检索结果-内蒙古大学图书馆

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

来源：评论

学校读者我要写书评

暂无评论

Synthesis and Verification of Robust-Adaptive Safe Controllers

Synthesis and Verification of Robust-Adaptive Safe Controlle...

引用

European Control Conference (ECC)

作者： Simin Liu Kai S. Yun John M. Dolan Changliu Liu Robotics Institute Carnegie Mellon University Pittsburgh PA USA Mechanical Engineering Department Carnegie Mellon University Pittsburgh PA USA

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe controllers for systems with constant, unknown parameters. In particular, we use robust-adaptive control barrier functions (raCBFs) to achieve safety. We develop new theories and techniques using sum-of-squares that enable us to pose synthesis and verification as a series of convex optimization problems. In our experiments, we show that our algorithms are general and scalable, applying them to three different polynomial systems of up to moderate size (7D). Our raCBFs are currently the most effective way to guarantee safety for uncertain systems, achieving 100% safety and up to 55% performance improvement over a robust baseline.

关键词： Uncertain systems Heuristic algorithms Europe Control systems Polynomials Convex functions Safety

来源：评论

学校读者我要写书评

暂无评论

Online Optimization of Heat Pump Systems for Building Heating based on Lyapunov Method

Online Optimization of Heat Pump Systems for Building Heatin...

引用

2022 IEEE Power and Energy Society Innovative Smart Grid Technologies Conference, ISGT 2022

作者： Cao, Mengfan Chen, Shibo Yang, Zaiyue Miao, Haoyu Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems The Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9781665437752

Improving the energy efficiency of heating systems is of great significance in building energy saving. This paper investigates a time-average total cost minimization problem of heat pump systems. Firstly, heat pump systems and thermal dynamic building model are built considering thermal inertia. To solve temporally coupled constraints and uncertainties of the outdoor temperature and real-time electricity price in the formulated problem, the paper proposes an online optimization algorithm for building heating based on Lyapunov method. Extensive simulation results show that this method could achieve user comfort and reduce energy cost effectively. © 2022 IEEE.

关键词： Energy efficiency

来源：评论

学校读者我要写书评

暂无评论

Improving Domain Transfer of Robot Dynamics Models with Geometric System Identification and Learned Friction Compensation

Improving Domain Transfer of Robot Dynamics Models with Geom...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Laura Schwendeman Andrew SaLoutos Elijah Stanger-Jones Sangbae Kim Department of Mechanical Engineering Biomimetic Robotics Laboratory Massachusetts Institute of Technology (MIT) Cambridge MA USA

Dynamic simulation is an important part of the design pipeline for robot controllers, but there is often a significant performance gap between the simulation domain and the real world. This sim-to-real gap makes transferring controllers developed in one simulation environment to other simulations or to real hardware systems difficult and time-consuming. Here, we introduce an approach to reduce this gap for the MIT Humanoid by using physically-feasible system identification methods to match dynamics models across domains, combined with neural networks to model any residual dynamics, such as friction. Using data from our real hardware system as the ground truth, we develop models for transfer from two separate simulation environments to hardware, as well as transfer between the two simulations. Finally, we show experimental results using our fitted dynamic models and characterize our domain transfer success.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Learning flatness-based controller using neural networks

引用

ASME Letters in Dynamic Systems and Control 2021年第2期1卷 021003页

作者： Ren, Hailin Qi, Jingyuan Ben-Tzvi, Pinhas Robotics and Mechatronics Lab Department of Mechanical Engineering Virginia Tech BlacksburgVA24060 United States Department of Physics Virginia Tech BlacksburgVA24060 United States

This paper presents a method to imitate flatness-based controllers for mobile robots using neural networks. Sample case studies for a unicycle mobile robot and an unmanned aerial vehicle (UAV) quadcopter are presented. The goals of this paper are to (1) train a neural network to approximate a previously designed flatness-based controller, which takes in the desired trajectories previously planned in the flatness space and robot states in a general state space, and (2) present a dynamic training approach to learn models with high-dimensional inputs. It is shown that a simple feedforward neural network could adequately compute the highly nonlinear state variables transformation from general state space to flatness space and replace the complicated designed heuristic to avoid singularities in the control law. This paper also presents a new dynamic training method for models with high-dimensional independent inputs, serving as a reference for learning models with a multitude of inputs. Training procedures and simulations are presented to show both the effectiveness of this novel training approach and the performance of the welltrained neural network. Copyright © 2021 by ASME.

