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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

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.

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

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A study for estimating reaction force of robot arm by using PDSPO

A study for estimating reaction force of robot arm by using ...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Hyun Hee Kim Sun Oh Park Jin Ho Kyung Hyun Min Do Min Cheol Lee Interdisciplinary Program in Robotics Pusan National University Busan Korea School of Mechanical Engineering Pusan National University Busan Korea Department of Robotics and Mechatronics Korea Institute of Machinery and Materials Daejeon Korea

In the industrial field, assembling parts using robot arm requires force information. Some robot arms with torque sensors are commercially available, but they are difficult to use for industrial applications due to durability problems. In addition, mounting a torque sensor on the robot arm increases manufacturing costs and complicates the structure. In this study, we apply Sliding Perturbation Observer (SPO) to 7-axis robot manipulator and estimate reaction force without using torque sensor in simulation. From the estimated perturbation, it can be determined whether the end effector of the robot manipulator will crash part of the assembly.

关键词： Manipulators Service robots Robot sensing systems Collision avoidance Observers Force

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Fiber‐in‐Tube Design of Co9S8‐Carbon/Co9S8: Enabling Efficient Sodium Storage

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Angewandte Chemie 2019年第19期131卷

作者： Xiaoyan Li Kaikai Li Sicong Zhu Ke Fan Linlong Lyu Haimin Yao Yiyang Li Jinlian Hu Haitao Huang Yiu‐Wing Mai John B. Goodenough Department of Applied Physics The Hong Kong Polytechnic University Hong Kong China Institute of Textiles and Clothing The Hong Kong Polytechnic University Hong Kong China Department of Mechanical Engineering The Hong Kong Polytechnic University Hong Kong China College of Science and Key Laboratory for Ferrous Metallurgy and Resources Utilization of Ministry of Education Wuhan University of Science and Technology China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong China Centre for Advanced Materials Technology (CAMT) School of Aerospace Mechanical and Mechatronics Engineering J07 The University of Sydney Sydney NSW 2006 Australia Texas Materials Institute and Materials Science and Engineering Program The University of Texas at Austin Austin TX 78712 USA

The sodium‐ion battery is a promising battery technology owing to its low price and high abundance of sodium. However, the sluggish kinetics of sodium ion makes it hard to achieve high‐rate performance, therefore impairing the power density. In this work, a fiber‐in‐tube Co 9 S 8 ‐carbon(C)/Co 9 S 8 is designed with fast sodiation kinetics. The experimental and simulation analysis show that the dominating capacitance mechanism for the high Na‐ion storage performance is due to abundant grain boundaries, three exposed layer interfaces, and carbon wiring in the design. As a result, the fiber‐in‐tube hybrid anode shows a high specific capacity of 616 mAh g −1 after 150 cycles at 0.5 A g −1 . At 1 A g −1 , a capacity of ca. 451 mAh g −1 can be achieved after 500 cycles. More importantly, a high energy density of 779 Wh kg −1 and power density of 7793 W kg −1 can be obtained simultaneously.

关键词： Anoden Co9S8-Kohlenstoff/Co9S8 Korngrenzen Pseudokapazität Natriumionenbatterien

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Pre-emphasis, windowing and spectral estimation of silent speech signals using embedded systems

International Journal of Multimedia and Ubiquitous Engineeri...

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International Journal of Multimedia and Ubiquitous engineering 2016年第10期11卷 349-360页

作者： Góngora Velandia, Leonardo Andrés Amaya Hurtado, Dario Ramos Sandoval, Olga Lucia Mechatronics Engineering Program Faculty of Engineering Nueva Granada Military University Bogotá Colombia

The feature extraction process is the fundamental stage in the development of speech processing systems. In this paper is described the methodology and implementation of an embedded algorithm for extracting characteristic information from silent speech signals. The classical approach based on frequency representations of the signals is followed as methodology for this work. First, the acquisition stage of the silent speech signals is performed using a Non-Audible Murmur microphone and the STM32F4Discovery evaluation board. Then, the digitalized signal is filtered, segmented and normalized using the pre-emphasis and windowing steps. The magnitude spectrogram is calculated from the pre-processed signal using the Fast Fourier Transform (FFT), to finally estimate characteristic data from de silent speech signal. As result of this process, the signal characteristic parameters, defined in the frequency domain are obtained and used as elements at later stages of pattern recognition, in order to build systems of Automatic Speech Recognition (ASR), Speech Coding, Speaker Recognition, among other applications. © 2016 SERSC.

