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The Actuator Fault Estimation Using Robust Sliding Mode Observer for Linear System Applied for Mini Motion Package Electro-Hydraulic Actuator 15th

The Actuator Fault Estimation Using Robust Sliding Mode Obse...

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15th International Conference on Intelligent Computing, ICIC 2019

作者： Van Nguyen, Tan Ha, Cheolkuen Robotics and Mechatronics Lab Ulsan University Ulsan44610 Korea Republic of

ISBN: (纸本)9783030267650

In this paper presents a sliding mode observer (SMO) method to detect and isolate the actuator faults for a linear system. A proposed SMO method for the stability of the system has been derived and explained based on the Lyapunov’s stability condition and linear matrix inequality (LMI) optimization algorithm. The constraint conditions of the switch gain for the proposed SMO to obtain the error dynamic system is asymptotically stable performed. In addition, the mathematical model is constructed for the electro-hydraulic actuator (EHA). The effectiveness of the actuator fault in the proposed SMO construction has been applied for numerical simulation of the mini motion package system (MMPs). © 2019, Springer Nature Switzerland AG.

关键词： Linear systems

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The Actuator and Sensor Fault Estimation Using Robust Observer Based Reconstruction for Mini Motion Package Electro-Hydraulic Actuator 15th

The Actuator and Sensor Fault Estimation Using Robust Observ...

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15th International Conference on Intelligent Computing, ICIC 2019

作者： Van Nguyen, Tan Ha, Cheolkuen Robotics and Mechatronics Lab Ulsan University Ulsan44610 Korea Republic of

ISBN: (纸本)9783030267650

In the period of industrialization and modernization of technology 4.0. Especially applying information technology and its applications in industry in general and for industrial equipment using the hydraulic systems, in particular, are very interested. Therefore, applying the control compensation algorithm to these devices for ensuring safety and accuracy is essential. In this paper, we study the estimation process of the actuator and sensor fault. The development process consists of the following steps. First, the mini motion package electro-hydraulic actuator is formulated with actuator and sensor faults. Second, unknown input observer (UIO) is constructed to estimate the actuator and sensor faults based on Lyapunov’s stability condition and a linear matrix inequality (LMI) optimization algorithm in order to obtain the control signal error asymptotically stable. Finally, numerical simulations were run to show the effectiveness of the fault estimator. © 2019, Springer Nature Switzerland AG.

关键词： Hydraulic actuators

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Parallel manipulator architectures from CAPAMAN design

Parallel manipulator architectures from CAPAMAN design

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19th International Workshop on robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Marco, Ceccarelli LARM Lab. of Robotics and Mechatronics University of Cassino Cassino Italy

In this paper the kinematic design of CaPaMan (Cassino Parallel Manipulator) is used to deduce other new architectures for parallel manipulators through an approach that is based on kinematic inversion concept. Kinema... 详细信息

ISBN: (纸本)9781424468867

关键词： Kinematics

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Deep Learning Based Fingerprints Reduction Approach for Visible Light-Based Indoor Positioning System 16th

Deep Learning Based Fingerprints Reduction Approach for Visi...

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16th International Conference on Intelligent Computing, ICIC 2020

作者： Tran, Huy Q. Ha, Cheolkeun Robotics and Mechatronics Lab Ulsan University Ulsan44610 Korea Republic of

ISBN: (纸本)9783030607951

Received signal strength and fingerprints based indoor positioning algorithm has been commonly used in recent studies. The actual implementation of this method is, however, quite time-consuming and may not be possible in large spaces, mainly because a large number of fingerprints should be collected to maintain high positioning accuracy. In this work, we first propose the deep learning-based fingerprints reduction approach to reduce the data collection workload in the offline mode while ensuring low positioning error. After estimating the extra fingerprints using a deep learning model, these new fingerprints combine with the initially collected fingerprints to create the whole training dataset for the real estimation process. In the online mode, the final estimated location is determined using the combination of trilateration and k-nearest neighbors. The experiment results showed that mean positioning errors of 1.21 cm, 6.86 cm, and 7.51 cm are achieved in the center area, the edge area, and the corner area, respectively. © 2020, Springer Nature Switzerland AG.