关键词： Machine learning

来源：评论

学校读者我要写书评

暂无评论

3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers

3D Printable Gradient Lattice Design for Multi-Stiffness Rob...

引用

IEEE International Conference on Soft robotics (RoboSoft)

作者： Siebe J. Schouten Tomas Steenman Rens Filé Merlijn Den Hartog Aimee Sakes Cosimo Della Santina Kirsten Lussenburg Ebrahim Shahabi Mechanical Engineering Department Delft University of Technology CD Delft the Netherlands BioMechanical Engineering Department Delft University of Technology CD Delft the Netherlands Cognitive Robotics Department Delft University of Technology CD Delft the Netherlands Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wesling Germany

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Human fingers exhibit remarkable dexterity and adaptability through a combination of structures with varying stiffness levels, ranging from soft tissues (low stiffness) to tendons and cartilage (medium stiffness) to bones (high stiffness). This paper focuses on the development of a robotic finger that emulates these multi-stiffness characteristics. Specifically, we propose utilizing a lattice configuration, parameterized by voxel size and unit cell geometry, to achieve fine-tuned stiffness properties with high precision. A key advantage of this approach is its compatibility with single-process 3D printing, which eliminates the need for manual assembly of components with varying stiffness. Using this method, we present a novel, human-like robotic finger and a soft gripper. The gripper is integrated with a rigid manipulator and demonstrated in pick-and-place tasks, showcasing its effectiveness.

关键词： Service robots Fingers Lattices Tactile sensors Soft robotics Three-dimensional printing Distance measurement Robustness Grippers Tendons

来源：评论

学校读者我要写书评

暂无评论

Pulsatile Bypass Flow by Means of Power Law and Newtonian Model: A Comparison Guided by Numerical Investigation

引用

Defect and Diffusion Forum 2022年 420卷 215-228页

作者： Impiombato, Andrea Natale Orlandi, Francesco Civita, Giorgio La Zinani, Flavia Schwarz Franceschini Rocha, Luiz Alberto Oliveira Biserni, Cesare Di Schio, Eugenia Rossi Department of Industrial Engineering Alma Mater Studiorum University of Bologna Viale Risorgimento 2 Bologna40136 Italy Mechanical Engineering Graduate Program Universidade do Vale do Rio dos Sinos – UNISINOS Av. Unisinos 950 RS São LeopoldoCEP 93022-750 Brazil Department of Mechanical Engineering Federal University of Rio Grande do Sul – UFRGS Sarmento Leite Street 425 RS Porto Alegre Brazil

In this work, the comparison between the Newtonian and the Power Law models was pointed out to determine the flow field within a system that includes the bypass of a narrowing zone (Stenosis) of an ideal artery. The simulations were conducted in a transient regime considering the pulsed effect inside the veins. The results show that the Power Law model does not sufficiently coincide with the Newtonian model, especially for describing the wall stresses. More specifically, the Power Law model predicts a velocity profile that remains parabolic for the entire time range analyzed, while the Newtonian model captures vorticities. © 2022 Trans Tech Publications Ltd, Switzerland.

关键词： Constructal Design Coronary Artery Bypass Newtonian Model Power Law Model Pulsatile Flow

来源：评论

学校读者我要写书评

暂无评论

State observers for output feedback control of electro-hydraulic systems

State observers for output feedback control of electro-hydra...