关键词： Speech processing

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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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Nucleate boiling heat transfer enhancement using nanostructured al-alloy plates 5

Nucleate boiling heat transfer enhancement using nanostructu...

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ASME 2016 5th International Conference on Micro/Nanoscale Heat and Mass Transfer, MNHMT 2016

作者： Sisman, Yagmur Sadaghiani, Abdolali Khalili Khedir, Khedir R. Karabacak, Tansel Kosar, Ali Mechatronics Engineering Program Sabanci University Tuzla Istanbul34956 Turkey Department of Physics and Astronomy University of Arkansas Little RockAR72204 United States Faculty of Engineering and Natural Sciences Sabanci University Tuzla Istanbul34956 Turkey

ISBN: (纸本)9780791849668

Bubble departure frequency and active nucleation site density are two main factors that affect the nucleate boiling heat transfer. The potential enhancement of boiling heat transfer can be accomplished by surface modification. This treatment can be realized with changing parameters such as porosity, tilting angle and cavity radius. In this study, effects of different nanostructured Aluminum-Alloy (Al-Alloy) 2024 sheets on subcooled boiling heat transfer are investigated. A simple and environmentally friendly technique is used in order to produce these plates that are immersed into boiling deionized water for 20, 60 and 120 minutes. To examine boiling heat transfer characteristics, nanostructured plates are placed inside a rectangular channel. The channel is heated through four cartridge heaters connected to a DC power supply while deionized water is pumped inside using a micro gear pump at constant mass fluxes of 50 kg/m2s, 75 kg/m2s and 125 kg/m2s. It was found that an increase in nano-structure height leads to higher boiling heat transfer coefficients. Furthermore, a high speed camera system was used to investigate flow patterns in the microchannel. Visualization results indicated that bubbles movde faster the nano-structure height increased. © 2016 by ASME.

关键词： Deionized water

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Effects of total pressure inlet distortion on transonic fan blade wake properties

Effects of total pressure inlet distortion on transonic fan ...

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ASME Turbo Expo 2016: Turbomachinery Technical Conference and Exposition, GT 2016

作者： Ferrar, Anthony M. Schneck, William Wicks, Alfred O'Brien, Walter B and e Applied Research and Science Lab Nuclear Engineering Program University of Florida GainesvilleFL United States TurboLab Department of Mechanical Engineering State University BlacksburgVA United States Mechatronics Lab Department of Mechanical Engineering State University BlacksburgVA United States

ISBN: (纸本)9780791849699

This paper presents results of an experimental investigation of the impacts of total pressure distortions on the performance of a transonic turbofan. Fan rotor response to screen-produced total pressure distortions was measured by two high-frequency response probes (Kulite sensors). These probes measured the transient flow behind the fan rotor. Ensemble averaging based on a once-per-revolution encoder enabled separation of the pressure signal into its deterministic and stochastic components. The deterministic portion of the signal provided information about the effects of the distortion on the wake structure of the individual fan blades. The stochastic component of the signal gave indications of the effects of distortion on turbulence production (and losses) in the fan. The qualitative trends provided by these high-frequency measurements show that the blade loading variations caused the wake depths and thicknesses to increase in the low pressure inlet regions. In addition, the turbulence production increased, peaking in the blade wakes. These behaviors indicate that the response of the fan was governed by a trailing edge separation that moves forward and backward on the upper blade surface in a dynamic manner. This paper also includes discussion of the challenges associated with obtaining quantitative data with this type of probe. The results were significantly affected by probe frequency response and dynamic flow angle sensitivity. Resolving the blade wake structure and turbulence information requires probe tolerance to high-gradient flows and large flow angle fluctuations, with very high frequency response. The paper incorporates a discussion of improved probe design approaches to advance future research. © 2016 by ASME.

关键词： Probes

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