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检索条件"机构=Graduate Program in Mechatronics Engineering"

共 155 条记录，以下是131-140 订阅

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Neural-based navigation of a differential-drive mobile robot

Neural-based navigation of a differential-drive mobile robot

引用

International Conference on Control, Automation, Robotics and Vision (ICARCV)

作者： Mariam Al-Sagban Rached Dhaouadi Mechatronics Graduate Program College of Engineering American University of Sharjah Sharjah UAE

This paper presents a new neural network based reactive navigation algorithm for wheeled mobile robots (WMR) in unstructured indoor environments. The mobile robot travels to a pre-defined goal position safely and efficiently without any prior map of the environment. This navigation algorithm is optimized by a user-defined objective function which minimizes the traveled distance to the goal position while avoiding obstacles. The network is trained through off-line learning followed by an on-line learning algorithm with guaranteed convergence. The performance of the proposed algorithm is verified over a variety of real unstructured indoor environments using an autonomous mobile robot platform.

关键词： Training Navigation Biological neural networks Collision avoidance Mobile robots Testing

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Autonomous ground vehicle design, integration and control for the IGVC Competition

Autonomous ground vehicle design, integration and control fo...

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International Symposium on mechatronics and Its Applications, ISMA

作者： M Zulkifli H Z Aichour Md S Chowdhury Naveed Ali W Khan K Saadeddin S Ukkirapandian Mohammed A Jarrah Graduate Program of Mechatronics Engineering American University of Sharjah Sharjah UAE Department of Mechanical Engineering American University of Sharjah Sharjah UAE

This paper describes the design, development and testing of Unmanned Autonomous ground vehicle that was developed to participate in the International Ground Vehicle Competition (IGVC). This paper will go through the o... 详细信息

关键词： Vehicles Global Positioning System Wheels Path planning Compass Cameras

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Low-cost, high-accuracy, state estimation for vehicle collision prevention system

Low-cost, high-accuracy, state estimation for vehicle collis...

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International Symposium on mechatronics and Its Applications, ISMA

作者： Kamal Saadeddin Mamoun F. Abdel-Hafez Mohammad Amin Jarrah Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE Department of Mechanical Engineering American University of Sharjah Sharjah UAE

In this paper, a low-cost navigation system with high integrity and reliability is proposed for enhancing highway traffic safety in adverse weather situations, such as a foggy or rainy weather. A high-integrity, 15-state, estimation filter is proposed to obtain a high accuracy state estimate. The filter utilizes a vehicle velocity constraint measurement to enhance the accuracy of the estimate. Two estimations filters, the Kalman filter (KF) and the information filter (IF), are designed and compared to obtain the estimate of the vehicle state. An instrumentation system that consists of a microcontroller, a GPS receiver, an IMU, encoders, and a Zigbee transceiver is constructed. The microcontroller provides a vehicle navigation solution at 50 Hz by fusing the measurements of the IMU, the GPS receiver and the digital compass using the proposed filter design. Experimental tests, using the proposed system, are conducted and the obtained results are presented. These results are processed with and without the velocity constraints. The estimation accuracy improvement with the addition of the velocity constraints is demonstrated. Also, results of a static test are used to assess the accuracy of the low-cost navigation systems against a commercial solution.

关键词： Compass Accidents Velocity measurement Quaternions

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Nonlinear AutoRegressive eXogenous Artificial Neural Networks for predicting Buckling restrained braces force

Nonlinear AutoRegressive eXogenous Artificial Neural Network...

引用

International Symposium on mechatronics and Its Applications, ISMA

作者： Ibrahim Choudhary Khaled Assaleh Mohammad AlHamaydeh Mechatronics Graduate Program American University of Sharjah UAE Department of Electrical Engineering American University of Sharjah UAE Department of Civil Engineering American University of Sharjah UAE

This paper proposes a novel approach for modeling the nonlinear dynamic behavior of Buckling-Restrained Braces (BRBs). The proposed approach is based on a combination of two architectures of Artificial Neural Networks (ANN) namely, Nonlinear AutoRegressive eXogenous (NARX) ANN and feed forward back propagation (FFBP) ANN. The proposed model predicts (outputs) the brace force at a certain time from the brace deflection and its history and the history of the brace force. The data used in training and testing of the model is acquired from the experimental testing of four BRB specimens. The proposed model is trained on data from one specimen while tested against the rest to demonstrate its learning and generalization capability. Optimum values for various network parameters are selected empirically to obtain the best network performance. The results show that the prediction error for the peak response (maximum tensile/compressive force) lies within ±5% confidence interval for all cycles.

