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Enhancing wide-band trajectory tracking and finite-time control of Dielectric Elastomer Actuators using Nonsingular terminal sliding mode control scheme

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Mechatronics 2025年 109卷

作者： Kassim, Shakiru Olajide Zou, Jiang Behnamgol, Vahid Vaziri, Vahid Aphale, Sumeet S. Group School of Engineering University of Aberdeen ScotlandAB24 3UE United Kingdom The state Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China The Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Renewable Energy Research Centre Damavand Branch Islamic Azad University Tehran Iran Department of Electrical and Computer Engineering The Federal Polytechnic Damaturu Yobe State 620221 Nigeria

The utilization of Dielectric Elastomer Actuators (DEAs) in soft robotics is becoming increasingly popular due to their distinctive properties. However, controlling these actuators is challenging due to their nonlinear nature. This study addresses precise control of DEAs while minimizing nonlinear effects over a wide frequency range using a Sliding Mode Control (SMC) scheme. Traditional SMC approaches face two main issues: they do not ensure finite-time convergence during the sliding phase and compromise tracking accuracy due to approximations used to reduce chattering. This work presents a non-singular terminal sliding mode control combined with an enhanced boundary layer switching function to improve precision and finite-time stability. Using stability analysis, extensive MATLAB/SIMULINK simulations, and experimental validation on a conical DEA across diverse reference trajectories and its resilience against uncertainties, the proposed scheme demonstrates superior performance in trajectory tracking compared to PID-based and conventional SMC schemes. The results highlight the scheme's effectiveness in high-frequency trajectory tracking and its robustness to possible uncertainties and disturbances, offering a robust theoretical framework for dielectric elastomer actuator control and a promising approach for advancing soft robotic technologies. © 2025 The Authors

关键词： Intelligent robots

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Blockchain Technology Based Decentralized Energy Trading for Multiple-Microgrid Systems 3

Blockchain Technology Based Decentralized Energy Trading for...

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3rd IEEE Conference on Energy Internet and Energy System Integration, EI2 2019

作者： Li, Ting Zhang, Wei Chen, Ning Qian, Minhui Xu, Ying School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Operation and Control of Renewable Energy Storage Systems China EPRI Nanjing China University of Central Florida Department of Electrical Engineering Computer Science Orlando United States

ISBN: (纸本)9781728131375

With the emerging technology for distributed generation and urge of improving quality of service of power supply for energy users, more and more Microgrids (MGs) are integrated into the distributed networks to serve the energy users. These Microgrids are gradually formulating a Multi-Microgrid System (MMGS, Multi-Microgrid System), which will play an important role for the future energy supply. Building a centralized control center not only increases the expense of investment, but also brings the issues of maintaining fairness among energy users. To address these problems, this paper proposes a peer-to-peer method for energy trading of MMGS, based on the idea of decentralized trading. An auction-based trading mechanism suitable for peer-to-peer energy trading is proposed first. For this mechanism, the MGs firstly declare their energy buying bids or selling quotations. Then, the market-clearing price is determined by using a unified weight clearing algorithm in a decentralized manner. By applying the edge technology of Blockchain, the implementation of the proposed peer-to-peer energy trading method, including the architecture, procedures, security check, etc., is also discussed. The proposed Blockchain-based energy trading platform can realize the decentralized and autonomous energy trading of MGs within an MMGS. A case study with an MMGS with 10 MG units is provided to demonstrate the effectiveness of the proposed approach. © 2019 IEEE.

关键词： Blockchain

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eRAKI: Fast robust artificial neural networks for k-space interpolation (RAKI) with coil combination and joint reconstruction

arXiv

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arXiv 2021年

作者： Yu, Heng Dong, Zijing Arefeen, Yamin Liao, Congyu Setsompop, Kawin Bilgic, Berkin Department of Automation Tsinghua University Beijing China Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA United States Athinoula A. Martinos Center for Biomedical Imaging CharlestownMA United States Radiological Sciences Laboratory Stanford University StanfordCA United States Department of Electrical Engineering Stanford University StanfordCA United States Harvard Medical School BostonMA United States Harvard-MIT Health Sciences and Technology Massachusetts Institute of Technology CambridgeMA United States

