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State Estimation for a Small Scale Flybar-less Helicopter

Procedia Technology 2014年 15卷 258-267页

作者： Mohammad Al-Sharman Mamoun Abdel-Hafez Muhannad Al-Omari Mechatronics graduate program American university of Sharjah Sharjah P.O. Box 26666UAE Department of mechatronical engineering American university of Sharjah Sharjah P.O. Box 26666UAE

Unmanned helicopters have been used extensively in the last few decades as a research platform for different applications. Flybarless, single-rotor helicopters are famous for their increased agility and high maneuverability, which makes them a suitable platform for many challenging applications. This paper is concerned with the problem of attitude and flapping angles estimation of a flybar-less small scale single rotor helicopter. A nonlinear model for the Maxi Joker 3 helicopter is used to simulate test data. A Kalman filter is designed and implemented to estimate both the attitude and the flapping angles of the helicopter. Results are shown at the end of the paper to validate the performance of the proposed approach.

关键词： UAV Small Scale Flybar-less Helicopter Attitude Estimation Kalman Filter Flapping Angles Estimation.

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Proposed surface to air anti stealth technology for homeland security

Proposed surface to air anti stealth technology for homeland...

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International Conference on engineering and Technology (ICET)

作者： Marwa A. El Diwiny El-Sayed Hassanen Abou-Hashema M. El-Sayed G. Abouelmagd Mechatronics and Industrial Robotics Program Faculty of Engineering Minia University EI Minia Egypt Electrical Engineering Department Faculty of Engineering Minia University EI Minia Egypt Electrical Engineering Department Faculty of Engineering Aswan University Aswan Egypt Minia University El Minia EG

This paper handles a proposed algorithm of surface to air anti stealth technology for homeland security. The paper approach is anti stealth theory and it's application by using fuzzy logic control. the anti stealth is done by exposing stealth EM 3500 wave absorber with non lethal pulsed ND YAG 532 then the electric permittivity enhanced and consequently reflection. The application of surface to air is done by determining important parameters as the borders range and creating virtual shape of laser beam hunter for the target through expecting it's degree of freedom in the free space, fuzzy logic control can control the proposed system by inserting expected range of laser hunter beams finally the desired angle can be obtained for get more contact points on it's surface to be visible of microwave radar.

关键词： Aircraft Reflection Permittivity Materials Impedance Lasers

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A wearable mechatronic brace for arm rehabilitation

A wearable mechatronic brace for arm rehabilitation

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： T. Desplenter A. Kyrylova T. K. Stanbury A. Escoto S. Chinchalkar A. L. Trejos Department of Electrical and Computer Engineering Western University (Western) London ON Canada Biomedical Engineering Program at Western Mechatronics Engineering Program at Western Department of Electrical and Computer Engineering at Western Lawson Health Research Institute London ON Canada Division of Hand Therapy Hand and Upper Limb Centre London ON Canada Department of Electrical and Computer Engineering at Western Lawson Health Research Institute

In recent years, the possibility of using smart technologies to enhance rehabilitative therapies has become a reality. Smart technologies can adjust their functionality based on real-time performance to provide the most effective therapy. This paper presents the design, development and testing of a wearable mechatronic brace created to assist in upper limb rehabilitation. The purpose of the smart brace is to provide safe therapy of musculoskeletal disorders, in particular brachial plexus injuries. A control system has been developed that facilitates the retraining of the biceps for individuals who have suffered brachial plexus nerve damage. Electromyography (EMG) data for flexion and extension of the elbow were recorded from three healthy subjects and used to scale velocity profiles. The experiments assessed the performance of the smart brace in its ability to reproduce a motion, to compensate for the effect of muscle disability and to detect fatigue. The results showed that the control system was able to adjust velocities to accommodate for disability or fatigue. This initial implementation provides a control model and logic from which the brace can be improved. Future testing of the brace using subjects with a brachial plexus injury will help solidify the techniques used for brace control.

关键词： Electromyography Fatigue Elbow Brachytherapy mechatronics Muscles

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New Anti stealth technology for safe piloting of the unmanned aerial vehicle

New Anti stealth technology for safe piloting of the unmanne...

