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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Fatih Şenkul Erdinç Altuğ System Dynamics and Control Graduate Program İstanbul Technical University İstanbul Turkey Department of Mechanical Engineering İstanbul Technical University İstanbul Turkey

In recent years quadrotor unmanned aerial vehicles are being used in various different studies. A regular quadrotor has fixed rotors. This inability to tilt its rotors lead to limited success in trajectory tracking due to controlling 6 DOF systems only with 4 input parameters. There are some studies on tilt rotor and tilt-roll rotor quadrotors that can compensate for versatile conditions. Some of these proposed quadrotors are able to hover and position hold at user defined desired angles unlike regular quadrotors. This study presents the design and control of a novel quadrotor system that can tilt its rotors independently so that it can adaptively update its rotor angles and speeds to compensate for more chaotic and realistic scenarios. After deriving the mathematical model, the designed control algorithms are explained by comparing with the latter studies' abilities. Proposed quadrotor with adaptive control is compared with regular and non-adaptive tilt-roll rotor type multicopters, in various simulations. The results show that the proposed design has clear advantages in certain situations, especially when environmental limitations and hardware inconsistencies and inefficiencies exist.

关键词： Unmanned aerial vehicles

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Three dimensional attitude estimation via the triad algorithm and a time-varying complementary filter

ASME 2012 5th Annual Dynamic Systems and Control Conference ...

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ASME 2012 5th Annual Dynamic systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 2012年 1卷 157-165页

作者： Wang, Yizhou Chang-Siu, Evan Brown, Matthew Tomizuka, Masayoshi Almajed, Mohammed I. Alsuwaidan, Badr N. Mechanical System Control Laboratory Department of Mechanical Engineering University of California Berkeley CA 94720-1740 United States National Satellite Technology Program King Abdulaziz City for Science and Technology Riyadh 11555 Saudi Arabia

ISBN: (纸本)9780791845295

An innovative implementation of attitude estimation in 3 degrees of freedom (3-DOF) combining the TRIAD algorithm [1] and a time-varying nonlinear complementary filter (TVCF) is derived. This work is inspired by the good performance of the TVCF in 1-DOF [2] developed for applications limited to small mobile platforms with low computational power. To demonstrate robust 3-DOF estimation, information from vector and rate-gyroscope measurements are fused. Simulation and experimental results demonstrate comparable performance to the extended Kalman filter (EKF) and improved performance over alternative methods such as sole gyroscope rate-integration and the TRIAD algorithm without the TVCF as a pre-filter. Copyright © 2012 by ASME.

关键词： Gyroscopes

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Black ice danger area estimation and active speed control research by utilizing road condition sensor

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Journal of Institute of Control, Robotics and systems 2021年第11期27卷 815-823页

作者： Hwang, Daekyu Kim, Bongsang Lee, Kyuho Sim, Hongseok Moon, Heechang Industrial Convergence Interdepartmental Program Autonomous Vehicle･Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical & System Design Engineering Hongik University Korea Republic of

This study was performed to verify the feasibility of using a black ice danger area estimation function based on the wetness data acquired by a piezoelectric based RCS (Road Condition Sensor) through real road tests under each environment and real vehicle conditions. The techniques and system implementation are considered for the prevention of accidents caused by black ice, which primarily causes critical issues in winter every year. system detects the value of wetness on the road during (or right after) rain and snow using an RCS then can estimate the possibility of the presence of black ice on the forward path at low temperatures by combining with those obtained using the ambient temperature sensor and GIS (GPS and map). Accident avoidance and damage minimization effect is expected by securing safe driving conditions through active speed control. © ICROS 2021.

关键词： Ice

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Docking Assistance system Between Trailer and Tractor Using UWB Measuring Module

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Journal of Institute of Control, Robotics and systems 2024年第1期30卷 59-65页

作者： Park, Jong Hak Heo, Jeong Woong Moon, Hee Chang Industrial Convergence Interdepartmental Program Autonomous Vehicle･Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical and System Design Engineering Hongik University Korea Republic of

Trailers, which are used to load equipment such as containers and construction materials, are towed by the power of tractors to transport the equipment. The tractor, the towing vehicle, and the trailer, the towed vehicle, are independent systems, and the tractor can combine and separate by replacing the trailer for various purposes. To dock the trailer and tractor, the tractor should be backward with the posture and position of the rear of the tractor in line with the front of the trailer. The tractor driver shall be mounted based on the driver’s cognitive judgment, with a rear-view camera and mirror to determine the matching position of the trailer. We implemented and explored a system that could determine the length of this combination of systems using UWB, a positioning system, rather than driver recognition judgment, and used it to determine the position and posture of the trailer reference tractor using a square geometric approach. © ICROS 2024.

