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International Symposium on mechatronics and its Applications

作者： Wasim M. F. Al-Masri Mamoun F. Abdel-Hafez Ayman El-Hag Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE Department of Mechanical Engineering American University of Sharjah Sharjah UAE Department of Electrical Engineering American University of Sharjah Sharjah UAE

ISBN: (纸本)9781467377980

We present a new method to accurately locate partial discharge by using a sequential fault detection and identification (FDI) algorithm for detecting a bias fault in the measurements of partial discharge in transformer insulation system using acoustic signals. In this paper, a novel technique is proposed to identify the possibility of measurement errors generated from acoustic emission sensors during partial discharge localization inside a transformer tank. The technique probabilistically detects and identifies possible bias on the sensors' measurement. This bias is possibly caused by sensor's fault, sensor's aging, or proximity of the PD to a certain sensor in comparison to other sensors. Correct detection of sensors' measurement bias enables high accuracy PD localization as will be demonstrated in this paper. The accuracy and convergence characteristics of the proposed algorithm are verified in a simulation environment. This study is tremendously important for scheduling and starting maintenance/repair actions cost and time efficiently or to perform a risk analysis.

关键词： PD FDI Power Transformers

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Visualization and image processing of spray structure under the effect of cavitation phenomenon

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Journal of Physics: Conference Series 2015年第1期656卷

作者： M Ghorbani G Alcan D Yilmaz M Unel A Kosar Mechatronics Engineering Program Faculty of Engineering and Natural Sciences Sabanci University Orhanli Tuzla Istanbul Turkey Manufacturing Systems Program Faculty of Engineering and Natural Sciences Sabanci University Orhanli Tuzla Istanbul Turkey

This paper presents visualization and image processing of spray structure affected by cavitation bubbles and cavitating flow patterns. Experiments were conducted for a better understanding of cavitation and resulting flow regimes. Cavitation is generated with sudden pressure drop across a 4.5 mm long short micro-channel with an inner diameter of 152 μm connected to the setup using proper fittings. Generated cavitation bubbles and fluid flow patterns were observed by using a high speed camera. The spray structure was observed in four different segments and mainly the droplet evaluation in the lower segments for low upstream pressures was analyzed using several image processing techniques including contrast adjustments and morphological operators. Moreover, fluid flow regimes for different upstream pressures were investigated, and the flow patterns were analyzed in the separated regions of the spray.

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Decentralized cooperative control technique for non-holonomic mobile formation

Decentralized cooperative control technique for non-holonomi...

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International Congress of engineering mechatronics and Automation (CIIMA)

作者： Manuel Alejandro Molina Villa Leonardo Enrique Solaque Guzman Adriana Riveros Guevara Nelson Fernando Velasco Toledo Mechatronics Engineering Program Universidad Militar Nueva Granada Bogotá Colombia

This paper presents the design of a decentralized cooperative control law that allows a mobile robot group to establish and maintain a specific geometry formation while the robots moves along a predefined trajectory. The leader-follower approach control strategy was implemented, because this method specifies a unique reference to lead the group. As a result of the research, it was proved a cooperative control system that permits a set of robots to keep one specific formation while the group performs a predetermined mission. This control system helps to avoid obstacles; furthermore, it permits to modify the formation or make roles changes inside the group. Finally, this control system was checked in simulation and subsequently it was implemented in a real set of robots.

关键词： Mobile robots Trajectory Lead Robot kinematics Mathematical model

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A modified gravitational search algorithm for continuous optimization 14

A modified gravitational search algorithm for continuous opt...

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16th Genetic and Evolutionary Computation Conference Companion, GECCO 2014 Companion

作者： De, Emerson Hochsteiner Segundo, Vasconcelos Neto, Gabriel Fiori Da Silva, Andre Mendes Mariani, Viviana Cocco Dos Santos Coelho, Leandro Mechanical Eng. Grad. Program Pontifical Catholic University of Parana Curitiba PR Brazil Curitiba PR Brazil Mechatronics Engineering Undergraduate Program Pontifical Catholic University of Parana Curitiba PR Brazil Mechanical Engineering Graduate Program Pontifical Catholic University of Parana and Electrical Engineering Federal University of Parana Curitiba PR Brazil Industrial and Systems Eng. Graduate Program Pontifical Catholic University of Parana and Electrical Engineering Federal University of Parana Curitiba PR Brazil

ISBN: (纸本)9781450328814

The gravitational search algorithm (GSA) is a stochastic population-based metaheuristic inspired by the interaction of masses via Newtonian gravity law. In this paper, we propose a modified GSA (MGSA) based on logarithm and Gaussian signals for enhancing the performance of standard GSA. To evaluate the performance of the proposed MGSA, well-known benchmark functions in the literature are optimized using the proposed MGSA, and provides comparisons with the standard GSA.

