

A nonlinear control algorithm is given for a class of quadrotors operating in small angles. The control of 6-DOF moving platform using only four actuators results in an under-actuated control system. In order to transform the dynamics in affine form, an additional constraint is applied on the actuation mechanism that reduces the independent control signals even further. In this paper, the system is decomposed in to three fully actuated subsystems;in pitch, roll and yaw domains. Local subcontrollers are designed using partial feedback linearization. The proposed multi Lyapunov function based switching control algorithm is employed to achieve tracking of Cartesian space motion and the heading angle of the quadrotor. Local stability of the closed-loop system is shown in the flight region of interest. The performance of the proposed controller is illustrated to follow a desired position, velocity and the heading angle of quadrotor. © 2014 American Automatic Control Council.

关键词： Closed loop systems

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A quantitative classification of essential and Parkinson's tremor using wavelet transform and artificial neural network on sEMG and accelerometer signals

A quantitative classification of essential and Parkinson's t...

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IEEE International Conference on Networking, Sensing and Control

作者： Santosh Kumar Nanda Wen-Yen Lin Ming-Yih Lee Rou-Shayn Chen PhD Program in Biomedical Engineering Chang Gung University Taiwan Tao-Yuan Taiwan Graduate Institute of Medical Mechatronics Chang Gung University Taiwan Tao-Yuan Taiwan Department of Electrical Engineering Chang Gung University Taiwan Tao-Yuan Taiwan Department of Neurology Chang Gung Memorial Hospital Taiwan Tao-Yuan Taiwan

Correct discrimination of essential tremor from Parkinson's tremor is a major problem in clinical neurology as minor differences in the tremor patterns are hard to distinguish. Mathematical analysis of tremor signals recorded non-invasively has been widely accepted for tremor differentiation. However, classification of tremor signals collected from electromyograph or accelerometer, based on time and frequency domain techniques has limited accuracy because of overlapping frequency range and non-stationary nature of those signals. This paper describes a simple, non-invasive decision making logic method for discrimination of tremor. Wavelet transform based feature extraction technique in combination with feed forward type artificial neural network is proposed. Fractal dimensions of wavelet features of the decomposed detailed coefficients are used as the feature matrix. The neural network classified the tremor sEMG signals with 91.66% accuracy and 100% in case of accelerometer signals. Although, the classification accuracy of sEMG signal is comparable to that of accelerometer but the localized involuntary vibratory nature of tremor at the extremities of human body puts accelerometer as a better option in cases where tremor fails to excite the muscle. This proposed classification algorithm adds strength to the non-invasive signal detection methods at reduced cost and higher sensitivity.

关键词： Accelerometers Artificial neural networks Fractals Wavelet analysis Wavelet transforms Accuracy

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A Multi-hypothesis Sequential Probability Test for Partial Discharges Localization in Power Transformers

A Multi-hypothesis Sequential Probability Test for Partial D...

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International Symposium on mechatronics and its Applications

作者： Wasim M. F. Al-Masri Mamoun F. Abdel-Hafez Ayman El-Hag Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE Department of Mechanical Engineering American University of Sharjah Sharjah UAE Department of Electrical Engineering American University of Sharjah Sharjah UAE

ISBN: (纸本)9781467377980

We present a new method to accurately locate partial discharge by using a sequential fault detection and identification (FDI) algorithm for detecting a bias fault in the measurements of partial discharge in transformer insulation system using acoustic signals. In this paper, a novel technique is proposed to identify the possibility of measurement errors generated from acoustic emission sensors during partial discharge localization inside a transformer tank. The technique probabilistically detects and identifies possible bias on the sensors' measurement. This bias is possibly caused by sensor's fault, sensor's aging, or proximity of the PD to a certain sensor in comparison to other sensors. Correct detection of sensors' measurement bias enables high accuracy PD localization as will be demonstrated in this paper. The accuracy and convergence characteristics of the proposed algorithm are verified in a simulation environment. This study is tremendously important for scheduling and starting maintenance/repair actions cost and time efficiently or to perform a risk analysis.

关键词： PD FDI Power Transformers

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A modified gravitational search algorithm for continuous optimization 14

A modified gravitational search algorithm for continuous opt...

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16th Genetic and Evolutionary Computation Conference Companion, GECCO 2014 Companion

作者： De, Emerson Hochsteiner Segundo, Vasconcelos Neto, Gabriel Fiori Da Silva, Andre Mendes Mariani, Viviana Cocco Dos Santos Coelho, Leandro Mechanical Eng. Grad. Program Pontifical Catholic University of Parana Curitiba PR Brazil Curitiba PR Brazil Mechatronics Engineering Undergraduate Program Pontifical Catholic University of Parana Curitiba PR Brazil Mechanical Engineering Graduate Program Pontifical Catholic University of Parana and Electrical Engineering Federal University of Parana Curitiba PR Brazil Industrial and Systems Eng. Graduate Program Pontifical Catholic University of Parana and Electrical Engineering Federal University of Parana Curitiba PR Brazil

ISBN: (纸本)9781450328814

The gravitational search algorithm (GSA) is a stochastic population-based metaheuristic inspired by the interaction of masses via Newtonian gravity law. In this paper, we propose a modified GSA (MGSA) based on logarithm and Gaussian signals for enhancing the performance of standard GSA. To evaluate the performance of the proposed MGSA, well-known benchmark functions in the literature are optimized using the proposed MGSA, and provides comparisons with the standard GSA.

