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A Rotating Sonar and a Differential Encoder Data Fusion for Map-Based Dynamic Localization

IFAC Proceedings Volumes 1998年第3期31卷 183-187页

作者： Haeyong Yang Hakyoung Chung KyuCheol Park Jang Gyu Lee LG Industrial System Research & Development Center Anyang-shi Kyongki-do 430-080 Korea Department of Control and Instrumentation Engineering Seoul National Polytechnic University Seoul 139-743 Korea Automatic Control Research Center School of Electrical Engineering Seoul National University Seoul 151-742 Korea

In this paper, a dynamic localization method using a rotating sonar and a map is proposed. The proposed method is implemented by using an extended Kalman filter. The state equation is based on the encoder propagation model and the encoder error model, and the measurement equation is a map-based measurement equation using a rotating sonar sensor. By utilizing sonar beam characteristics, map-based measurements are updated while a mobile robot is moving continuously. Monte-Carlo simulation shows that the proposed global position estimator has the performance of a few millimeter order in position error and of a few tenth degrees in heading error.

关键词： Dynamic Position estimation Model-based recognition Ultra sonic transducer Kalman filter

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Simulation and experimental study on attitude control of quadrotor

Simulation and experimental study on attitude control of qua...

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IEEE International Conference on Robotics and Biomimetics

作者： Nuttakorn Trirattanawananon Benjamas Panomruttanarug Kohji Higuchi Félix Mora-Camino Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Graduate School of Informatics and Engineering University of Electro-Communications Tokyo Japan French Civil Aviation Institute Toulouse France

ISBN: (纸本)9781479973989

This paper studies dynamic behavior of a quadrotor in both simulation and experiment when tracking desired attitude angles. The flight attitude control implemented in this research is designed based on a feedback control with an inner-loop structure as in the Aeroquad project. The feedback control configuration is applied to the dynamic model of a DIY qaudrotor UAV to simulate its attitude tracking behavior when tuning the PID gains based on a heuristic approach. The well-tuned PID controller is therefore applied to the experiment to validate the desired tracking response.

关键词： Attitude control Rotors Aerospace electronics DC motors Mathematical model Hardware Aerodynamics

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A neural network recognition system for machine printed characters on coils

A neural network recognition system for machine printed char...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： T. Yanagita T. Tanaka A. Toshima Kashina Steel Works Sumitomo Metal Industries Limited Japan Kokura Steel Works Sumitomo Metal Industries Limited Japan Instrumentation System & Development Department Sumitomo Metal Industries Control Engineering Corporation

A new system applying the inherent pattern recognition capability of a neural network has been developed for the task of recognizing machine printed alphanumerics on steel coils. The system has been used in the newly constructed No.2 Kashima cold strip mill (2KCM) since April 1993 and has contributed to fully automatic operation in the 2KCM. The system is 100% accurate in detecting coils that have been transported by mistake, and can do so within a few seconds.

关键词： Neural networks Character recognition Coils Milling machines Strips Steel Metals industry Automatic control control systems Computer displays

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Human Following Robot Based on Object Detection for Aerospace Application 1

Human Following Robot Based on Object Detection for Aerospac...

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1st International Conference of Adisutjipto on Aerospace Electrical engineering and Informatics, ICAAEEI 2024

作者： Sumari, Arwin Datumava Wahvudi Aryandika, Ahnaf Bagus Purnami, Ndaru Atmi Dermawan, Denny Syamsiana, Ika Noer State Polytechnic of Malang Cognitive Artificial Intelligence Research Group Department of Electrical Engineering Malang Indonesia Adisutjipto Institute of Aerospace Technology Electrical Engineering Study Program Yogyakarta Indonesia Adisutjipto Institute of Aerospace Technology Aerospace Navigation Instrumentation Control Automation and Robotics System Research Group Electrical Engineering Study Program Yogyakarta Indonesia Adisutjipto Institute of Aerospace Technology Electrical Engineering Study Program Aerosp. Digit. Syst. Microprocessor Microcontroller and Programmable Logic Devices Research Group Yogyakarta Indonesia

ISBN: (纸本)9798331507930

In this research, the Human Following Robot (HFR) prototype has been designed and implemented using YOLO v3-Tiny and Tensor Flow Lite on Raspberry Pi hardware named Rewang. The HFR Rewang is designed to assist aircraft technicians by bringing maintenance tool kits to aircraft shelters. Rewang's movement is based on a camera as a vision sensor following the movement of human entities. Image input is processed by YOLO v3-Tiny through the determination of the bounding box, the calculation of Euclidean Distance, and the determination of the pixel value of the camera as the basis of Rewang's movement which is regulated by an L298N driver motor that controls two Direct Current (DC) motors for the left and right wheels. The test results show that Rewang can move at an average speed of 0.18 m/s at 2 m with a travel time of 11 seconds with a light intensity of more than 250 lux. The minimum and maximum distance of object detection is as far as 120 cm and 400 cm, with an object detection accuracy of 95.8%. Rewang allows the HFR to have a larger carrying capacity to bring more complete aircraft maintenance tools and is prospective for other aerospace and general applications. © 2024 IEEE.