关键词： Optimization

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Design and implementation of elctronic aid to blind's cane

Design and implementation of elctronic aid to blind's cane

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International Congress of engineering mechatronics and Automation (CIIMA)

作者： Luis Nieto Carlos Padilla Mauricio Barrios Mechatronics Engineering Program Universidad Autónoma Del Caribe Barranquilla Colombia

This paper shows the design of an electronic device which was developed to suit a white cane or Hoover cane in order to provide an intelligent assistant for blind people. This device has a haptic interface, which establishes communication with blind people through the touch by the use of vibrations of a motor. To get data from the environment to the microcontroller, an array of proximity sensors is used. The device is designed to be an embedded ergonomic module. The designed device exhibited a high efficiency at detecting obstacles, which offers reliability and confidence to blind people.

关键词： Visualization Temperature measurement Temperature sensors Microcontrollers Prototypes Acoustics

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Bat-inspired optimization approach applied to Jiles-Atherton hysteresis parameters tuning 14

Bat-inspired optimization approach applied to Jiles-Atherton...

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16th Genetic and Evolutionary Computation Conference Companion, GECCO 2014 Companion

作者： Dos Santos Coelho, Leandro Da Silva, Andre Mendes Mariani, Viviana Cocco Batistela, Nelson Jhoe Ayala, Helon Vicente Hultmann Leite, Jean Vianei Industrial and Systems Eng. Grad. Program Pontifical Catholic University of Parana and Electrical Engineering Federal University of Parana Curitiba PR Brazil Mechatronics Eng. Undergraduate Program Pontifical Catholic University of Parana Curitiba PR Brazil Mechanical Eng. Grad. Program Pontifical Catholic University of Parana and Electrical Engineering Federal University of Parana Curitiba PR Brazil Florianopolis SC Brazil Curitiba PR Brazil

ISBN: (纸本)9781450328814

Recently, it was proposed a new metaheuristic optimization approach namely bat algorithm (BA), which is based on the fascinating capability of microbats in to find their prey and discriminate different types of insects even in complete darkness. In this paper, we introduce a novel enhanced hybrid approach combining BA with a mutation style operator from differential evolution and beta probability distribution (BADEBD) and report its performance on to identification of the 10 hysteresis parameters for the 2-dimensional Jiles-Atherton hysteresis modeling to a material under rotational excitation. Compared with the classical BA, the proposed BADEBD performs better in terms of the solution accuracy and the convergence rate.

关键词： Hysteresis

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Nonlinear Control of Quadrotor Using Multi Lyapunov Functions

Nonlinear Control of Quadrotor Using Multi Lyapunov Function...

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American Control Conference

作者： Aydin Yesildirek Bara Imran Department of Electrical Engineering American University of Sharjah UAE Mechatronics Graduate Program American University of Sharjah UAE

ISBN: (纸本)9781479932757

A nonlinear control algorithm is given for a class of quadrotors operating in small angles. The control of 6-DOF moving platform using only four actuators results in an under-actuated control system. In order to transform the dynamics in affine form, an additional constraint is applied on the actuation mechanism that reduces the independent control signals even further. In this paper, the system is decomposed in to three fully actuated subsystems;in pitch, roll and yaw domains. Local subcontrollers are designed using partial feedback linearization. The proposed multi Lyapunov function based switching control algorithm is employed to achieve tracking of Cartesian space motion and the heading angle of the quadrotor. Local stability of the closed-loop system is shown in the flight region of interest. The performance of the proposed controller is illustrated to follow a desired position, velocity and the heading angle of quadrotor.

关键词： Rotors Switches Aerospace electronics Lyapunov methods Vectors Trajectory

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Development of an application for performing the subclavian central venous access on neonates

Development of an application for performing the subclavian ...

