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A robust unscented fusion filter using fuzzy adaptation rule

A robust unscented fusion filter using fuzzy adaptation rule

引用

European Control Conference (ECC)

作者： Chul Woo Kang Chan Gook Park Automation and System Research Institute of Seoul National University Seoul Korea School of Mechanical and Aerospace Engineering of Seoul National University Seoul Korea

ISBN: (纸本)9781479947287

This paper presents a new robust estimation approach for nonlinear systems. Former approaches to robust nonlinear estimation such as the unscented H ∞ filter(UHF) [1] perform well on in disturbed nonlinear systems. However, with regard to undisturbed systems, the performance of robust nonlinear filters has proven inferior to that of conventional nonlinear filters. In this paper, a new filter is proposed which performs well on both disturbed and undisturbed systems by integrating a UHF and an unscented Kalman filter (UKF). The proposed filter uses a hybrid filter structure for the proper integration of the two local filters; a fuzzy-based mode adaptation rule is also implemented to improve performance.

关键词： Finite impulse response filters Robustness Filtering algorithms Estimation Filtering theory Nonlinear filters Kalman filters

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Hall-sensor-based orientation measurement method in three-dimensional space for electromagnetic actuators

Hall-sensor-based orientation measurement method in three-di...

引用

2014 IEEE International Conference on automation Science and engineering, CASE 2014

作者： Yan, Liang Zhu, Bo Jiao, Zongxia Chen, Chin-Yin Chen, I-Ming School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Research Institute Beihang University in Shenzhen Shenzhen518000 China Institute of Advanced Manufacturing Technology Ningbo Institute of Material Technology and Engineering Ningbo315201 China School of Mechanical and Aerospace Engineering Nanyang Technological University 50 Nanyang Avenue Singapore Singapore

This paper proposes an orientation measurement method of a novel permanent magnet spherical actuator with 3D magnet array based on several hall sensors. This measurement method could avoid additional inertial moment and friction, as there is no contact between the measurement system and the rotor. And the accuracy of Hall sensors could be enhanced by the higher flux density produced by the 3D magnet array. A novel distribution of Hall sensors is proposed in this paper. Compared with the magnetic field model formulated analytically, the rotor orientation could be derived from the measured value of flux density by these Hall sensors. Numerical computation is utilized to validate the accuracy of the analytical equations between the orientation of rotor and the measured value of Hall sensors. Also the numerical computation shows that the accuracy of the orientation measurement method is influenced by the 3D magnet array. These researches could be used for subsequent control implementation of the novel permanent magnet spherical actuator. © 2014 IEEE.

关键词： Permanent magnets

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Analysis of convergent beam to improve sensor node positioning performance in optics-based WSN

Analysis of convergent beam to improve sensor node positioni...

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International Conference on Control, automation and systems ( ICCAS)

作者： Hyun Cheol Jeon Chan Gook Park Department of Mechanical and Aerospace Engineering Seoul National University Seoul South Korea Department of Mechanical and Aerospace Engineering Seoul National University/Automation and Systems Research Institute Seoul South Korea

ISBN: (纸本)9781479960514

It is proposed that a method to improve sensor node positioning performance in optics-based Wireless Sensor Network (WSN) system. This system consists of base-station with laser source and sensor nodes with MEMS CCR as a reflector. As a method to position the sensor node, Time of Flight and direction angle between base-station and sensor node are used. The problem in this system is that the intensity of the laser decreases as it propagates forward because of divergence angle and that the reflect area of MEMS CCR is too small to reflect enough power. This makes it hard to measure the TOF and direction angle and as a result the measured distance is very short. To resolve this problem, convergent beam is introduced. The convergent beam has a characteristic that there exists focal point on the optical axis so the beam can be focused on that point. If the focal length is adjusted far away from the base-station, the cross sectional area of the beam decreases as the beam propagates and the intensity of the beam increases enough to use TOF. After this point, the laser beam propagates as like divergent beam. This has the effect that using more powerful laser at nearer to the sensor node. Also by the theoretical analysis of the convergent beam, the offset from the optical axis which can detect MEMS CCR is obtained. To analyze the effect of convergent beam, the beam propagation function is introduced and by this, simulation is conducted.

关键词： Wireless sensor networks Optical sensors

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Development of a robust attitude determination system for a nano-satellite

Development of a robust attitude determination system for a ...