关键词： Artificial neural networks Force Training Testing Mathematical model Computational modeling

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A microassembly process to realize angular vertical comb electrodes for a gimbal-less two-axis electrostatic scanner

A microassembly process to realize angular vertical comb ele...

引用

IEEE International Conference on Micro Electro Mechanical Systems

作者： Min-Ho Jun Seunghwan Moon Jong-Hyun Lee Graduate School of Information and Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea Graduate-program of Medical System Engineering Gwangju Institute of Science and Technology Gwangju South Korea

This paper proposes a microassembly process that easily realizes a gimbal-less two-axis electrostatic MEMS scanner with fixed angular vertical comb electrodes (FAVCs). The fabrication steps can be remarkably reduced by employing a microassembly, as there is no need to add an insulation layer and conduct a multi-step etching process for SVCs. The reduction in the number of fabrication steps also improves the device yield and reduces fabrication errors. The proposed scanner can be readily applied to various optical applications, as the slow axis is driven by quasi-static operation, allowing the amplitude of the scanning angle to remain constant within a specific frequency range.

关键词： Microassembly Springs Electrostatics Silicon Optical device fabrication Mirrors

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Long-lasting superhydrophiilic PDMS surface by atmospheric-pressure plasma polymerization

Long-lasting superhydrophiilic PDMS surface by atmospheric-p...

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15th International Conference on Miniaturized Systems for Chemistry and Life Sciences 2011, MicroTAS 2011

作者： Lee, Donghee Hyun, Ji-Chul Hong, Sung A. Yang, Sung Graduate-program of Medical System Engineering Korea Republic of School of Mechatronics Korea Republic of Department of Nanobio Materials and Electronics GIST Korea Republic of

ISBN: (纸本)9781618395955

In this study, a method to modify hydrophobic PDMS (Polydimethylsiloxane) surface to be long-lasting hydrophilic surface by applying atmospheric-pressure plasma polymerization is proposed. To enhance the sustainability of the modified hydrophilic PDMS, two kinds of plasma polymerized layers were implemented on the surface of the PDMS block sequentially. The highly cross-linked hydrocarbon layer deposited by atmospheric-pressure plasma polymerization from CH 4 plays a role as a physical barrier layer (PBL) to prevent hydrophobic recovery of the hydrophilic layer deposited from TEOS (Tetraethylorthosilicate) and O2. The modified PDMS surface shows long-lasting superhydrophilic wetting property over 28 days of aging time. Copyright © (2011) by the Chemical and Biological Microsystems Society.

关键词： Surface treatment

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Improved quantum-inspired evolutionary algorithm with diversity information applied to economic dispatch problem with prohibited operating zones

Improved quantum-inspired evolutionary algorithm with divers...

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作者： Neto, Júlio Xavier Vianna De Andrade Bernert, Diego Luis Dos Santos Coelho, Leandro Pontifical Catholic University of Parana PUCPR Undergraduate Program at Mechatronics Engineering Imaculada Conceição 1155 Zip code 80215-901 Curitiba Parana Brazil Pontifical Catholic University of Parana PUCPR Industrial and Systems Engineering Graduate Program LAS/PPGEPS Imaculada Conceição 1155 80215-901 Curitiba Parana Brazil

The objective of the economic dispatch problem (EDP) of electric power generation, whose characteristics are complex and highly nonlinear, is to schedule the committed generating unit outputs so as to meet the required load demand at minimum operating cost while satisfying all unit and system equality and inequality constraints. Recently, as an alternative to the conventional mathematical approaches, modern meta-heuristic optimization techniques have been given much attention by many researchers due to their ability to find an almost global optimal solution in EDPs. Research on merging evolutionary computation and quantum computation has been started since late 1990. Inspired on the quantum computation, this paper presented an improved quantum-inspired evolutionary algorithm (IQEA) based on diversity information of population. A classical quantum-inspired evolutionary algorithm (QEA) and the IQEA were implemented and validated for a benchmark of EDP with 15 thermal generators with prohibited operating zones. From the results for the benchmark problem, it is observed that the proposed IQEA approach provides promising results when compared to various methods available in the literature. © 2010 Elsevier Ltd. All rights reserved.

关键词： Optimization

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Largely deformable surface electrode based on PDMS for cortical recording and stimulation

Largely deformable surface electrode based on PDMS for corti...