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IEEE Games Media Entertainment (GEM)

作者： Nichole Dzeka-Lozano Natalie Higuera-Burgos Lizeth Vega-Medina Alvaro Uribe-Quevedo Byron Perez-Gutierrez Gerardo Tibamoso Multimedia Engineering Program Mil. Nueva Granada University Bogota Colombia Mechatronics Engineering Program Mil. Nueva Granada University Bogota Colombia Industrial Engineering Program Mil. Nueva Granada University Bogota Colombia

The Central Venous Access (CVA) is an invasive technique practiced in adults, children and neonates for supplying necessary nutritional solutions or medication. The procedure is mastered through practice and its incorrect or poor execution may lead to health risks such as infections, pneumothorax and even death. To develop the required skills for performing this procedure, teachers and students rely on common and traditional tools such as books, videos and multimedia content, complementing when available with hands-on practices on CVA simulators, however, the skills are fully developed through practice by performing the procedure on patients when sufficient knowledge has been proved and certified. This project addresses the limitations of traditional means of study for CVA by presenting an application for learning and practicing the subclavian procedure in neonates by presenting three modules: informative, evaluation and exploration, for assessing the student progress, while providing feedback in the form of scores and badges. The application uses virtual 3D models, animation and hypertext for providing context while allowing the exploration of the scenario. The goal of this application is to serve as a complimentary studying tool for the development of knowledge and skills related to the CVA technique with virtual reality.

关键词： Pediatrics Catheters Three-dimensional displays Solid modeling Games Educational institutions Virtual reality

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Dynamic model of the suspension of a crawler type robot

Dynamic model of the suspension of a crawler type robot

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International Congress of engineering mechatronics and Automation (CIIMA)

作者： Leonardo Enrique Solaque Maria Ines Jaramillo Jhonnatan Eduardo Zamudio Diego Alejandro Patiño Mechatronics Engineering Program University Militar Nueva Granada Bogotá D.C Colombia Pontificia Universidad Javeriana Bogota CO

This paper describes the mathematical model of the suspension of a robot traction of crawler type, in order to reduce mechanical vibrations caused by operation of the motors and overcoming obstacles in a path. The analysis in reference becomes relevant to the extent that the mechanical vibrations generated damage to the structure and electronic elements in this when the natural frequency of them is reached. The mathematical model of the suspension is based on the Newton-Euler method, which allows to obtain the differential equations conformed by forces and torques acting on the robot in motion. The robot in question, has an additional degree of freedom because the caterpillars are not fixed to 90 degrees, but can have a different angle of opening. As a result of analysis and mathematical model, the constants of elasticity and damping are adjusted so that the system acquires a response, such that the sprung mass has a minor impact on the vibrations generated in the distance covered.

关键词： Robots Mathematical model Suspensions Analytical models Crawlers Vehicle dynamics Equations

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Optimal Maintenance Time under Imperfect Preventive Maintenance 2

Optimal Maintenance Time under Imperfect Preventive Maintena...

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2nd International Conference on Vulnerability and Risk Analysis and Management, ICVRAM 2014 and the 6th International Symposium on Uncertainty Modeling and Analysis, ISUMA 2014

作者： Coque, M.A. Souza, G.F.M. Mechanical Engineering Graduate Program University of São Paulo Cidade Universitária São Av Prof. Mello Moraes São Paulo SP2231 Brazil Mechatronics and Mechanical System Engineering Department University of São Paulo Cidade Universitária Av Prof Mello Moraes São Paulo SP2231 Brazil

ISBN: (纸本)9780784413609

The preventive maintenance (PM) is scheduled periodically to restore the system condition. However, PM activities cannot generally restore the system to as good as new condition but in an intermediate situation, which is called imperfect PM. The PM interval optimization is useful for improving system reliability. A popular approach to optimization interval is minimizing the maintenance costs. The goal of this work is to obtain optimal PM intervals that minimize expected cost considered PM imperfect, in other words we obtain the optimal PM intervals assuming that the PM action restores the system operating state to be somewhere between as good as new and as bad as old. The results are applied in a real data and the PM is maintained at a decreasing sequence of intervals, which is more practical since most systems need more frequent maintenance with increased usage and age. Furthermore consider a wrong PM perfect hypotheses increase the maintenance cost substantially. © 2014 American Society of Civil Engineers.

关键词： Preventive maintenance

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