关键词： Light trailers

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Coarse-grained modeling and simulation of actin filament behavior based on Brownian dynamics method

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MCB Molecular and Cellular Biomechanics 2009年第3期6卷 161-173页

作者： Shimada, Yoshitaka Adachi, Taiji Inoue, Yasuhiro Hojo, Masaki Department of Mechanical Engineering and Science Kyoto University Yoshida-Honmachi Sakyo Kyoto 606-8501 Japan Computational Cell Biomechanics Team VCAD System Research Program RIKEN Japan

The actin filament, which is the most abundant component of the cytoskeleton, plays important roles in fundamental cellular activities such as shape determination, cell motility, and mechanosensing. In each activity, the actin filament dynamically changes its structure by polymerization, depolymerization, and severing. These phenomena occur on the scales ranging from the dynamics of actin molecules to filament structural changes with its deformation due to the various forces, for example, by the membrane and solvent. To better understand the actin filament dynamics, it is important to focus on these scales and develop its mathematical model. Thus, the objectives of this study were to model and simulate actin filament polymerization, depolymerization, and severing based on the Brownian dynamics method. In the model, the actin monomers and the solvent were considered as globular particles and a continuum, respectively. The motion of the actin molecules was assumed to follow the Langevin equation. The polymerization, which increases the filament length, was determined by the distance between the center of the actin particle at the barbed end and actin particles in the solvent. The depolymerization, which decreases the filament length, was modeled such that the number of dissociation particles from the filament end per unit time was constant. In addition, the filament severing, in which one filament divides into two, was modeled to occur at an equal rate along the filament. Then, we simulated the actin filament dynamics using the developed model, and analyzed the filament elongation rate, its turnover, and the effects of filament severing on the polymerization and depolymerization. Results indicated that the model reproduced the linear dependence of the filament elongation on time, filament turnover process by polymerization and depolymerization, and acceleration of the polymerization and depolymerization by severing, which qualitatively agreed with those observed in ex

关键词： Coarse-grained modeling

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Real-time Path Planning Algorithm based on Ridge Detection for Solid-State LiDAR-based Autonomous Agricultural Robot

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Journal of Institute of Control, Robotics and systems 2022年第2期28卷 146-152页

作者： Baek, Seungbeom Kim, Bongsang Lee, Jaewook Moon, Heechang Industrial Convergence Interdepartmental Program Autonomous Vehicle·Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical & System Design Engineering Hongik University Korea Republic of

Autonomous robots driving in agricultural environments need to create accurate routes to prevent damaging farmland. Herein, a real-time path planning algorithm based on ridge detection using the Livox Mid70 LiDAR is proposed. The field has a steep slope between the furrow and the ridge, and we find data corresponding to this slope from the lidar data. Using two Mid70 LiDARs, we collect the left and right slope data and linearly fit the slope data using the RANSAC algorithm. Finally, the driving route is obtained from the average of the two straight lines. To verify the algorithm, the steering angle needed to follow the driving path was calculated, and an autonomous driving test was conducted in the actual field environment: it was observed that the robot drove stably. Additional tests will be conducted in more rugged terrain. © ICROS 2022.

关键词： Optical radar

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Vehicle Speed Control in the Dilemma Zone Using Deep Learning

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Journal of Institute of Control, Robotics and systems 2022年第3期28卷 209-217页

作者： Lee, Jaewook Kim, Bongsang Sim, Hongseok Choi, Hyohyuk Moon, Heechang Industrial Convergence Interdepartmental Program Autonomous Vehicle･Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical and System Design Engineering Hongik University Korea Republic of

The dilemma zone refers to the area where a vehicle approaching an intersection as the light turns yellow must decide whether to stop or not. Often, the vehicle’s speed is too fast for it to stop at the stop line before the light turns red, but the vehicle cannot completely clear the intersection before the three-second yellow signal ends. This can lead to a major accident as the departing vehicle has not cleared the intersection before the opposite light changes to a green signal and cars on the other side of the intersection start to move. To prepare for this situation, traffic light patterns were modified using pre-trained data sets, then the traffic patterns at these lights were recorded using cameras. Autonomous vehicles were introduced into these areas and their speed was controlled based on the recognized traffic light patterns. This paper explores whether deep learning algorithms can effectively control vehicle speed when autonomous vehicles face the dilemma zone. © ICROS 2022.

关键词： Autonomous vehicles

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Mixed-Reality Simulator for Analysis of Interactions between Humans and Crawler Cranes

Mixed-Reality Simulator for Analysis of Interactions between...