引用

International Conference on Control, automation and systems ( ICCAS)

作者： Chul Woo Kang Ji Hyun Park In-Seuck Jeung Chan Gook Park Automation and Systems Research Institute Seoul National University Seoul Republic of Korea School of Mechanical and Aerospace Engineering Seoul National University Seoul Republic of Korea

In this paper, robust attitude determination based on the indirect extended Kalman filter is proposed. For the nano-satellite, there are only two vectors of magnetic vector and sun vector for vector measurement without redundant sensors. Accordingly, the three-axis attitude determination using conventional algorithm is impossible when one of the vectors is not available. The proposed attitude determination method uses propagation based on satellite attitude dynamics. The gyro measurements are used for a measurement, and angular rates are estimated by measurements and control inputs. Thus the attitude propagation shows much smaller error than conventional attitude update in the simulation results.

关键词： Magnetometers Position measurement Robustness Filtering Atmospheric measurements Particle measurements Magnetic separation

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Reducing the computation time in the state chi-square test for IMU fault detection

Reducing the computation time in the state chi-square test f...

引用

International Conference on Control, automation and systems ( ICCAS)

作者： Se Hyun Yun Chul Woo Kang Chan Gook Park School of Mechanical and Aerospace Engineering Seoul National University Seoul Republic of Korea Automation and Systems Research Institute Seoul National University Seoul Republic of Korea

This paper introduces a hierarchical structure of filters and proposes the state chi-square test (SCST) with newly modified propagator for detecting an accelerometer and gyro fault. All filters in the hierarchical structure of filters include the inertial navigation system (INS) as a common reference system. That is why it is essential to detect the INS fault in the hierarchical structure of filters. The newly modified propagator based on two propagators and N-step propagator is proposed to make up for each weakness. The modified propagator can reduce a fault alarm ratio (FAR) and a computation time. In this paper, it is shown that the SCST with the modified propagator has better performance than the SCST with conventional one in the computer simulations.

关键词： Measurement uncertainty Accelerometers Gyroscopes Global Positioning system Radar

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Random Motion Assisted Charge Identification of the Liposome in Planar Electrophoretic Trap with Aqueous Medium

Random Motion Assisted Charge Identification of the Liposome...

引用

IEEE International Conference on Nanotechnology

作者： Sung Hyun So Gyeong Rak Park Jihoon Kim Hwan-Jun Yoon Ji-Ho Park Ahra Cho Euiheon Chung Jae Hyun Park School of Mechanical and Aerospace Engineering Gyeongsang National University Jinju Gyeongnam 660-701 South Korea Korea Institute of Ocean Science and Technology Ansan Gyeonggi 426-744 South Korea Department of Bio and Brain Engineering Korea Advanced Institute of Science and Technology Daejeon 305-701 South Korea Department of Medical System Engineering Gwangju Institute of Science and Technology Gwangju 500-712 South Korea Department of Aerospace and Software Engineering and Research Center for Aircraft Parts Technology Gyeongsang National University Jinju Gyeongnam 660-701 South Korea

ISBN: (纸本)9781467381574

Liposomes are essential in innovating the drug delivery systems. In this study, we propose a novel method to estimate the charge and the mechanical properties of liposome from its random fluctuation in electrophoretic traps. Since the Brownian motion of liposome is described by the Langevin equation with proper electrophoretic force model, the liposome charge can be computed via an iterative comparison of the measured fluctuations and the theoretical predictions. The present approach also unveils the correlations between the other unique properties of liposome (e.g. elasticity of lipid surface) and the random dynamics. The present study provides an efficient way to estimate the unknown properties of newly designed liposome.

关键词： Liposome quadrupole electrophoretic trap random fluctuation charge elasticity Langevin equation

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Hall-sensor-based orientation measurement method in three-dimensional space for electromagnetic actuators

Hall-sensor-based orientation measurement method in three-di...

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IEEE International Conference on automation Science and engineering (CASE)

作者： Liang Yan Bo Zhu Zongxia Jiao Chin-Yin Chen I-Ming Chen Research Institute of Beihang University in Shenzhen Shenzhen China School of Automation Science and Electrical Engineering Beihang University Beijing China Institute of Advanced Manufacturing Technology Ningbo Institute of Material Technology and Engineering Ningbo China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

关键词： Magnetic sensors Rotors Arrays Actuators Position measurement Magnetic fields

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Flight envelope protection for NASA's transport class Model

Flight envelope protection for NASA's transport class Model

引用

AIAA Guidance, Navigation, and Control Conference 2014 - SciTech Forum and Exposition 2014