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IEEE International Conference on mechatronics and Automation

作者： Marwa A. El Diwiny El-Sayed Hassanen Abou-Hashema M. El-Sayed G. Abouelmagd Mechatronics and Industrial Robotics Program Minia University El Minia El Minia Egypt Electrical Engineering Department Minia University El Minia El Minia Egypt Electrical Engineering Department Aswan University Aswan Egypt Production Engineering and Design Department Minia University El Minia El Minia Egypt

This research handles a proposed technology in the defense and security system is Anti stealth technology, This technology supposes increasing radar cross section (RCS) of the stealth system by increasing relative permittivity ε' and decreasing attenuation ε" consequently loss tangent tan(δ e ). Non lethal pulsed ND YAG 532nm laser is the proposed solution for enhancing stealth EM 3500 wave absorber's relative permittivity. This research handles a probabilistic Algorithm for detecting stealth target by using neural network as future implementation for Anti stealth technology.

关键词： Laser beams Materials Permittivity Aircraft Radar Masers Laser applications

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Hybrid Force-Position Control Three Fingers end Effector

Hybrid Force-Position Control Three Fingers end Effector

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2013 International Conference on Microtechnology and MEMS(ICMM 2013)

作者： Vladimir Prada Jiménez Oscar Fernando Avilés Sánchez Mauricio Felipe MauledouxMonroy Mechatronics Engineering Program.Militar Nueva Granada University

This paper describes the implementation of a hybrid controller to an end effector of threefingers,each finger with two degrees of freedom(2 DOF).Since the mobility of each phalanx showsthe workspace by *** is presented which includes the kinematics and dynamics offector and implementation of force-position hybrid *** are presented to validatethe behavior of the finger and the controller in Matlab Simulink.

关键词： Control Dynamics GDL Hybrid Kinematics Modeling Position Robotics Simulation Strength

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Dynamic analysis of the proton exchange membrane fuel cell

Dynamic analysis of the proton exchange membrane fuel cell

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2nd International Conference on engineering and Technology Innovation 2012, ICETI 2012

作者： Tseng, Jung-Ge Hsiao, Der Ren Huang, Bo Wun Bachelor Program of Medical Engineering Cheng Shiu University Kaohsiung Taiwan Department of Technology Education National Science And Technology Museum Kaohsiung Taiwan Graduate Institute of Mechatronics Engineering Cheng Shiu University Kaohsiung Taiwan

ISBN: (纸本)9783037856123

Hydrogen energy fuel cell is one of the clean/green energy solutions for the environmental pollution, global warming, and petroleum energy shortage. This study investigates the dynamic characteristic of the green hydrogen energy fuel cell: Proton Exchange Membrane Fuel Cell (PEMFC). PEMFC has been adopted to be the power supplier of the vehicle, small train, etc. A lot of researchers aim on pure electrical property analysis. However, to put PEMFC power system on the road, some mechanical properties of the system should also been examined. In this paper, the dynamic characteristic of a single PEMFC is studied. A single PEMFC is set up and measured for the time and frequency response. Several fundamental modes are found experimentally which should be avoided during operation period of PEMFC especially in a moving vehicle. © (2013) Trans Tech Publications, Switzerland.

关键词： Frequency response

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Vibration suppression in elastic drive systems using the immersion and invariance methodology

Vibration suppression in elastic drive systems using the imm...

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International Conference on Electric Power and Energy Conversion Systems (EPECS)

作者： Irfan Ullah Khan Rached Dhaouadi Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE

This paper presents a new robust control methodology to suppress the torsional vibrations in flexible drive systems. The position control of a nonlinear Two-Mass-Model system (2MM) is designed using the Immersion and Invariance approach. First, appropriate mapping functions are derived to convert the total nonlinear 2MM system into an equivalent reduced order system with rigid dynamics. This reduced order system is used as a target system to design a position controller, which is based on the standard PI type control technique. Next through immersion and invariance, the reduced order controller is applied to the nonlinear 2MM system to suppress the torsional vibrations and yield an over-damped response similar to the target system. The control law derivation and stability analysis of the target system are described and discussed. Simulation and experiments using a 2MM drive system are used to validate the proposed control methodology.

关键词： Vibrations Robustness Servomechanisms Joints

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Modeling and simulation of levitating ball by electromagnet using bond graph 1

Modeling and simulation of levitating ball by electromagnet ...