引用

10th International Symposium on Test Automation & Instrumentation (ISTAI 2024)

作者： Damiano Padovani Andrea Cioncolini Angelo Alessandri Department of Mechanical Engineering (Robotics) Guangdong Technion-Israel Institute of Technology 241 Daxue Road Shantou People's Republic of China

ISBN: (数字)9781837241910

Electro-hydraulic systems are the updated version of conventional valve-controlled hydraulics. This actuation technology, which is crucial in many fields of industry, still has room for improvement in some areas. In this regard, feedback control is challenging as only the hydraulic actuator's position and pressure drop are typically measured for practical reasons. Thus, our focus is on constructing a state observer because knowing all the system’s state variables, including the actuator velocity, is desirable for achieving effective closed-loop position control. We propose a feedback linearization approach for output feedback control by developing an observer relying only on the measured position and pressures. We leverage linear matrix inequalities (LMIs) to obtain a proper observer gain. This unconventional approach for electro-hydraulic drives leads to satisfactory observer behavior. Therefore, this contribution further establishes electro-hydraulic systems by proposing novel alternatives to facilitate their control.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Detecting Crack on a Beam Subjected to Impact Load

Detecting Crack on a Beam Subjected to Impact Load

引用

AUN/SEED-Net Joint Regional Conference in Transportation, Energy, and mechanical Manufacturing engineering, RCTEMME 2021

作者： Gunawan, Fergyanto E. Huu Nhan, Tran Sutikno Kamil, Insannul Industrial Engineering Department BINUS Graduate Program Master of Industrial Engineering Bina Nusantara University Jakarta11480 Indonesia Department of Automotive Engineering Faculty of Transportation Engineering Ho Chi Minh City University of Technology Ho Chi Minh City Viet Nam Mechanical Engineering Department Faculty of Engineering Institut Teknologi Sepuluh Nopember Surabaya Indonesia Industrial Engineering Department Faculty of Engineering Andalas University Padang Indonesia

ISBN: (纸本)9789811919671

Crack often affects structural deformation nonlinearly, leading to difficulty detecting their existence using some Structural Health Monitoring methods. In this paper, we propose a damage index derived from the Euler-Bernoulli beam theory. Furthermore, we evaluate the method's ability to detect the crack when the specimen is subjected to an impact load. To assess the proposed damage index, we consider a beam specimen containing a lateral crack. The beam has a length of 300 mm and a square-shaped cross-sectional area of 20 mm × 20 mm. The beam is made of steel, is constrained at one end, and is subjected to an impact load at the other end. The beam lateral displacement at many observation points across the beam-free surface is recorded during the beam dynamics. The records are used to compute the proposed damage index. The results suggest that the index only detects the crack when the beam deformation is affected by the crack. When the crack face is suppressed to bear the compressive stress, the resulting deformation is not much different from that of the uncracked beam. In that condition, the proposed index is not able to indicate the existing crack. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Cracked beam Damage index Euler-Bernoulli beam Lateral deformation Structural health monitoring

来源：评论

学校读者我要写书评

暂无评论

Feasibility Study of a Teleoperation System With Haptics for Tip-Force Sensing Active Needles

Feasibility Study of a Teleoperation System With Haptics for...

引用

IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Sooyeon Kim Sujin Yu Yuri Lim Suhyun Lee Seok Chang Ryu Department of Mechanical and Biomedical Engineering BioRobotics Laboratory Graduate Program in Smart Factory Ewha Womans University Seoul South Korea Department of Mechanical and Biomedical Engineering BioRobotics Laboratory Ewha Womans University

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

This paper presents the design of a teleoperation system with a haptic display for the active needles with tip-force sensing and tip-steering capabilities. The active needle design employs sensorized tendons by fiber Bragg gratings sensor (FBGs), while the teleoperation system combines a general haptic interface with electrical stimulation as its steering interface, delivering not only general force feedback but also tip-force information measured by the FBGs-based tendons to the operators. The essential features, such as tip-force sensing, teleoperation of the tip-joint, and human perception of the measured tip-force, were experimentally evaluated with their prototypes in tissue phantoms. Based on the results obtained, necessary follow-up studies were identified and suggested for the effective teleoperation of force-sensing steerable instruments in clinical environments. If successfully developed, such systems can enable surgeons to perceive clinical situations and perform operations more precisely and safely.

关键词： Instruments Surgery Prototypes Phantoms Biomedical measurement Robot sensing systems Needles Fiber gratings Sensors Tendons

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：