关键词： Deep learning

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A noninteracting control strategy for the robust output synchronization of linear heterogeneous networks

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Control Theory and Technology 2014年第3期12卷 234-249页

作者： Saman KHODAVERDIAN Jürgen ADAMY Institute of Automatic Control and Mechatronics Control Methods and Robotics Lab Technische Universitt DarmstadtLandgraf-Georg-Str.464283 Darmstadt Germany

This paper deals with the problem of robust output synchronization for heterogeneous multi-agent systems. First, a new synchronization approach is presented to synchronize the outputs of heterogeneous agents. Based on noninteracting control techniques, a method is derived for homogenizing the input-output behavior of every agent. Hence, applying the same reference input signal to every agent leads to synchronization. Furthermore, a strategy for increasing the robustness of the synchronization process against exogenous disturbances is presented, which leads to a structurally constrained optimization problem. However, by a convenient reformulation of the problem, well established tools from robust control theory can be used. Moreover, it is shown that this procedure allows to separate the robustness issue from the synchronization task. The effectiveness of the approach is illustrated by a robust output synchronization example for a heterogeneous aircraft fleet.

关键词： Heterogeneous networks Multi-agent systems Decentralized control Robust synchronization Disturbance rejection Controller constraints and structure

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Robotic forklifts for intelligent warehouses: Routing, path planning, and auto-localization

Robotic forklifts for intelligent warehouses: Routing, path ...

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IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010

作者： Vivaldini, Kelen C. T. Galdames, Jorge P. M. Bueno, Thales S. Araújo, Roberto C. Sobral, Rafael M. Becker, Marcelo Caurin, Glauco A. P. EESC Mechatronics Lab Mobile Robotics Group São Carlos - SP Brazil

ISBN: (纸本)9781424456970

Today, robotic systems are bridging the gaps between global economy, social needs, and logistics focusing on sustainable development solutions. Everyday new robotic applications can be found in literature and media. Some of them are basically entertainment toys. Nevertheless, the great majority of them is used inside industries, performing several tasks (painting, welding, moving materials, etc.). In a scenario of global economy growth, any sustainable solution that can reduce the product final cost is welcome. This article presents researches on robotic forklifts for intelligent warehouses developed at the mechatronics lab at USP-EESC in Brazil. We show three key-routines that determine the Automated Guided Vehicle (AGV) behavior: the routing algorithm (that computes the overall task execution time and the minimum global path of each AGV using a topological map of the warehouse), the local path planning algorithm (based on A* it searches for the local minimum path between two nodes of the warehouse topological map), and an auto-localization algorithm (that applies an Extended Kalman Filter - EKF - to estimate the AGVs actual positions). In order to validate the algorithms developed, several tests were carried out using the simulation software Player/Stage. The results obtained were encouraging and the router developed was able to solve traffic jams and collisions, before sending the final paths to the robots. In a near future all algorithms will be implemented using mini- robotic forklifts and a scaled environment built in our lab. ©2010 IEEE.

关键词： Motion planning

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Control Simulation of Proportional-Integral and Sliding Mode Control for Precision Seed Planters

Control Simulation of Proportional-Integral and Sliding Mode...

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2023 International Conference on robotics and Automation in Industry, ICRAI 2023

作者： Nawaz, Yasir Qadir, Muhammad Usman Khan, Muhammad Awais Haq, Izhar Ul Shah, Kamran Khan, Tahir Advanced Robotics & Automation Lab Department of Mechatronics University of Engineering and Technology Peshawar Pakistan

ISBN: (纸本)9781665464727

The desired development and design of an electric control system (ECS) for a precision planter is one of the most crucial elements in evaluating the efficacy of applicators for plant production. The seeds would be sown using this approach. Years have been invested in the continuous development of a range of application methods and metering systems, each of which offers specific advantages for applying the required system with a high degree of precision. Researchers worldwide have been trying to make electric-driven seed meters (EDSM) for planters, but they haven't succeeded. This study looks into the current state of installing seed metering systems for precision planters. Proportional-integral (PI) and sliding mode control (SMC) designs of the control system have been implemented to improve the planting quality of the planters. We want to highlight the electrically driven control system (EDCS) using these designs. An overview of the noteworthy features and limitations of past research is given. We also discuss several future directions for future research, concentrating on the knowledge gaps in this area. © 2023 IEEE.