RAKI can perform database-free MRI reconstruction by training models using only auto-calibration signal (ACS) from each speciflc scan. As it trains a separate model for each individual coil, learning and inference with RAKI can be computationally prohibitive, particularly for large 3D datasets. In this abstract, we accelerate RAKI by more than 200 times by directly learning a coil-combined target and further improve the reconstruction performance using joint reconstruction across multiple echoes together with an elliptical-CAIPI sampling approach. We further deploy these improvements in quantitative imaging and rapidly obtain T2 and T2* parameter maps from a fast EPTI scan. © 2021, CC0.

关键词： Neural networks

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Dynamic-quenching of a single-photon avalanche photodetector using an adaptive resistive switch

arXiv

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arXiv 2021年

作者： Zheng, Jiyuan Xue, Xingjun Ji, Cheng Yuan, Yuan Sun, Keye Rosenmann, Daniel Wang, Lai Wu, Jiamin Campbell, Joe C. Guha, Supratik Pritzker School of Molecular Engineering The University of Chicago ChicagoIL60637 United States Beijing National Research Center for Information Science and Technology Tsinghua University Beijing100084 China Electrical and Computer Engineering Department University of Virginia CharlottesvilleVA22904 United States Center for Nanoscale Materials Argonne National Laboratory ArgonneIL60439 United States Department of Electronic Engineering Tsinghua University Beijing100084 China Department of Automation Tsinghua University Beijing100084 China Material Science Division Argonne National Laboratory ArgonneIL60439 United States

One of the most common approaches for quenching single-photon avalanche diodes is to use a passive resistor in series with it. A drawback of this approach has been the limited recovery speed of the single-photon avalanche diodes. High resistance is needed to quench the avalanche, leading to slower recharging of the single-photon avalanche diodes depletion capacitor. We address this issue by replacing a fixed quenching resistor with a bias-dependent adaptive resistive switch. Reversible generation of metallic conduction enables switching between low and high resistance states under unipolar bias. As an example, using a Pt/Al2O3/Ag resistor with a commercial silicon single-photon avalanche diodes, we demonstrate avalanche pulse widths as small as ~30 ns, 10× smaller than a passively quenched approach, thus significantly improving the single-photon avalanche diodes frequency response. The experimental results are consistent with a model where the adaptive resistor dynamically changes its resistance during discharging and recharging the single-photon avalanche diodes. Copyright © 2021, The Authors. All rights reserved.

关键词： Resistors

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Analysis of Harmonic and Interharmonic Components by Using an Improved Recursive Algorithm

Analysis of Harmonic and Interharmonic Components by Using a...

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2019 IEEE PES Conference on Innovative Smart Grid Technologies, ISGT Latin America 2019

作者： Alvarez Ferreira, Liz R. Beuter, Carlos H. Hoffmann, Alessandra B. G. Pessoa, André L. S. Oleskovicz, Mário Itaipu Technological Park PTI Automation and Simulation of Electrical Systems Laboratory Lasse Foz do Iguaçu PR Brazil Department of Electrical and Computer Engineering EESC University of São Paulo São Carlos SP Brazil

ISBN: (纸本)9781538695678

Spectral leakage is a phenomenon that is considered a problem and occurs when Discrete Fourier Transform (DFT) is used as a tool to identify harmonic components in a frequency spectrum of electric signals, which contains asynchronous sampling or interharmonic components. It may cause errors in presented results that may affect signal analysis. Therefore, application of a technique or combination of techniques is necessary, in order to better characterize harmonic and interharmonic components and enable extraction of their representative factors. In this context, this research aims at estimating frequencies and amplitudes interharmonic present in a signal. This paper proposes a new approach method, based on Group-harmonic Power Minimizing (GPM) and Recursive Group-harmonic Power Minimizing (RGPM) algorithms. The new proposal establishes an identification threshold and is more accurate when compared to the IEC 61000-4-7 standard, recommended for this kind of problem as it detects not only the 5 Hz minimal spectral resolution, but also frequency components of intermediate location with noise. Results indicate a satisfactory characterization of predominant interharmonic components, with low deviation level, both in range and in associated frequency. © 2019 IEEE.

