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Model Predictive Torque Control of Six-Phase Switched Reluctance Motors Based on Improved Voltage Vector Strategy

IEEE Transactions on Transportation Electrification 2025年第3期11卷 7650-7661页

作者： Yang, Yifei Sun, Xiaodong Dianov, Anton Demidova, Galina Prakht, Vladimir Wang, Yong Han, Shouyi Suzhou Vocational University School of Mechanical and Electrical Engineering Suzhou215104 China Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China ITMO University Faculty of Control Systems and Robotics Saint Petersburg197101 Russia Ural Federal University Department of Electrical Engineering Yekaterinburg620062 Russia Jiangsu University School of Electrical and Information Engineering Zhenjiang212013 China

To rapidly and accurately establish the model of switched reluctance motors (SRMs) and enhance torque control performance, this article proposes a model predictive torque control (MPTC) strategy based on the optimized voltage vector. First, a fourth-order Fourier series is used to calculate the flux and torque models, and a complete nonlinear model of the SRM is constructed using the Kriging model. Second, the torque characteristics are used to divide the sectors, thereby reducing the number of candidate voltage vectors (CVVs) and effectively decreasing the computational burden of predictive control. Finally, an adaptive adjustment algorithm for the sector boundary angle is proposed, where the position of the sectors is determined based on variations in speed and load. The proposed method reduces torque ripple and enhances dynamic response capability. The effectiveness of this approach is validated through experiments on a 12/10 pole six-phase SRM prototype. © 2015 IEEE.

关键词： Vectors

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A Novel Technology for Semiautomatic and Automatic Stem–Stake Coupling of Seedlings and Plants

IEEE Transactions on AgriFood Electronics

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IEEE Transactions on AgriFood Electronics 2025年第1期3卷 254-262页

作者： Shirzi, Moteaal Asadi Kermani, Mehrdad R. Western University Advanced Robotics and Mechatronic Systems Laboratory Electrical and Computer Engineering Department LondonN6A 5B9 Canada Western University Department of Electrical and Computer Engineering LondonN6A 3K7 Canada Advanced Robotics and Mechatronic Systems Laboratory LondonN6A 5B9 Canada

This article introduces a novel mechatronic system for coupling the stems of seedlings and plants to wooden stakes or ropes, a crucial process for supporting them during growth, transportation, and fruiting in plant propagation facilities and greenhouses. The stem–stake coupling device utilizes interconnected mechanisms and an impedance control method to adjust motor torque and speed, shaping metallic wire into clips of various shapes and dimensions, effectively securing plant stems to stakes or ropes. In a robotic system, a claw-shaped arm mechanism, a stereo camera, and real-time vision techniques are integrated into the stem–stake coupling device to identify the optimal coupling point and automate the coupling task. This innovation addresses the labor-intensive task of manual coupling, offering a scalable solution for growers through handheld devices or fully automated robotic systems. In the context of increasing labor shortages and rising costs, the technology offers a sustainable and efficient alternative with significant potential to enhance operational efficiency in greenhouses and propagation facilities. © 2023 IEEE.

关键词： Seed

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MM-LINS: a Multi-Map LiDAR-Inertial System for Over-Degenerate Environments

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-11页

作者： Ma, Yongxin Xu, Jie Yuan, Shenghai Zhi, Tian Yu, Wenlu Zhou, Jun Xie, Lihua school of Mechanical Engineering Shandong University Jinan China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu China

SLAM plays a crucial role in automation tasks, such as warehouse logistics, healthcare robotics, and restaurant delivery. These scenes come with various challenges, including navigating around crowds of people, dealing with flying plastic bags that can temporarily blind sensors, and addressing reduced LiDAR density caused by cooking smoke. Such scenarios can result in over-degeneracy, causing the map to drift. To address this issue, this paper presents a multi-map LiDAR-inertial system (MM-LINS) for the first time. The front-end employs an iterated error state Kalman filter for state estimation and introduces a reliable evaluation strategy for degeneracy detection. If over-degeneracy is detected, the active map will be stored into sleeping maps. Subsequently, the system continuously attempts to construct new maps using a dynamic initialization method to ensure successful initialization upon leaving the over-degeneracy. Regarding the back-end, the Scan Context descriptor is utilized to detect inter-map similarity. Upon successful recognition of a sleeping map that shares a common region with the active map, the overlapping trajectory region is utilized to constrain the positional transformation near the edge of the prior map. In response to this, a constraint-enhanced map fusion strategy is proposed to achieve high-precision positional and mapping results. Experiments have been conducted separately on both public datasets that exhibited over-degenerate conditions and in real-world environments. These tests demonstrated the effectiveness of MM-LINS in over-degeneracy environment. Our codes are open-sourced on Github. IEEE

关键词： Optical radar

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LPL-VIO: monocular visual-inertial odometry with deep learning-based point and line features

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Neural Computing and Applications 2024年第36期36卷 23061-23075页

