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10th International Conference on Electrical and Electronics engineering, ELECO 2017

作者： Türkmen, Abdullah Korkut, M. Yusuf Erdem, Mustafa Gönül, Ömer Sezer, Volkan Mechatronics Graduate Program Istanbul Technical University Istanbul Turkey Energy Institute Istanbul Technical University Istanbul Turkey Dept. of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9786050107371

Inverted pendulum systems have an important place in practice for control problems due to their nonlinear structures. It is a very difficult task to control the orientation and speed of objects and robots which are free in three dimensions. These systems constitute the substructure of many advanced systems. Conventional actuators may not be used in such applications due to various limitations. Under these circumstances usage of reaction wheels come into prominence. Reaction wheel based systems are used for orienting, coordinating and balancing of spacecraft, transport systems, and other such systems. In this study, dual axis self-balancing reaction wheel based inverted pendulum system which is a basis for many complex systems has been designed, manufactured and controlled. © 2017 EMO (Turkish Chamber of Electrical Enginners).

关键词： Inverted pendulum

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Localization of an autonomous personnel carrying vehicle in indoor environments 17

Localization of an autonomous personnel carrying vehicle in ...

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2017 International Conference on mechatronics Systems and Control engineering, ICMSCE 2017

作者： Altuǧ, Erdinç Gelbal, Şükrü Yaren Keçeci, Emin Faruk Gültekin, Mehmet Kabil Faculty of Mechanical Engineering Istanbul Technical University Gümüşsuyu Istanbul Turkey Mechatronics Graduate Program Istanbul Technical University Gümüşsuyu Istanbul Turkey Department of Mechanical Engineering Abdullah Gül University Kayseri Turkey System Dynamics and Control Graduate Program Istanbul Technical University Gümüşsuyu Istanbul Turkey

ISBN: (纸本)9781450352079

There is an emerging need of intelligent vehicles on indoor environments such as university campuses, airports or shopping malls. These intelligent vehicles can help elderly, disabled, or people with heavy luggage. This paper describes an intelligent vehicle that can be used indoor as well as outdoor areas for this purpose. Finding the exact location for indoor robots is not an easy task, since Global Positioning System (GPS) is not available indoors. In this work onboard sensors such as motor encoder and steering-wheel encoder were used to obtain localization estimates. The errors are determined to be low even when the vehicle travels long distances. © 2017 ACM.

关键词： Vehicles

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Author Correction: Effect of de novo transcriptome assembly on transcript quantification

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Scientific reports 2019年第1期9卷 18041页

作者： Ping-Han Hsieh Yen-Jen Oyang Chien-Yu Chen Graduate Institute of Biomedical Electronics and Bioinformatics National Taiwan University Taipei 10617 Taiwan. Department of Computer Science and Information Engineering National Taiwan University Taipei 10617 Taiwan. Department of Bio-Industrial Mechatronics Engineering National Taiwan University Taipei 10617 Taiwan. chienyuchen@ntu.edu.tw. Genome and Systems Biology Program National Taiwan University and Academia sinica Taipei 10617 Taiwan. chienyuchen@ntu.edu.tw.

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

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Design, implementation and control of dual axis self balancing inverted pendulum using reaction wheels

Design, implementation and control of dual axis self balanci...

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International Conference on Electrical and Electronics engineering, ELECO

作者： Abdullah Türkmen M. Yusuf Korkut Mustafa Erdem Ömer Gönül Volkan Sezer Mechatronics Graduate Program Istanbul Technical University Istanbul TURKEY Energy Institute Istanbul Technical University Istanbul TURKEY Dept. of Control and Automation Engineering Istanbul Technical University Istanbul TURKEY

关键词： Wheels Mathematical model DC motors Gravity State feedback Torque Aluminum

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Adaptive Control for Jib Crane with Nonlinear Uncertainties

Adaptive Control for Jib Crane with Nonlinear Uncertainties

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IEEE International Conference on Control and Automation

作者： Tatsuro KUMADA Gan CHEN Isao TAKAMI Graduate Program of Mechatronics Nanzan University Department of Mechatronics Faculty of Science and Engineering Nanzan University

