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International Conference on Unmanned Aircraft Systems

作者： Kamal Saadeddin Mamoun F. Abdel-Hafez Mohammad Amin Jarrah Mechatronics Engineering Graduate Program American University of Sharjah Sharjah UAE Department of Mechanical Engineering American University of Sharjah Sharjah UAE

ISBN: (纸本)9781479908158

In this paper, a low-cost navigation system with high integrity and reliability is proposed. A high-integrity estimation filter is proposed to obtain a high accuracy state estimate. The filter utilizes a vehicle velocity constraint measurement to enhance the accuracy of the estimate. Two estimations filters, the extended Kalman filter (EKF) and the extended information filter (EIF), are designed and compared to obtain the estimate of the vehicle state. An instrumentation system that consists of a microcontroller, a GPS receiver, an IMU, velocity encoder, and a Zigbee transceiver is constructed. The microcontroller provides a vehicle navigation solution at 50 Hz by fusing the measurements of the IMU, the GPS receiver and the digital compass using the proposed filter design. Extensive experimental tests are conducted to verify the accuracy of the proposed algorithm. These results are processed with and without the velocity constraints. The estimation accuracy improvement with the addition of the velocity constraints is demonstrated. More than 16% reduction in the computational time is demonstrated when using the EIF in comparison to the EKF approach.

关键词： GPS IMU State Estimation Velocity Constraint

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Vibration Characterization Using Gaussian Laser Beam

Vibration Characterization Using Gaussian Laser Beam

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International Conference on Modeling, Simulation and Applied Optimization

作者： Naveed A. Abbasi Taha Landolsi Rached Dhaouadi Graduate Program of Mechatronics Engineering American University of Sharjah Department of Computer Engineering American University of Sharjah Department of Electrical Engineering American University of Sharjah

ISBN: (纸本)9781467358125

The objective of this research is to present a neural network based optical vibration sensor using a quad-cell photo-detector array. The proposed system uses a He-Ne laser source whose Gaussian beam impinges on the photo-detector array. The optical power distribution from the photo-detectors is fed to vibration monitoring system which maps the power distribution to the x-y position of the laser beam center. The vibration monitoring system uses artificial neural networks for function approximation to yield the correct mapping and estimate the x-y positions of the laser beam center which are then used for vibration characterization. An experimental setup of the system is developed and then trained using neural networks. The results obtained show the effectiveness of neural networks to estimate the vibration frequency and magnitude of a vibrating system.

关键词： Vibration monitoring Neural network Optical sensor Quad-cell photo detector array

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Nonlinear control for the longitudinal dynamics of a small scale helicopter

Nonlinear control for the longitudinal dynamics of a small s...

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European Control Conference (ECC)

作者： J. G. Benítez-Morales H. Rodríguez-Cortés R. Castro-Linares Education Program of Mechatronics Engineering Universidad Politécnica de Pachuca Hidalgo Department of Electrical Engineering CIN-VESTAV Distrito Federal Mexico

ISBN: (纸本)9781479901890

A nonlinear control scheme is proposed for the trajectory tracking problem of a small scale helicopter's longitudinal dynamics. The control scheme is based on a control design procedure that constructs static stabilizers for nonlinear systems which are linearizable by dynamic feedback. The flatness properties of the helicopter's longitudinal dynamics are exploited to design the desired trajectory. Sufficient conditions are given to guarantee asymptotic convergence to zero of the tracking error assuming that all the helicopter's parameters are known and that all states are measured. Numerical simulations are provided to illustrate the properties of the proposed controller.

关键词： Helicopters Rotors Vehicle dynamics Trajectory Mathematical model Tunneling magnetoresistance Equations

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Indoor robot localization by RSSI/IMU sensor fusion

Indoor robot localization by RSSI/IMU sensor fusion

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Veerachai Malyavej Warapon Kumkeaw Manop Aorpimai Department of Control Instrumentation and Mechatronics Faculty of Engineering Mahanakorn University of Technology Bangkok Thailand The Electrical Engineering Graduate Program Faculty of Engineering Mahanakorn University of Technology Bangkok Thailand

Localization is the crucial problem for mobile robot navigation. For indoor mobile robot, since a global positioning system (GPS) is incapable, another promising technique to detect the position is the received signal strength indicator (RSSI) from wireless communication. To improve the precision and robustness of mobile unit localization, an inertial measurement unit (IMU) is normally used. In this report, we propose the algorithm for mobile robot localization based on sensor fusion between RSSI from wireless local area network (WLAN) and an IMU. The proposed fusion scheme is based on the extended Kalman filter (EKF). The experiment is conducted by using mobile unit equipped with low-cost IMU and a wireless communication module together with access points to evaluate the performance of our algorithm, and the result is promising.