关键词： Optimization

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Nonlinear Control of Quadrotor Using Multi Lyapunov Functions

Nonlinear Control of Quadrotor Using Multi Lyapunov Function...

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American Control Conference

作者： Aydin Yesildirek Bara Imran Department of Electrical Engineering American University of Sharjah UAE Mechatronics Graduate Program American University of Sharjah UAE

ISBN: (纸本)9781479932757

关键词： Rotors Switches Aerospace electronics Lyapunov methods Vectors Trajectory

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State Estimation for a Small Scale Flybar-less Helicopter

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Procedia Technology 2014年 15卷 258-267页

作者： Mohammad Al-Sharman Mamoun Abdel-Hafez Muhannad Al-Omari Mechatronics graduate program American university of Sharjah Sharjah P.O. Box 26666UAE Department of mechatronical engineering American university of Sharjah Sharjah P.O. Box 26666UAE

Unmanned helicopters have been used extensively in the last few decades as a research platform for different applications. Flybarless, single-rotor helicopters are famous for their increased agility and high maneuverability, which makes them a suitable platform for many challenging applications. This paper is concerned with the problem of attitude and flapping angles estimation of a flybar-less small scale single rotor helicopter. A nonlinear model for the Maxi Joker 3 helicopter is used to simulate test data. A Kalman filter is designed and implemented to estimate both the attitude and the flapping angles of the helicopter. Results are shown at the end of the paper to validate the performance of the proposed approach.

关键词： UAV Small Scale Flybar-less Helicopter Attitude Estimation Kalman Filter Flapping Angles Estimation.

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Optimal Maintenance Time under Imperfect Preventive Maintenance 2

Optimal Maintenance Time under Imperfect Preventive Maintena...

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2nd International Conference on Vulnerability and Risk Analysis and Management, ICVRAM 2014 and the 6th International Symposium on Uncertainty Modeling and Analysis, ISUMA 2014

作者： Coque, M.A. Souza, G.F.M. Mechanical Engineering Graduate Program University of São Paulo Cidade Universitária São Av Prof. Mello Moraes São Paulo SP2231 Brazil Mechatronics and Mechanical System Engineering Department University of São Paulo Cidade Universitária Av Prof Mello Moraes São Paulo SP2231 Brazil

ISBN: (纸本)9780784413609

The preventive maintenance (PM) is scheduled periodically to restore the system condition. However, PM activities cannot generally restore the system to as good as new condition but in an intermediate situation, which is called imperfect PM. The PM interval optimization is useful for improving system reliability. A popular approach to optimization interval is minimizing the maintenance costs. The goal of this work is to obtain optimal PM intervals that minimize expected cost considered PM imperfect, in other words we obtain the optimal PM intervals assuming that the PM action restores the system operating state to be somewhere between as good as new and as bad as old. The results are applied in a real data and the PM is maintained at a decreasing sequence of intervals, which is more practical since most systems need more frequent maintenance with increased usage and age. Furthermore consider a wrong PM perfect hypotheses increase the maintenance cost substantially. © 2014 American Society of Civil Engineers.

关键词： Preventive maintenance

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Vibration suppression in elastic drive systems using the immersion and invariance methodology

Vibration suppression in elastic drive systems using the imm...

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International Conference on Electric Power and Energy Conversion Systems (EPECS)

作者： Irfan Ullah Khan Rached Dhaouadi Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE

This paper presents a new robust control methodology to suppress the torsional vibrations in flexible drive systems. The position control of a nonlinear Two-Mass-Model system (2MM) is designed using the Immersion and Invariance approach. First, appropriate mapping functions are derived to convert the total nonlinear 2MM system into an equivalent reduced order system with rigid dynamics. This reduced order system is used as a target system to design a position controller, which is based on the standard PI type control technique. Next through immersion and invariance, the reduced order controller is applied to the nonlinear 2MM system to suppress the torsional vibrations and yield an over-damped response similar to the target system. The control law derivation and stability analysis of the target system are described and discussed. Simulation and experiments using a 2MM drive system are used to validate the proposed control methodology.

关键词： Vibrations Robustness Servomechanisms Joints

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Dynamic analysis of the proton exchange membrane fuel cell

Dynamic analysis of the proton exchange membrane fuel cell

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2nd International Conference on engineering and Technology Innovation 2012, ICETI 2012

作者： Tseng, Jung-Ge Hsiao, Der Ren Huang, Bo Wun Bachelor Program of Medical Engineering Cheng Shiu University Kaohsiung Taiwan Department of Technology Education National Science And Technology Museum Kaohsiung Taiwan Graduate Institute of Mechatronics Engineering Cheng Shiu University Kaohsiung Taiwan

ISBN: (纸本)9783037856123

Hydrogen energy fuel cell is one of the clean/green energy solutions for the environmental pollution, global warming, and petroleum energy shortage. This study investigates the dynamic characteristic of the green hydrogen energy fuel cell: Proton Exchange Membrane Fuel Cell (PEMFC). PEMFC has been adopted to be the power supplier of the vehicle, small train, etc. A lot of researchers aim on pure electrical property analysis. However, to put PEMFC power system on the road, some mechanical properties of the system should also been examined. In this paper, the dynamic characteristic of a single PEMFC is studied. A single PEMFC is set up and measured for the time and frequency response. Several fundamental modes are found experimentally which should be avoided during operation period of PEMFC especially in a moving vehicle. © (2013) Trans Tech Publications, Switzerland.

关键词： Frequency response

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