关键词： Sliding mode control

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Optimizing Scan Homogeneity for Building Full-3D Lidars Based on Rotating a Multi-Beam Velodyne Range-Finder

Optimizing Scan Homogeneity for Building Full-3D Lidars Base...

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2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018

作者： Mandow, Anthony Morales, Jesus Gomez-Ruiz, Jose Antonio Garcia-Cerezo, Alfonso J. Andalucía Tech Universidad de Málaga Robotics and Mechatronics Lab Malaga29071 Spain

ISBN: (纸本)9781538680940

Multi-beam lidar (MBL) scanners are compact, light, and accessible 3D sensors with high data rates, but they offer limited vertical resolution and field of view (FOV). Some recent robotics research has profited from the addition of a degree-of-freedom (DOF) to an MBL to build rotating multibeam lidars (RMBL) that can achieve high-resolution scans with full spherical FOV. In a previous work, we offered a methodology to analyze the complex 3D scan measurement distributions produced by RMBLs with a rolling DOF and no pitching. In this paper, we investigate the effect of introducing constant pitch angles in the construction of the RMBLs with the purpose of finding a kinematic configuration that optimizes scan homogeneity with a spherical FOV. To this end, we propose a scalar index of 3D sensor homogeneity that is based on the spherical formulation of Ripley's K function. The optimization is performed for the widely used Puck (VLP-16) and HDL-32 sensors by Velodyne. © 2018 IEEE.

关键词： Optical radar

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Features of real and imaginary human motor activity with EEG and fNIRS

Features of real and imaginary human motor activity with EEG...

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2020 International Conference Nonlinearity, Information and robotics, NIR 2020

作者： Grubov, Vadim Badarin, Artem Frolov, Nikita Pitsik, Elena Center for Technologies in Robotics and Mechatronics Components Innopolis University Neuroscience and Cognitive Technology Lab Russia

ISBN: (纸本)9781728187631

Experimental design for recording of EEG and fNIRS during performance of real and imaginary movement was proposed. Set of experiments was conducted in accordance with this design and obtained EEG and fNIRS dataset was analyzed. Analysis allowed to introduce certain features in time-frequency domain that can be used to separate real motor activity from motor imagery. © 2020 IEEE.

关键词： Electroencephalography

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Effect of Tine Shaped Furrow Opener on Dry Soil Using Discrete Element Modelling

Effect of Tine Shaped Furrow Opener on Dry Soil Using Discre...

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2023 International Conference on robotics and Automation in Industry, ICRAI 2023

作者： Mohiz, Abdul Nasir, Fazal E. Shah, Kamran University of Engineering & Technology Department of Mechatronics Engineering Peshawar Pakistan Advanced Robotics & Automation Lab National Center of Robotics & Automation Peshawar Pakistan

ISBN: (纸本)9781665464727

Tillage of the soil is the most important consideration when it comes to the implementation of agricultural practices. Increases in crop yield has been achieved through a variety of agricultural practices thanks to the discoveries of various agricultural experts. The planting process is the one that has the greatest impact on the crop's overall health. The hull can be more precisely prepared for the seed-planting trench with the assistance of furrows. A variety of furrow openers are currently undergoing the implantation process. Studying dynamic systems that are discontinuous in nature can be done with the help of discrete element modelling. The simulation of a tine-shaped furrow opener using the EDEM package software was carried out for three different speeds. When the speed of an object increases, so does the force it exerts on it. Additionally, the length of an object has an effect on the force it exerts. Additionally, taken into consideration were the profiles that were generated in the soil. To carry out statistical validation of the results analysis of variation (ANOVA) was done. The results provided a basis for calculating a confidence level of 95%. For the furrow openers, it was suggested that a speed of 0.495 meters per second, which is equivalent to 1.76 kilometers per hour, be used. © 2023 IEEE.

关键词： Tillage

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