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International IEEE/EMBS Conference on Neural engineering, CNE

作者： Namsun Chou Soonki Yoo Sohee Kim School of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea Faculty of the school of Mechatronics and Graduate Program of Medical System Engineering Gwangju Institute of Science and Technology Gwangju South Korea

This paper describes a largely deformable surface electrode based on poly-dimethylsiloxane (PDMS) substrate, including its fabrication, electrochemical characterization, adhesion test, and bending test results. The fabricated electrode is made of both PDMS and parylene C layers, which are completely attached to each other. Between the two parylene layers gold patterns are located in the mechanical neutral plane. In the fabrication process, PDMS is supported by parylene layer when the metal layer is sputter deposited, resulting in no cracks. The electrode provides highly deformable neural electrode structure with mechanical integrity and electrical stability. With these advantages, it is expected to be suitable in stable neural recording and stimulation.

关键词： Electrodes Adhesives Substrates Metals Impedance Impedance measurement

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Selectively bonded polymeric check valve for the reliable regulation of intraocular pressure

Selectively bonded polymeric check valve for the reliable re...

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作者： Im, Seongmin Mun, Byungphil An, Jaeyong Choi, Jongchan Yang, Sung Lee, Jonghyun School of Mechatronics Gwangju Institute of Science and Technology Gwangju Korea Republic of Graduate Program of Medical System Engineering Gwangju Institute of Science and Technology Gwangju Korea Republic of Department of Nanobio Materials and Electronics Gwangju Institute of Science and Technology Gwangju Korea Republic of

ISBN: (纸本)9789898425379

A glaucoma drainage device for the regulation of intraocular pressure is presented. The device consists of three biocompatible polymer layers: the cover (top layer), the diaphragm (intermediate layer), and the baseplate with a cannular (bottom layer). Finite element analyses (FEA) were performed to find optimal design parameters for the targeted cracking pressure: the diameter of orifice, the thickness of intermediate layer, the width of the channel, and the overlapped length of the orifice over valve seat. Top and bottom layers were made by polydimethylsiloxane (PDMS) replica molding process, and an intermediate thin layer with through-holes was fabricated by PDMS fill-in molding method and hydrophobic treatment. The overlapped area of the bottom layer was coated with Cr and Au by using PDMS as a shadow mask. Metal layers are not to be bonded between the bottom and the intermediate layers so that the device showed the enhanced reliability in operation and the higher yield in production. Oxygen plasma treatment was performed for irreversible bonds between separate three PDMS layers. The experimental cracking pressure of the fabricated valve was 2.50 kPa, which is very close to the target value (2.67 kPa). The experiments showed that the proposed polymer check valve can regulate the pressure of the aqueous humour, fluid in an anterior chamber, within the normal intraocular pressure range (15-20mmHg) with a high repeatability.

关键词： Polydimethylsiloxane

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Real-time implementation of GPS aided low-cost strapdown inertial navigation system

Real-time implementation of GPS aided low-cost strapdown ine...

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作者： Sahawneh, L.R. Al-Jarrah, M.A. Assaleh, K. Abdel-Hafez, Mamoun F. Mechatronics Graduate Program American University of Sharjah P.O. Box 26666 Sharjah United Arab Emirates Department of Mechanical Engineering American University of Sharjah P.O. Box 26666 Sharjah United Arab Emirates Department of Electrical Engineering American University of Sharjah P.O. Box 26666 Sharjah United Arab Emirates

This work details the study, development, and experimental implementation of GPS aided strapdown inertial navigation system (INS) using commercial off-the-shelf low-cost inertial measurement unit (IMU). The data provided by the inertial navigation mechanization is fused with GPS measurements using loosely-coupled linear Kalman filter implemented with the aid of MPC555 microcontroller. The accuracy of the estimation when utilizing a low-cost inertial navigation system (INS) is limited by the accuracy of the sensors used and the mathematical modeling of INS and the aiding sensors' errors. Therefore, the IMU data is fused with the GPS data to increase the accuracy of the integrated GPS/IMU system. The equations required for the local geographic frame mechanization are derived. The direction cosine matrix approach is selected to compute orientation angles and the unified mathematical framework is chosen for position/velocity algorithm computations. This selection resulted in significant reduction in mechanization errors. It is shown that the constructed GPS/IMU system is successfully implemented with an accurate and reliable performance. © 2010 Springer Science+Business Media B.V.

关键词： Inertial navigation systems

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