ISBN: (纸本)9781509017393

This paper presents a robust LQ control system with Model Reference Adaptive Control (MRAC) law for a jib crane. Our approaches show that the robust control performance is improved in the presence of nonlinear uncertainties by adding MRAC law into the usual robust control system. The proposed system is synthesized as follows. Firstly, the process to design a robust LQ controller in the framework of the redundant descriptor representation is considered. The robust LQ controller is designed for uncertainties, which can be linearly treated in controller synthesis. Secondly, the adaptive law with σ-modification is designed into the robust LQ control loop. The adaptive law is considered for nonlinear uncertainties. The feature of this study is to deal with nonlinear uncertainties, which can not be linearly treated in robust LQ controller synthesis, by adding the adaptive law. The exponential stability for the homogeneous system is analyzed through solving quadratic stability condition. Finally, the effectiveness of the proposed system is verified by comparing with the robust LQ controller without MRAC law in simulations with using the jib crane.

关键词： Robustness Friction Cranes Uncertainty Adaptation models Adaptive control Stability analysis

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ADALINE-based friction identification of a linear voice coil DC motor

ADALINE-based friction identification of a linear voice coil...

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American Control Conference

作者： M. Takrouri R. Dhaouadi Mechatronics Engineering Graduate Program College of Engineering American University of Sharjah UAE

ISBN: (纸本)9781467386838

This paper presents a nonlinear friction identification algorithm based on artificial neural networks (ANNs) for a linear positioning system. An adaptive linear neuron (ADALINE) with two different network structures is used to estimate the parameters of the system including the Coulomb friction and viscous friction coefficients. The training of the network is carried out in off-line and on-line modes. An experimental setup with a linear voice coil DC motor and a high resolution position encoder is developed to test and validate the different identification algorithms. A comparison between the ADALINE-based method and the conventional steady-state velocity-control method is made to evaluate the advantages and disadvantages of each technique.

关键词： Friction DC motors Mathematical model Force Training Neurons Steady-state DC motors friction Mathematical Model Force Steady state Functional training Neurons Coulomb friction training partnership Voice Training NETWORK STRUCTURE Coils Artificial neural networks

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Design of a modular mobile multi robot system: ULGEN (universal-generative robot)

Design of a modular mobile multi robot system: ULGEN (univer...

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Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)

作者： Hasan Ercan Pinar Boyraz Mechatronics Engineering Graduate Program Istanbul Technical University Istanbul Turkey

This paper presents a chain type, homogenous, mobile and modular multi-robot system (ULGEN) with self-assembly, self-reconfigurability, localization and high mobility capabilities. The main goal of the work is to have high maneuverable modules which can travel autonomously to explore areas individually and change their configuration when encountering obstacles. Once the optimal path is found by any of the individual modules, the whole system can re-assemble and follow that path. Five degrees of freedom and six active docking faces makes a single module adapt to different tasks, avoid obstacles, and reconfigure as a structure. A single module can achieve locomotion in crawler and differential drive modes on its wheels. The rotating central joint brings up different capabilities, such as - recovering itself when the module falls on its side, changing the locomotion type without reconfiguring the whole structure while switching from the skid-steering mode to 4-wheel steering mode or insect-like four-legged robot mode to mammal-like four-legged robot mode. In this paper, the hardware and software architectures are discussed. Locomotion types and possible configurations are modelled in a simulation environment. Finally, single module locomotion types are implemented on the prototype.

关键词： Wheels Robots Torque DC motors Connectors Sensors Self-assembly

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Effect of mouth-opening levels on sound field gain in the ear canal 45

Effect of mouth-opening levels on sound field gain in the ea...