关键词： Travel time

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Explicit fuzzy force control of industrial manipulators with position servo drives

Explicit fuzzy force control of industrial manipulators with...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： I.H. Suh K.S. Eom H.J. Yeo B.H. Kang S.-R. Oh B.H. Lee Intelligent Control and Robotics Laboratory Department of Electrvnics Engineering Hanyang University South Korea Samsung Data System Company Limited South Korea Division of Electronics and Infonmation technology KIST Seoul South Korea Robotics and Intelligent Systems Laboratory Department of Control and Instrumentation Engineering Seoul National University South Korea

In this paper, a fuzzy force control algorithm is suggested for commercialized industrial robots equipped with the position servo drives, where control rules of the proposed fuzzy controller are changed according to the magnitude of environmental stiffness in such a way that good force response is maintained regardless of changes of environmental stiffness. Specifically, some fuzzy control rules are designed for several representative environmental stiffness values, and then a control action for a given arbitrary environmental stiffness value is decided by a fuzzy interpolation method. To show the validity of the proposed fuzzy controller, several experimental results are illustrated, where a 5-axis articulated robot manipulator equipped with the wrist force/torque sensor system and our prototype dual robot controller are employed.< >

关键词： Fuzzy control Force control Industrial control Manipulators Torque control control systems Robot sensing systems Commercialization Service robots Servomechanisms

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Coordinated control of the brake control system and the driveline control system

Coordinated control of the brake control system and the driv...

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International Conference on control, Automation and systems ( ICCAS)

作者： Jeong-Yeop Hwang Hyeongcheol Lee Ji-Hwan Kim Jeong-Hun Kim Byung-Hak Kwak Department of Electric Engineering Hanyang university Seoul South Korea Division of Electrical Control and Instrumentation Biomedical Engineering Hanyang university Seoul South Korea ABS Research & Development Brake Control Team Global Brake System H.Q. MANDO Corporation Gyeonggi South Korea

The behavior of a vehicle is strongly influenced by the distribution of driving and braking torques in four wheels. Therefore, traction and stability characteristics of a vehicle can be controlled by the controlling driveline and the braking torques. However, independent and uncoordinated control of the brake and driveline control system can harm the vehicle performance due to the interference between two devices. So, the vehicle equipped with both the brake control system and the driveline control system requires a coordinated control of both systems to reduce the bad interference and to maximize vehicle performance. This paper presents the procedure of the coordinated control design of the brake and driveline control systems. The 2 degree of freedom (DOF) vehicle model and the driveline model including torque biasing devices are developed. Each control algorithm for the ESP and the coupling (the target torque biasing device) are developed based on the models. Finally, the coordinated control is designed to maximize the yaw stability of the vehicle. The developed models and the control algorithms are programmed using Matlab/Simulink and verified by co-simulation with a commercial vehicle simulation tool, CarSim.

关键词： control systems Vehicle driving Mathematical model Torque control Stability Interference Vehicles Wheels control design Electrostatic precipitators

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Two-Degree-of-Freedom LPV control for a through-the-Road Hybrid Electric Vehicle via Torque Vectoring

Two-Degree-of-Freedom LPV Control for a through-the-Road Hyb...

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IEEE Conference on Decision and control

作者： Qin Liu Gerd Kaiser Sudchai Boonto Herbert Werner Frederic Holzmann Benoit Chretien Matthias Korte Institute of Control Systems Hamburg University of Technology Eissendorfer Str. 40 21073 Hamburg Germany Intedis GmbH Delpstrasse 4 97084 Wuerzburg Germany Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi 10140 Thailand

ISBN: (纸本)9781612848006

This paper presents an application of linear-Parameter-Varying (LPV) control to solve the torque vectoring problem of a through-the-road hybrid electric vehicle (TtR-HEV). To achieve high performance both in reference tracking and disturbance rejection, a two-degree-of-freedom LPV self-scheduled controller is synthesized by using mixed sensitivity loop shaping. The controller is based on a single Lyapunov function and guarantees stability and a level of control performance for all admissible trajectories of varying parameters. Moreover, an anti-windup control scheme is derived by employing a two-step design procedure. Finally the designed controller is tested in various driving maneuvers and compared with a flatness-based controller.

关键词： TORQUE VECTOR controllers Torque design process control performance Disturbance rejection Liapunov function HIGH-PERFORMANCE variable parameter

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A study on the dynamic SOC compensation of an ultracapacitor module for the hybrid energy storage system

A study on the dynamic SOC compensation of an ultracapacitor...