作者： Tekles, Nikolas Xargay, Enric Choe, Ronald Hovakimyan, Naira Gregory, Irene M. Holzapfel, Florian Dept. of Mechanical Science and Engineering University of Illinois at Urbana-Champaign Urbana IL 61801 United States Dept. of Aerospace Engineering University of Illinois at Urbana-Champaign Urbana IL 61801 United States Dynamic Systems and Controls Branch NASA Langley Research Center MS 308 Hampton VA 23681 United States Institute for Flight System Dynamics Technical University Munich Garching 85748 Germany

ISBN: (数字)9781624103179

ISBN: (纸本)9781600869624

Motivated by the problem of loss-of-control prevention, this paper presents a dynamic flight envelope protection system for NASA's Transport Class Model. The developed protection scheme is based on a command-limiting approach that accounts for aircraft adverse aerodynamics, unusual attitude, and structural integrity, and is implemented around a standard gain-scheduled flight control law. The scheme also includes an energy protection scheme, which relies on an automatic throttle control system that implements a total energy control law. Preliminary batch and pilot-in-the-loop simulations demonstrate the efficacy of the protection system in maintaining the aircraft within desired safe conditions, without limiting the ability of the pilot to perform aggressive, evasive maneuvers.

关键词： NASA

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Preliminary study of high power hydrogen electric propulsion for the space exploration 50

Preliminary study of high power hydrogen electric propulsion...

引用

50th AIAA/ASME/SAE/ASEE Joint Propulsion Conference and exhibit 2014

作者： Kinefuchi, Kiyoshi Okita, Koichi Kuninaka, Hitoshi Nakata, Daisuke Suzuki, Tomoya Tahara, Hirokazu Space Transportation Mission Directorate Japan Aerospace Exploration Agency Space Transportation System R and D Center 2-1-1 Sengen TsukubaIbaraki305-8505 Japan Institute Space and Astronautical Science Japan Aerospace Exploration Agency Department of Space Flight Systems 3-1-1 Yoshinodai Chuo-ku SagamiharaKanagawa252-5210 Japan Muroran Institute of Technology Aerospace Plane Research Center 27-1 Mizumoto-cho MuroranHokkaido050-8585 Japan Osaka Institute of Technology Department of Mechanical Engineering 5-16-1 Omiya Asahi-kuOsaka535-8585 Japan

ISBN: (数字)9781624103032

ISBN: (纸本)9781624103032

High power electric propulsion system is strongly required for future orbital space transportation. MPD (Magneto-Plasma-Dynamic) thrusters and DC (Direct Current) arcjets with hydrogen as a propellant are promising candidates for the missions because of their high performance and adaptability to high power operation. However, to use hydrogen for long term orbital missions, its storage in orbit is crucial issue to be considered. Firstly, we proposed a hydrogen storage and feed system for electric thrusters by applying our technologies derived from the liquid hydrogen launch vehicles. Secondly, we present R&D activities of hydrogen MPD thruster and DC arcjet, especially focusing on the improvement of their performance and durability. Then, development strategy of hydrogen electric thrusters is also discussed. Finally, advantages of hydrogen electric thruster were shown compared with conventional xenon thrusters through mission analyses of lunar orbit insertion and GTO-GEO transportation. © 2014 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Orbits

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Design and Modeling of Three-phase Tubular Linear Flux-Switching Permanent Magnet Motor

Design and Modeling of Three-phase Tubular Linear Flux-Switc...

引用

2014中国制导、导航与控制学术会议

作者： Liang Yan Wei Li Zongxia Jiao Chin-Yin Chen I-Ming Chen School of Automation Science and Electrical Engineering Beijing University of Aeronautics and AstronauticsBeijing100191 National Applied Research LaboratoriesTaiwan Ocean Research InstituteTaiwanROC School of Mechanical and Aerospace EngineeringNanyang Technological University 50 Nanyang AvenueSingapore

ISBN: (纸本)9781479946983

This paper presents a tubular linear flux-switching permanent magnet (TLFSPM) *** has an inner mover which only consists of iron core,and stator which contains the magnets and armature *** objective of this paper is to propose the TLFSPM motor design and mathematical *** motor has a smaller cogging force and force ripple,in addition,it overcome unbalanced magnetic circuit on end *** we adopt FEM,and obtained some simulation results to verify the effectiveness of this *** is shown that this motor have a higher thrust force density as compared to a fluxswitching machine equipped with a conventional configuration.

关键词： linear motors machine theory magnetic circuits magnetic flux permanent magnet motors stators armature windings inner mover iron core linear flux switching permanent magnet motor stator three-phase permanent magnet motor thrust force density tubular permanent magnet motor unbalanced magnetic circuit Coils Force Magnetic circuits Magnetic flux Permanent magnet motors Reluctance motors

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