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45th International Congress and Exposition on Noise Control engineering: Towards a Quieter Future, INTER-NOISE 2016

作者： Xiao, Jimg-Hong Yu, Jen-Fang Lee, Kun-Che Chiu, Hsiu-Hui Graduate Institute of Medical Mechatronics Chang Gung University Taiwan Taiouan Interdisciplinary Otolaryngology Laboratory Chang Gung University Taiwan Ph.D. Program in Biomedical Engineering College of Engineering Chang Gung University Taiwan

The human ear canal can become deformed when the mouth opens and closes, changing the sound field in the external auditory canal. Thus, measuring the mandibular movement trajectory may provide a reference for identifying mouth-opening levels. The human ear canal can become deformed when the mouth opens and closes, changing the sound field in the external auditory canal. Thus, measuring the mandibular movement trajectory may provide a reference for identifying mouth-opening levels. The K7 system and a Frye Fonix 7000 sensor were used to perform several measurements of mouth-opening and -closing to obtain the mean maximal mouth opening level. The mandible was fixed at the 1/3, 2/3, and maximal mouth-opening levels. Subsequently, a 65-dB sweep tone, which is the sound pressure level of people talking at a normal level, was adopted as the sound stimulus to measure sound fields at 5, 10, 15, and 20 mm from the entrance of the external auditory canal. The stimulus frequencies of 200, 500, 1000, 2000, 4000, 6000, and 8000 Hz were noted. The differences in sound field gains at depths of 5, 10, 15, and 20 mm were analyzed for the various mouth-opening levels. The results show that except for the 1.70-dB decrease at a depth of 5 mm with an 8000-Hz stimulus frequency, the differences at the other depths and stimulus frequencies were within 1 dB. Thus, the mouth-opening levels will influence the gain in ear canal. © 2016, German Acoustical Society (DEGA). All rights reserved.

关键词： Acoustic fields

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Robust control of active suspension to improve ride comfort with structural constraints

Robust control of active suspension to improve ride comfort ...

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International Workshop on Advanced Motion Control (AMC)

作者： Fumiaki Yamada Kohei Suzuki Tatsuo Toda Gan Chen Isao Takami Faculty of Science and Engineering Nanzan University Aichi Japan Graduate Program of Mechatronics Nanzan University

This paper proposes the robust H2 controller with constraints for the active suspension using the half car model. The purpose of this study is to improve the ride comfort with satisfying the structural constraints. According to International Organization for Standardization 2631, there exist the uncomfortable frequency bands of the human body. The uncomfortable frequency bands are 4–8[Hz] for the vertical acceleration and 0.63–0.8[Hz] for the pitch angular acceleration. In this paper, the acceleration in the specific frequency bands is suppressed by using frequency shaping. On the other hand, the active suspension has the structural constraints which are constraints on the vertical force of the wheel, the suspension stroke, and the control input. They are expressed as the time-domain constraints. In addition, the robust stability for the perturbation of the front and rear weights of the car body is guaranteed. The perturbation of the weights of the car body affects the pitch motion of the car body and the vertical force of the wheels. The robust stability for the perturbation is guaranteed by using the polytopic representation. The robust H2 controller is designed by solving a finite set of LMIs to achieve the purposes. The effectiveness of proposed controller is evaluated by simulations and experiments.

关键词： Suspensions Wheels Acceleration Force Robustness Mathematical model Robust stability

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Manufacturing and flight tests of a quadrotor UAS with tiltable rotors

Manufacturing and flight tests of a quadrotor UAS with tilta...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： A. Fatih Şenkul Ş. Yaren Gelbal Erdinç Altuğ Mechatronics Graduate Program İstanbul Technical University İstanbul Turkey Department of Mechanical Engineering İstanbul Technical University İstanbul Turkey

Multi-rotor air vehicles are controlled by varying the rotor speeds. The variation of the rotor speeds enable the altitude change, yaw motion as well as pitch and roll motions of the vehicle. Pitch and roll motion leads to translation motions along x and y axes. When the air vehicle is used for surveillance type missions, the tilting of the vehicle is not desired, since the camera will also be tilted with the vehicle as it moves. In this work, the design and manufacturing of a quadrotor with tiltable rotors that can move without tilting the vehicle has been described. Firstly the proposed system has been designed, and then it was manufactured. The rotor tilting amount is measured with an IMU, and the required value can be set with two servos for each rotor. Successful experiments show the benefits of the proposed system over regular multi-rotor vehicles.

关键词： Rotors Vehicles Actuators Brushless DC motors Sensors

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