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International Symposium on Soft Computing and Intelligent systems (SCIS)

作者： Kenta Yamanobe Kazuya Yokota Daigo Uenoyama Daisuke Fujiura Masataka Ogura Kengo Takahashi Masajiro Abe Master's Program in Mechanical Engineering Nagaoka University of Technology Nagaoka Japan Department of Mechanical Engineering Nagaoka University of Technology Nagaoka Japan Bachelor's Program in Mechanical Engineering Nagaoka University of Technology Nagaoka Japan Center for Integrated Technology Support Nagaoka University of Technology Nagaoka Japan Department of System Safety Engineering Nagaoka University of Technology Nagaoka Japan

ISBN: (数字)9798350373332

ISBN: (纸本)9798350373349

Crawler cranes are used in various applications, including plant construction and civil engineering. However, accidents caused by hazardous events, such as overturning the entire body or overshadowing of a suspended load, can be problematic. Because crawler cranes are large and powerful machines, simulators are required to analyze the relationship between such hazardous events and human operations. This study proposed a framework for a mixed-reality simulator to analyze the interactions between humans and crawler cranes. This framework combined the high-performance graphics capabilities of Unreal Engine 5 with the high-precision multibody dynamics analysis of MATLAB Simscape to create a visually and physically realistic simulation. Moreover, the quantification of the decision-making process was possible based on the eye-tracking information of the operator. This study described the implementation of these features and discussed the prospects for human-crawler crane interaction analysis using this simulator.

关键词： Cranes Crawlers Decision making Loading Gaze tracking Virtual reality Mathematical models MATLAB Engines Load modeling

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Numerical Investigation of the Hydrodynamic Performance of a Pitch-Type Wave Energy Converter on the Basis of Weakly and Fully Nonlinear Models

SSRN

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SSRN 2023年

作者： Poguluri, Sunny Kumar Kim, Dongeun Cho, Il-Hyoung Kim, Sangho Bae, Yoon Hyeok Mechanical and System Design Engineering Hongik University Korea Republic of Multidisciplinary Graduate School Program for Wind Energy Jeju National University Korea Republic of Department of Ocean System Engineering Jeju National University Korea Republic of Korea Republic of

Pitch-type wave energy converters (e.g., Salter’s duck-type wave energy converter [WEC] rotor) have been proven to work effectively in 2D. However, only a few studies have investigated the 3D nonlinear effects. Large motions, wave breaking, slamming, and 3D crossflows are factors that cannot be overlooked and have a direct effect on the absorbed power, thereby necessitating the use of nonlinear numerical models. This study addresses the interaction between the wave and WEC rotor by using a weakly nonlinear model (based on potential flow theory) and a fully nonlinear model (based on computational fluid dynamics). The weakly nonlinear model is formulated by incorporating the nonlinear restoring moment and Coulomb type of power take-off (PTO) load torque. It is compared with fully nonlinear simulations and validated using experimental results. Results show that in regular waves with a wave steepness (H/λ) of 0.03, the weakly nonlinear model agrees well with the fully nonlinear model, except in the long range of one-way PTO load torque where deviations are observed. These differences are amplified with the increase in wave steepness and PTO load torque due to the strong nonlinear effects, thereby limiting the applicability of the weakly nonlinear model to H/λ = 0.03. © 2023, The Authors. All rights reserved.

关键词： Computational fluid dynamics

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Peristaltic PDMS Pump with Perfect Dynamic Valves for Both Gas and Liquid

Peristaltic PDMS Pump with Perfect Dynamic Valves for Both G...

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IEEE International Conference on Micro Electro mechanical systems

作者： Ok Chan Jeong T. Morimoto Y. Watanabe S. Konishi Center of Promotion of the COE program Ritsumeikan University Japan Department of Mechanical Engineering Ritsumeikan University Japan Department of Micro System Technology Ritsumeikan University Japan

This paper presents for the first time experimental results on the peristaltic PDMS pump with perfect dynamic valves for both gas and liquid. Micropump consists of the three peristaltic-type actuators and the micro channel connecting with chambers and the inlet/outlet port. Micropump is fabricated by SU8 mold process and the two-step curing process for the irreversible bonding of PDMS layers. The diameter and the thickness of the actuator diaphragm are 1 mm and 98 μm, respectively. The total size of micro pump is about 5 mm x 5.5 mm. The dynamic gas and liquid valve actions of the single actuator are observed to verify effect of the fluidic mass and viscosity of the working fluid. Perfect peristaltic motions and robust pumping actions of the micro pump are confirmed by the flowrate test of micropump with the air and the ink.

关键词： Valves Micropumps Actuators Joining processes Curing Bonding Fluid dynamics Viscosity Robustness Pumps

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