作者： Liu, Changxiang Yang, Qinhan Yu, Hongshan Fu, Qiang Akhtar, Naveed College of Electrical and Information Engineering School of Robotics Quanzhou Institute of Industrial Design and Machine Intelligence Innovation Hunan University Changsha China School of Computing and Information Systems The University of Melbourne VIC Australia

Visual-inertial SLAM (VINS) has garnered substantial interest in the field of mobile robotics due to its robustness and cost-effectiveness. The incorporation of both point and line features in visual SLAM has shown significant performance improvements compared to relying solely on point features. Furthermore, learning-based features consistently outperform traditional hand-crafted features across a diverse range of tasks. Leveraging all these observations, we propose a novel deep learning technique, termed learning-based point and line visual-inertial odometry (LPL-VIO), which is aimed to enhance robustness and performance of traditional systems. LPL-VIO takes a 2-stage approach, including a deep learning front-end and a traditional nonlinear optimization back-end. In the first stage (front-end), we employ proposed networks for points and lines to extract and track deep learning-based point and line features in visual images, while implementing IMU preintegration. In the second stage (back-end), we adopt a sliding window strategy to tightly couple point and line re-projection errors with IMU preintegration residuals. These residuals are optimized using bundle adjustment for precise global pose estimation. Extensive experiments are conducted on both public EuRoC datasets and our own real-world dataset collected in challenging outdoor environments. Qualitative and quantitative results show that our method exhibits strong competitiveness compared with the existing point–line techniques, and outperforms the popular VINS-Mono. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： SLAM robotics

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Nonlinear Distortion Correlation Aware Power Allocation for Massive MIMO systems

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IEEE Transactions on Communications 2024年第6期73卷 4033-4048页

作者： Salman, Murat Babek Bjornson, Emil Guvensen, Gokhan Muzaffer Ciloglu, Tolga KTH Royal Institute of Technology Division Of Communication Systems Stockholm16440 Sweden Department of Electrical and Electronics Engineering Ankara Turkey

This article provides a comprehensive analysis aimed at addressing the impact of power amplifier nonlinearities on massive multiple-input multiple-output (MIMO) communication systems. Specifically, we derive a closed-form expression for the received distortion power, a critical aspect that has not been explored in literature. Our derived expression takes into account the combined influence of spatial diversity and frequency-selectivity on received distortion, with a particular emphasis on the slowly varying parameters, primarily the locations of users and delay spread. In the context of massive MIMO systems, characterized by an exceptionally large number of antennas, our work highlights the crucial role of distortion correlation among antennas. Neglecting distortion correlation can result in significant inaccuracies in system evaluation and algorithmic design. Utilizing the analytical framework we have developed, we formulate a power allocation problem that explicitly exploits the distortion correlation. The proposed solution outperforms methods that neglect the spatial distortion correlation, particularly in terms of spectral efficiency (SE). This superior performance is crucial in optimizing the overall system performance and ensuring desirable power allocation decisions. © 1972-2012 IEEE.

关键词： MIMO systems

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Fast yet predictable braking manoeuvers for real-time robot control

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arXiv 2023年第2期56卷 9984-9991页

作者： Hamad, Mazin Gutierrez-Moreno, Jesus Kussaba, Hugo T.M. Mansfeld, Nico Abdolshah, Saeed Swikir, Abdalla Burgard, Wolfram Haddadin, Sami Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence Technical University of Munich Germany Franka Emika GmbH Munich Germany Department of Electrical and Electronic Engineering Omar Al-Mukhtar University Libya Department of Engineering University of Technology Nuremberg Germany Germany

This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The first approach is real-time capable but conservative considering the usage of the available feasible actuator control region, resulting in longer braking times. In contrast, the second approach maximizes the used braking control inputs at the cost of requiring more time to evaluate larger, feasible modal limits via optimization. Both approaches allow for predicting the robot's stopping trajectory online. In addition, we also formulated and solved a constrained, nonlinear final-time minimization problem to find optimal torque inputs. The optimal solutions were used as a benchmark to evaluate the performance of the proposed predictable braking framework. A comparative study was compiled in simulation versus a classical optimal controller on a 7-DoF robot arm with only three moving joints. The results verified the effectiveness of our proposed framework and its integrated approaches in achieving fast robot braking manoeuvers with accurate online predictions of the stopping trajectories and distances under various braking settings. © 2023, CC BY-NC-ND.

关键词： Braking

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Design and Development of a Small UGV for Object Retrieval in Domestic Environments

Design and Development of a Small UGV for Object Retrieval i...

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2025 IEEE SoutheastCon, SoutheastCon 2025

作者： Jogeshwar, Bhaavin Kishore Bohannon, Joshua Sevil, Hakki Erhan Department of Intelligent Systems and Robotics PensacolaFL32514 United States Department of Electrical and Computer Engineering PensacolaFL32514 United States

ISBN: (纸本)9798331504847

The objective of this project is to develop an unmanned ground vehicle (UGV) prototype capable of retrieving small objects in domestic environments. As the robotics field continues to advance, the demand for autonomous systems that enhance daily life is rapidly increasing. Autonomous systems have the potential to improve efficiency by performing routine tasks, thereby reducing human effort and promoting convenience in household settings. This study explores the development of a small UGV designed to identify, navigate toward, and retrieve small objects while autonomously avoiding obstacles such as walls and furniture in domestic environments. The system utilizes neural networks for real-time object detection. The UGV design consists of an object retrieval mechanism suitable for handling items typically left scattered in domestic environments. The proof-of-concept results show the potential of designed UGV domestic, and could potentially enable further advancements in autonomous household assistance technologies. © 2025 IEEE.