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1st International and 16th National Conference on Machines and Mechanisms, iNaCoMM 2013

作者： Mishra, Anand Kumar Raina, Rashmi Bahaduryadav, Sher Verma, Alok Sarangi, Somnath Saha, Anubhuti Mechatronics Program Indian Institute of Technology Patna Patna India Department of Electrical Engineering Indian Institute of Technology Patna Patna India Department of Mechanical Engineering Indian Institute of Technology Patna Patna India Department of Electrical Engineering Sikkim Manipal University Sikkim India

Magnetic Levitation has been a keen area of research, especially in the field of automotive where low losses due to friction and low energy consumption are important considerations. This paper offers the theoretical and experimental idea of the magnetic force control in the magnetic levitation system using the bond graph modeling approach considering the nonlinearities. The corresponding levitation apparatus comprises of an electromagnet, a ferroelectric material base, a steel ball and position sensors. The force generated by the electromagnet causes the levitation action over the ball by balancing the gravitational force exerted on the ball. The present work describes the linear and nonlinear model using signal flow graph and bond graph approach. Transfer function of the setup is obtained using signal flow graph and correspondingly the balancing action of the ball at its levitating position is performed using a PID controller. Lastly the overall system stability is validated using root locus approach.

关键词： Magnetic levitation

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Balancing a system using variable speed drivers

Balancing a system using variable speed drivers

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11th IFAC Workshop on Intelligent Manufacturing Systems, IMS 2013

作者： Natalia, Oliveira L. Cícero, De Paula A.B. Herman, Lepikson A. Post-Graduation Program in Mechatronics Federal University of Bahia Salvador Brazil Center of Technological Qualification in Industrial Automation Federal University of Bahia Salvador Brazil Mechanical Engineering Department Federal University of Bahia Salvador Brazil

ISBN: (纸本)9783902823335

Unbalanced mechanical systems are always of great concern to engineers because of, the implications on the reliability of the systems. This paper presents two approaches to handling the problem in mechanical systems equipped with electrical motors driven by variable speed drivers. The two methods are able to verify the imbalance of the system based on the cyclic load factor (CLF) and on the discrete Fourier transform (DFT), both using the torque signal obtained from the drive. Algorithms were developed to obtain the necessary parameters from the drive and then converted into ladder programs able to be embedded in the drivers so that real time balancing control can be achieved. Experimental results demonstrate the possibility of assisting the balancing of mechanical systems based on the developed algorithms. Among the advantages of maintaining a balanced system using the present approach is preventing equipment wear, increasing the useful life and reducing maintenance costs. © 2013 IFAC.

关键词： Discrete Fourier transforms

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Potential of standardization and certification for successful lean implementations

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Journal of Enterprise Transformation 2013年第3期3卷 211-232页

作者： Degirmenci, Tamer Yegul, Mustafa Fatih Erenay, Fatih Safa Striepe, Soeren Yavuz, Mustafa Program Management Department Bursa Eskisehir Bilecik Development Agency (BEBKA) Bursa Turkey Department of Mechanical and Mechatronics Engineering University of Waterloo Waterloo ON Canada Department of Management Sciences University of Waterloo Waterloo ON Canada Business Unit Magna E-Car Systems Aurora ON Canada

A successful lean implementation is the key for lean enterprise transformation. However, many companies are struggling to change the culture in their system and are having problems in adapting lean principles. In this article, we discuss whether lean standardization and professional lean certification (LS&C) has the potential to promote successful lean implementation leading to a lean enterprise transformation. For this purpose, we first analyzed the concepts of LS&C and reviewed the existing ones, including J4000 through literature review and personal communications with lean experts. We also conducted a survey among lean professionals to get feedback about their attitudes toward LS&C. The survey results suggest that there is significant support for LS&C, as around 60% of the survey attendants believe LS&C would eliminate problems in implementing lean principles. However, the awareness of existing standards among lean practitioners is very low, which indicates the need for development of new lean standards and/or better promotion. Our survey results also suggest that the level of support for lean standardization depends on many factors, including positions of the professionals and extent of companies’ lean experience. © IIE, INCOSE.

关键词： Awareness of lean standardization Lean standards and certification SAE J4000 Significance analysis Successful lean implementation Survey analysis

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