关键词： Discrete Fourier transforms

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Diagnosis of Oscillatory Transients Generated by Switching of Capacitor Banks using MPA

Diagnosis of Oscillatory Transients Generated by Switching o...

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2019 IEEE PES Conference on Innovative Smart Grid Technologies, ISGT Latin America 2019

作者： Hoffmann, Alessandra B. G. Beuter, Carlos H. Pessoa, André L. S. Oleskovicz, Mario Alvarez Ferreira, Liz R. Department of Electrical and Computer Engineering EESC University of São Paulo São Carlos SP Brazil Itaipu Technological Park PTI Automation and Simulation of Electrical Systems Laboratory Lasse Foz do Iguaçu PR Brazil

ISBN: (纸本)9781538695678

An Oscillatory Transient (OT) can occur in any part of an Electric Power System (EPS), and its basic characteristics are short duration and considerable variances of the amplitude of the voltage and frequencies involved. Focusing on a medium voltage distribution system, one of the main causes of the OT is the capacitor bank switching, which should be differentiated from other situations that may occur. In this research, we present the diagnostic (identification and extraction of characteristics) of OTs generated by the switching of capacitor banks by applying the Matching Pursuit Algorithm (MPA), that is based on a structured data dictionary. The Golden Search (GS) was used to find the characteristic parameters of the OT. The adopted methodology provided a sensible improvement in the search of the parameters, where the number of iterations was reduced and the estimations were stable. Sensitivity tests of the obtained parameters indicated their relevance for the data dictionary that was used. Based on this approach, it was possible to identify the amplitude (instantaneous value) of the OT as well as its duration. The use of the MPA enables researches with diverse signals, where the concern may be linked to the need to identify the origin of the OT observed on a particular EPS. This analysis, for example, can support areas related to power quality and also protection of electrical power systems. © 2019 IEEE.

关键词： Electric power system protection

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Dynamic attitude estimation improvement for low-cost MEMS IMU by integrating low-cost GPS

arXiv

引用

arXiv 2020年

作者： Liao, Guiqiu Zhao, Jiankang Cui, Chao Long, Haihui Zhu, Jianbin Djerida, Achraf School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Imaging Robotics Remote Sensing & Health Department ICube University of Strasbourg Strasbourg France ALTAIR Robotics Laboratory Department of Computer Science University of Verona Verona Italy Shenzhen High Speed Engineering Consulting Co. Ltd. Shenzhen China

This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In the problem of fusing Inertial Measurement Unit (IMU) with low-cost GPS, the effect of time synchronization error on attitude estimation is concerned. A fusion algorithm which can estimate the motion states and the time synchronization error simultaneously is proposed. This algorithm adds a time estimation loop to improve estimation accuracy. Compared with another states augmented estimation approach, this method has the advantages of lower computation burden, avoidance of the discretization error in the low sample rate. The estimation algorithm is implemented in an low-cost embedded microprocessor where the update rate of algorithm can achieve more than 100 Hz, and therefore high-performance computational units are not necessary. In robotic experiment, the proposed algorithm serves as the navigation solution for a small aerial robot. The accuracy and reliability of the self-designed system are tested when the robot is moving with significant acceleration. Copyright © 2020, The Authors. All rights reserved.

关键词： Degrees of freedom (mechanics)

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Minimal 3D Dubins Path with Bounded Curvature and Pitch Angle

Minimal 3D Dubins Path with Bounded Curvature and Pitch Angl...