关键词： Object detection

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Study of heating temperatures for various solders to minimize surface joint resistance in REBCO tape joints

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Progress in Superconductivity and Cryogenics (PSAC) 2025年第1期27卷 1-5页

作者： Kim, Minwoo Cho, Bonghyun Lee, Jiho Department of Electrical and Electronic Engineering Pusan National University Busan Korea Republic of Robotics Institute of Non-Destructive Inspection Pusan National University Busan Korea Republic of

High-temperature superconductors (HTS), owing to their high critical current and critical magnetic field, are utilized in various superconducting applications such as superconducting power cables and high-field magnets. However, REBCO (Rare Earth Barium Copper Oxide) tapes face significant challenges in long-length fabrication compared to low-temperature superconducting wires. Consequently, joining REBCO tapes is essential for their application in superconducting devices. The most widely used method for joining REBCO tapes is mechanical pressure soldering, which inevitably introduces contact resistance at the joint interface. Since superconducting devices operate in cryogenic environments where maintaining minimal losses is critical, minimizing joint resistance is essential. In this study, we evaluated the effect of heating temperature on joint resistance in the mechanical pressure soldering process by selecting four types of solders (Pb37Sn63, In52Sn48, Sn42Bi57Ag1, and In66.3Bi33.7). Lap joint samples were prepared by increasing the heating temperature in 10°C increments above the melting points of each solder, and the surface resistance of each sample was measured. The results were analyzed to identify the appropriate heating temperature. © 2025, Korea institute of Applied Superconductivity and Cryogenics. All rights reserved.

关键词： Superconducting tapes

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Enhanced electrical Properties of Styrene-grafted Polypropylene Insulation for Bulk Power Transmission HVDC Cables

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CSEE Journal of Power and Energy systems 2024年第1期10卷 361-370页

作者： Hao Yuan Shixun Hu Yao Zhou Chao Yuan Wenbo Song Qing Shao Hongwei Shi Juan Li Jun Hu Qi Li Jinliang He SINOPEC Beijing Research Institute of Chemical Industry Beijing 100013China State Key Laboratory of Power Systems Department of Electrical EngineeringTsinghua UniversityBeijing 100084China

Polypropylene(PP)is considered to be a rather promising material for HVDC cable *** modification has proved to be an effective method on the electrical property improvements of *** paper reports on the highlyenhanced electrical properties of styrene-grafted polypropylene(PP-g-St)and their related *** influence of grafting styrene on crystallization structures,thermal properties and electrical properties of PP-g-St are characterized and *** results show that PP-g-St exhibits remarkably enhanced DC volume resistivity,suppressed space charge accumulation and improved DC breakdown strengths as compared to *** observation shows PP-g-St has small,imperfect spherulites with indistinct boundaries,which is strongly correlated to enhanced electrical *** study provides an effective grafting strategy to design high-performance HVDC cable insulation materials for bulk power transmission systems.

关键词： electrical properties grafting modification polypropylene styrene

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Evaluation of optimal responses in Monel 400 alloy using computer based unconventional machining process

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Interactions 2025年第1期246卷 1-11页

作者： Manohar, Gunaselvi Chandrasekar, G. Radhakrishnan, G. Raj, P. Anantha Christu Ram, S. Department of Electronics and Instrumentation Engineering Easwari Engineering College Chennai India Department Mechanical Engineering PSNA College of Engineering and Technology Dindigul India Department of Electrical and Electronics Engineering Sri Krishna College of Engineering and Technology Tamilnadu Coimbatore India Division of Robotics Engineering Karunya Institute of Technology and Sciences Tamilnadu Coimbatore India Department of Mechanical Engineering Gokaraju Rangaraju Institute of Engineering and Technology Hyderabad India

The unconventional machining is an essential role in metal forming process. The dimensional accuracy and super finish are the main features of modern machining methods. Electric discharge machining is a competent process to any materials and composites. In this article is used to machining characteristics of Monel 400 alloy with monitored by computer networks. The response variables are mainly depending on input variables and their levels. Taguchi method is utilized to evaluate the optimal control factors. The mean and SN ratio is evaluated by based on the criteria of the responses. The involvement of control variables to the responses have been validated by variance analysis. The best possible MR was attained at a discharge current of 40 A, pulse on time of 140µs, and spark voltage of 25 *** finest RTW and SR was occurred at a discharge current of 40 A, pulse on time of 140µs, and spark voltage of 20 V. The scope of the work is to maximize the metal removal and minimize the tool wear. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2025.

关键词： Metal forming

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