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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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Intelligent Adaptive RRT* Path Planning Algorithm for Mobile Robots

Intelligent Adaptive RRT* Path Planning Algorithm for Mobile...

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Advances in Science and engineering Technology International Conferences (ASET)

作者： Omar Khattab Ahmed Yasser Mohammad A. Jaradat Lotfi Romdhane Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE Mechanical Engineering Department American University of Sharjah Sharjah UAE

In this paper a new variant of the widely used Rapidly exploring Random Tree (RRT*) algorithm is proposed. The main goal of this variant is to improve the efficiency of the generated path, in both computation time and the quality of the path. In a previous work by the authors, an improved version RRT*N was proposed, where a normal probability distribution was used to control the generation of the random nodes. The proposed variant utilizes an intelligent fuzzy logic system (FLS) to control the generation of the random nodes and commands the robot to the required target introducing an intelligent fuzzy adaptive RRT*N path planning approach (FA-RRT*N). The proposed approach not only reduced the time required about 29.5 % of the time required by the RRT*, but also generally resulted in shorter path about 63% of the path generated by the traditional RRT * .

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Tuning of FP-PID Controller based on PSO Algorithm Applied to a Human Gait

Tuning of FP-PID Controller based on PSO Algorithm Applied t...

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IEEE Latin American Robotics Symposium, LARS

作者： Rodrigo B. de Medeiros Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Graduate Program Automation and Control Group/GRACO University of Brasilia Brasilia DF Brazil

ISBN: (数字)9781665462808

ISBN: (纸本)9781665462815

Robotic manipulators are multi-input multi-output (MIMO) systems with nonlinear points affected by numerous uncertainties and disturbances. PID controllers are widely used in industry for kinematic and dynamic control. However, when applied to MIMO systems, they are not easy to tune and require performance improvements. In this work, a PID controller is proposed with a fuzzy precompensator (FP-PID), both tuned by the bioinspired particle swarm optimization (PSO) algorithm to a two-degree of freedom (2-DOF) robotic manipulator representing a human leg. To validate the system, two real datasets of human gait were used: normal walking and stair climbing to estimate the error trajectory of the manipulator. The statistical analysis of the PSO algorithm with 16 experiments was satisfactory, and the addition of the fuzzy precompensator to the conventional PID resulted in a reduction of the mean square error of one of the manipulator links by up to 73 percent.

关键词： Legged locomotion Uncertainty Statistical analysis Service robots Stairs Trajectory Robots

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Vibration Characterization Using Gaussian Laser Beam

Vibration Characterization Using Gaussian Laser Beam

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International Conference on Modeling, Simulation and Applied Optimization

作者： Naveed A. Abbasi Taha Landolsi Rached Dhaouadi Graduate Program of Mechatronics Engineering American University of Sharjah Department of Computer Engineering American University of Sharjah Department of Electrical Engineering American University of Sharjah

ISBN: (纸本)9781467358125

The objective of this research is to present a neural network based optical vibration sensor using a quad-cell photo-detector array. The proposed system uses a He-Ne laser source whose Gaussian beam impinges on the photo-detector array. The optical power distribution from the photo-detectors is fed to vibration monitoring system which maps the power distribution to the x-y position of the laser beam center. The vibration monitoring system uses artificial neural networks for function approximation to yield the correct mapping and estimate the x-y positions of the laser beam center which are then used for vibration characterization. An experimental setup of the system is developed and then trained using neural networks. The results obtained show the effectiveness of neural networks to estimate the vibration frequency and magnitude of a vibrating system.

关键词： Vibration monitoring Neural network Optical sensor Quad-cell photo detector array

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Robust H_2 Control of Active Suspension -Improvement of Ride Comfort and Driving Stability

Robust H_2 Control of Active Suspension -Improvement of Ride...

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Conference on Control Applications

作者： Kohei Suzuki Tatsuo Toda Gan Chen Isao Takami Department of System Design and Engineering Graduate Program of Mechatronics Nanzan University Aichi Japan Faculty of Science and Engineering Nanzan University Aichi Japan

ISBN: (纸本)9781479977970

This paper suggests a method of robust control for an active suspension to improve both of the ride comfort and the driving stability using half car model. The ride comfort is evaluated by the vertical acceleration and the pitch acceleration of the human body. The driving stability is evaluated by the vertical force of front and rear wheels. The purpose of this paper is to improve the ride comfort and the driving stability by using state feedback. On the other hand, the robust stability is also important factor to evaluate the performance of the car. In this study, the front and rear weights of car body are considered as uncertain parameters depending on the passengers and the loads. Their weights influence on the pitch motion of the car body. The robust H_2 controller is designed to guarantee the robust stability for the system with uncertain parameters with polytopic representation. These problems are solved by a finite set of Linear Matrix Inequality (LMI). The effectiveness of the proposed method is illustrated by simulations and experiments.

关键词： comfort driving stability experiments

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Hardware Implementation of a Sliding Detection Algorithm for Robotic Hands Using Force Sensors

Hardware Implementation of a Sliding Detection Algorithm for...

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Symposium on Integrated Circuits and Systems Design (SBCCI)

作者： Jose Mendoza-Peñaloza Daniel M. Muñoz Department of Mechanical Engineering Mechatronics Systems Graduate Program Automation and Control Group/GRACO Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil

In this work, a sliding detection algorithm was proposed for a previously developed robotic hand through the utilization of force sensors. Previous works have designed several hardware architectures to filter sensor data, implement dynamic control, and machine learning models for controlling the robotic fingers using a single Field programmable Gate Arrays (FPGA) chip. In this regard, the slip detection algorithm was developed to comprise three stages, each with a low computational cost, including a moving average filter, a first-order derivative, and a peak detection algorithm. A reference model was constructed and validated through an experimental protocol employing daily use objects to create a database. Subsequently, the slip detection algorithm was mapped onto hardware utilizing previously developed floating-point arithmetic IP cores and implemented using a Zynq 7020 device. The FPGA implementation was characterized in terms of resource occupation, power consumption, execution time, and numerical error with the reference model.