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International Conference on Telecommunications Energy (INTELEC)

作者： Hyun-Sik Song Jin-Beom Jung Baek-Haeng-Lee Dong-Hyun Shin Byoung-Hoon Kim Yu-Cheol Park Hoon-Heo Hee-Jun Kim Department of Control and Instrumentation Engineering Korea University South Korea Electronic System Research and Development Center Korea Automotive Technology Institute South Korea Katech Cheonan KR Hanyang University Seongdong-gu Seoul KR

ISBN: (纸本)9781424424900

There have been a number of methods proposed for accurate state of charge (SOC) estimation of a battery as an important role of the battery management system (BMS). However, adequate test data of batteries and BMS development costs must be taken into consideration before application in actual vehicles. In addition, different algorithms need to be adopted according to the type of energy storage device and system configuration. For a mild-HEV hybrid energy storage device that uses the ultracapacitor module and the VRLA battery, the small capacitance of ultracapacitor module makes accurate SOC difficult. Accordingly, this paper introduces a dynamic SOC estimation algorithm capable of SOC compensation of the ultracapacitor module even when there is current input and output. A cycle profile that simulates the operating conditions of a mild-HEV was applied to a vehicle simulator to verify the effectiveness of the proposed algorithm based on testing.

关键词： Supercapacitors Energy storage Vehicle dynamics Testing State estimation Battery management systems Costs Battery powered vehicles Capacitance Heuristic algorithms

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Noise control in magnetic field via ‘Stochastic system Identification Method’

Noise control in magnetic field via ‘Stochastic System Iden...

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International Conference on control, Automation and systems ( ICCAS)

作者： Dong-Chul Kwon Yun-Hyun Cho In-Beom Yang Jong-Bok Lee Dong-Hee Lee Sung-Man Park Kyo-Soon Chae Hoon Heo Department of Control and Instrumentation Engineering Korea University Seoul South Korea Shinho-System Company Limited Sungnam Gyeonggi South Korea Future Vehicle Technology Development Korea Automotive Technology Institute Cheonanshi South Korea

Study on the reduction of inherent noise in magnetic field has been conducted. Distributed model such as magnetic field is well known for its inadequacy to control in conventional ways. 'Stochastic system identification method' from moment equations via Fokker-Plank-Kolmogorov equation has been developed in inverse manner to figure out unknown system parameters of discrete system under random disturbances. The newly developed concept of 'stochastic system identification method' is implemented on magnetic system, which enables to construct virtual discrete operating system in forms of 2 nd order using stationary stochastic system output only. Based on the virtually assumed dicsrete model, system parameters are extracted. In order to reduce the noise, ' Hoe-stochastic controller' is designed for the virtually generated discrete model of magnetic field. Also in order to perform system control in real time frame, approximate probability density function is adopted to design the 'Heo-stochastic controller' and implemented on the system. Feasibility of the idea to control stochastic distributed system via 'stochastic system identification method' and 'Heo-stochastic controller' is confirmed in terms of simulation and experiment as well.

关键词： Magnetic noise control systems Magnetic fields system identification Stochastic systems Noise reduction Equations Operating systems Noise generators Real time systems

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Fault diagnosis for PV arrays considering dust impact based on transformed graphical feature of characteristic curves and convolutional neural network with CBAM modules

arXiv

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arXiv 2023年

作者： Qu, Jiaqi Wei, Lu Sun, Qiang Zareipour, Hamidreza Qian, Zheng School of Instrumentation and Optoelectronic Engineering Beihang University Beijing China School of Electronics and Information Engineering Beihang University Beijing China State Key Laboratory of Control and Simulation of Power System and Generation Equipment Department of Electrical Engineering Tsinghua University Beijing China The Department of Electrical and Computer Engineering University of Calgary Calgary Canada

Various faults can occur during the operation of PV arrays, and both the dust-affected operating conditions and various diode configurations make the faults more complicated. However, current methods for fault diagnosis based on I-V characteristic curves only utilize partial feature information and often rely on calibrating the field characteristic curves to standard test conditions (STC). It is difficult to apply it in practice and to accurately identify multiple complex faults with similarities in different blocking diodes configurations of PV arrays under the influence of dust. Therefore, a novel fault diagnosis method for PV arrays considering dust impact is proposed. In the preprocessing stage, the Isc-Voc normalized Gramian angular difference field (GADF) method is presented, which normalizes and transforms the resampled PV array characteristic curves from the field including I-V and P-V to obtain the transformed graphical feature matrices. Then, in the fault diagnosis stage, the model of convolutional neural network (CNN) with convolutional block attention modules (CBAM) is designed to extract fault differentiation information from the transformed graphical matrices containing full feature information and to classify faults. And different graphical feature transformation methods are compared through simulation cases, and different CNN-based classification methods are also analyzed. The results indicate that the developed method for PV arrays with different blocking diodes configurations under various operating conditions has high fault diagnosis accuracy and reliability. Copyright © 2023, The Authors. All rights reserved.

关键词： Failure analysis

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