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IEEE International Conference on robotics and automation (ICRA)

作者： Petr Váňa Armando Alves Neto Jan Faigl Douglas G. Macharet Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Department of Electronic Engineering Universidade Federal de Minas Gerais MG Brazil Computer Vision and Robotics Laboratory (VeRLab) Universidade Federal de Minas Gerais MG Brazil

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

In this paper, we address the problem of finding cost-efficient three-dimensional paths that satisfy the maximum allowed curvature and the pitch angle of the vehicle. For any given initial and final configurations, the problem is decoupled into finding the horizontal and vertical parts of the path separately. Although the individual paths are modeled as two-dimensional Dubins curves using closed-form solutions, the final 3D path is constructed using the proposed local optimization to find a cost-efficient solution. Moreover, based on the decoupled approach, we provide a lower bound estimation of the optimal path that enables us to determine the quality of the found heuristic solution. The proposed solution has been evaluated using existing benchmark instances and compared with state-of-the-art approaches. Based on the reported results and lower bounds, the proposed approach provides paths close to the optimal solution while the computational requirements are in hundreds of microseconds. Besides, the proposed method provides paths with fewer turns than others, which make them easier to be followed by the vehicle's controller.

关键词： Three-dimensional displays Two dimensional displays Turning Path planning Atmospheric modeling Space vehicles Optimization

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MCOA: A Multistrategy Collaborative Enhanced Crayfish Optimization Algorithm for engineering Design and UAV Path Planning

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International Journal of Intelligent Systems 2025年第1期2025卷

作者： Yaning Xiao Hao Cui Ruba Abu Khurma Abdelazim G. Hussien Pedro A. Castillo School of Automation and Intelligent Manufacturing Southern University of Science and Technology Shenzhen 518055 China *** College of Mechanical and Electrical Engineering Northeast Forestry University Harbin 150040 China *** Information Technology Department Al-Huson University College Al-Balqa Applied University Irbid 19117 Jordan bau.edu.jo Department of Computer and Information Science Linköping University Linköping 58183 Sweden liu.se Faculty of Science Fayoum University Faiyum 63514 Egypt fayoum.edu.eg Department of Computer Engineering Automatics and Robotics University of Granada Granada 18071 Spain ugr.es

The crayfish optimization algorithm (COA) is a recent bionic optimization technique that mimics the summer sheltering, foraging, and competitive behaviors of crayfish. Although COA has outperformed some classical metaheuristic (MH) algorithms in preliminary studies, it still manifests the shortcomings of falling into local optimal stagnation, slow convergence speed, and exploration–exploitation imbalance in addressing intractable optimization problems. To alleviate these limitations, this study introduces a novel modified crayfish optimization algorithm with multiple search strategies, abbreviated as MCOA. First, specular reflection learning is implemented in the initial iterations to enrich population diversity and broaden the search scope. Then, the location update equation in the exploration procedure of COA is supplanted by the expanded exploration strategy adopted from Aquila optimizer (AO), endowing the proposed algorithm with a more efficient exploration power. Subsequently, the motion characteristics inherent to Lévy flight are embedded into local exploitation to aid the search agent in converging more efficiently toward the global optimum. Finally, a vertical crossover operator is meticulously designed to prevent trapping in local optima and to balance exploration and exploitation more robustly. The proposed MCOA is compared against twelve advanced optimization algorithms and nine similar improved variants on the IEEE CEC2005, CEC2019, and CEC2022 test sets. The experimental results demonstrate the reliable optimization capability of MCOA, which separately achieves the minimum Friedman average ranking values of 1.1304, 1.7000, and 1.3333 on the three test benchmarks. In most test cases, MCOA can outperform other comparison methods regarding solution accuracy, convergence speed, and stability. The practicality of MCOA has been further corroborated through its application to seven engineering design issues and unmanned aerial vehicle (UAV) path planning tasks

关键词： crayfish optimization algorithm engineering optimization expanded exploration strategy Lévy flight specular reflection learning vertical crossover operator

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Preface

Synthesis Lectures on Computer Vision

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Synthesis Lectures on computer Vision 2023年 Part F825卷 v-vi页

作者： Wan, Jun Escalera, Sergio Li, Stan Z. Guo, Guodong Escalante, Hugo Jair State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Department of Mathematics and Informatics University of Barcelona and Computer Vision Center Barcelona Spain AI Lab Westlake University Hangzhou China Department of Computer Science and Electrical Engineering West Virginia University Morgantown China Department of Computer Science Instituto Nacional de Astrofísica Optica y Electrónica Puebla Mexico

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