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Control of an Autonomous Mobile Robot in Cluttered Environments Guided by a Single CCD Camera 19

Control of an Autonomous Mobile Robot in Cluttered Environme...

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Proceedings of the 2019 2nd International Conference on Algorithms, Computing and Artificial Intelligence

作者： Edgar Campos-Garduño Yu Tang Jianming Du Graduate Program in Engineering UNAM Mexico City Mexico UNAM Mexico City Mexico Mechatronics and Control Engineering Shenzhen University Shenzhen CHINA

ISBN: (纸本)9781450372619

Control of an autonomous robot moving in cluttered environments guided by a single CCD camera is described in this paper. The objective is to guide the mobile robot to arrive at a goal pose (position and orientation) started from an initial pose in the environment where there may be static obstacles that can be observed by the camera. The control scheme consists in three modules: the control module which ensures the exponential tracking to a desired trajectory; the on-line path/trajectory planning module which plans the desired path using LOS (Light-of-Sight) strategy and then parametrizes it into a trajectory; and the depth-estimation module which takes a sequence of target image along the path in the CCD camera mounted in the mobile robot to estimate the target Cartesian coordinate in the inertial frame and passes it to the path/trajectory module. The trajectory tracking controller and the depth observer are devised relying on the contraction analysis ensuring the exponential convergence in both designs. Simulations are included to illustrate the control scheme.

关键词： Autonomous mobile robots

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Comparison of Bioinspired MLP Controllers for Mobile Robots Obstacle Following/Avoidance

Comparison of Bioinspired MLP Controllers for Mobile Robots ...

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Latin America Congress on Computational Intelligence (LA-CCI)

作者： Matheus de S. Luiz M. A. Pastrana Lukas. A. Da Silva Pamela. R. A. N. Campagnucci Jose Mendoza-Peñaloza Rafael R.L. Benevides Daniel M. Muñoz Faculty of Gama Electronics Engineering Undergraduate Program University of Brasilia Brasilia DF Brazil Department of Mechanical Engineering Mechatronics Graduate Program University of Brasilia Brasilia DF Brazil

ISBN: (数字)9798350374575

ISBN: (纸本)9798350374582

Proportional, integral, and derivative (PID) controllers have been widely adopted for industrial applications. However, these controllers are not very efficient for non-linear systems. Artificial neural networks (ANN) based on the Multilayer Perceptron (MLP) have great potential to replace PID controllers due to their polynomial structure, allowing complex non-linear systems to be controlled. This article introduces the integration of four MLPs as alternatives to a traditional PID controller. These MLPs were trained through four bioinspired algorithms tailored for following tasks in mobile robots. The bioinspired algorithms employed for MLP network training include Particle Swarm Optimization (PSO), Grey Wolf Optimization (GWO), Month-Flame Optimization (MFO), and Artificial Hummingbird Algorithm (AHA). A comparative analysis was conducted between these MLPs and a classic PID controller, focusing on parameters such as overshoot (OS), settling time (ST), and steady-state error for different simulated scenarios.

关键词： Training Process control Artificial neural networks Vectors Stability analysis Steady-state Mobile robots Optimization Videos Testing

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Manufacturing and flight tests of a quadrotor UAS with tiltable rotors

Manufacturing and flight tests of a quadrotor UAS with tilta...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： A. Fatih Şenkul Ş. Yaren Gelbal Erdinç Altuğ Mechatronics Graduate Program İstanbul Technical University İstanbul Turkey Department of Mechanical Engineering İstanbul Technical University İstanbul Turkey

Multi-rotor air vehicles are controlled by varying the rotor speeds. The variation of the rotor speeds enable the altitude change, yaw motion as well as pitch and roll motions of the vehicle. Pitch and roll motion leads to translation motions along x and y axes. When the air vehicle is used for surveillance type missions, the tilting of the vehicle is not desired, since the camera will also be tilted with the vehicle as it moves. In this work, the design and manufacturing of a quadrotor with tiltable rotors that can move without tilting the vehicle has been described. Firstly the proposed system has been designed, and then it was manufactured. The rotor tilting amount is measured with an IMU, and the required value can be set with two servos for each rotor. Successful experiments show the benefits of the proposed system over regular multi-rotor vehicles.

关键词： Rotors Vehicles Actuators Brushless DC motors Sensors

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Low Pressure MEMS Sensor: Analysis and Experimental Demonstration

Low Pressure MEMS Sensor: Analysis and Experimental Demonstr...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Basil Alattar Mehdi Ghommem Mohamed Hemid Departement of Mechanical Engineering American University of Sharjah Sharjah UAE Mechatronics Graduate Program American University of Sharjah Sharjah UAE

In this paper, we analyze the dynamic response of a MEMS device made of a microplate supported by two microcantilever beams and electrically actuated via an underneath electrode. We employ the motion-induced current method to capture its dynamic response under varying pressure. We show the potential use of the MEMS device as a pressure sensor by leveraging squeeze-film damping and other nonlinear dynamic phenomena associated with its motion. The present study reveals the possible tuning of the MEMS device to operate in analog and binary modes. Analog-based detection is achieved within the low pressure range of 2.2-52 mbar. We also demonstrate the use of the MEMS device in binary mode, acting as a pressure switch, with a capability to detect low pressures down to sub-millibars.

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