关键词： Robot sensing systems Noise Mobile communication Wireless communication Mathematical model Sensor fusion Kalman filters

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Characterization of the radiation pattern of antennas using time-domain spherical-multipole and moment expansion

Characterization of the radiation pattern of antennas using ...

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作者： Ramos, Glaucio L. Rego, Cássio G. Fonseca, Alexandre R. Federal University of São João Del-Rei Department of Telecommunications and Mechatronics Engineering Ouro Branco MG Brazil Graduate Program in Electrical Engineering Federal University of Minas Gerais Brazil Federal University of Minas Gerais Department of Electronic Engineering Belo Horizonte MG Brazil Federal University of Vales Do Jequitinhonha e Mucuri Department of Computing Diamantina MG Brazil

This paper presents results of a time-domain spherical-multipole near-to-far-field transformation together with a moment expansion applied to antenna radiation patterns. The equivalence principle is applied to the tangential fields all over the FDTD/WP-PML spatial grid and the use of the spherical-multipole expansion leads to the near-to-far-field transformation, and energy and power norms of temporal signals are used to obtain the antenna radiation patterns for transient and steady-state responses. Such approach is employed to obtain UWB antenna radiated fields and radiation patterns directly in time-domain, it being more convenient to perform an unified characterization in time and frequency domains. © 2013 SBMO/SBMag.

关键词： Directional patterns (antenna)

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Group Method of Data Handling for Modeling Magnetorheological Dampers

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Intelligent Control and Automation 2013年第1期4卷 70-79页

作者： Khaled Assaleh Tamer Shanableh Yasmin Abu Kheil Department of Computer Science and Engineering American University of Sharjah Sharjah United Arab Emirates Department of Electrical Engineering American University of Sharjah Sharjah United Arab Emirates Mechatronics Graduate Program American University of Sharjah Sharjah United Arab Emirates

This paper proposes the use of Group Method of Data Handling (GMDH) technique for modeling Magneto-Rheological (MR) dampers in the context of system identification. GMDH is a multilayer network of quadratic neurons that offers an effective solution to modeling non-linear systems. As such, we propose the use of GMDH to approximate the forward and inverse dynamic behaviors of MR dampers. We also introduce two enhanced GMDH-based solutions. Firstly, a two-tier architecture is proposed whereby an enhanced GMD model is generated by the aid of a feedback scheme. Secondly, stepwise regression is used as a feature selection method prior to GMDH modeling. The proposed enhancements to GMDH are found to offer improved prediction results in terms of reducing the root-mean-squared error by around 40%.

关键词： System Identification Magneto-Rheological Dampers Group Method of Data Handling Polynomial Classifier

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Virtual testing of buckling-restrained braces via nonlinear autoregressive exogenous neural networks

Virtual testing of buckling-restrained braces via nonlinear ...

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作者： Alhamaydeh, Mohammad Choudhary, Ibrahim Assaleh, Khaled Dept. of Civil Engineering American Univ. of Sharjah P.O. Box 26666 Sharjah United Arab Emirates Mechatronics Graduate Program American Univ. of Sharjah P.O. Box 26666 Sharjah United Arab Emirates Dept. of Electrical Engineering American Univ. of Sharjah P.O. Box 26666 Sharjah United Arab Emirates

An artificial intelligence model utilizing feedforward back-propagation (FFBP) and nonlinear autoregressive exogenous (NARX) artificial neural networks (ANNs) is presented to model the nonlinear behavior of buckling-restrained braces (BRBs). The NARX ANN is developed using normalized time-delayed inputs and outputs to predict normalized brace forces during load reversals. The values of brace forces are denormalized via an auxiliary FFBP ANN. The training and testing of the proposed model (i.e., the NARX and FFBP ANNs) are performed using experimental data from BRB specimens tested at the Pacific Earthquake engineering Research (PEER) Center. Experimental data from one specimen is used in the model developing (training) stage. In addition, three sets of data are used to test the model's learning and generalizing abilities. Brace deformations are used as the network input to estimate the resulting brace forces. The network performance with different parameters is evaluated to arrive at an optimized architecture that best models the phenomenon. The nonlinear hysteretic behavior predicted by the ANN model shows excellent agreement with the experimental results for the training sample. The generalization and prediction capability of the proposed model is further demonstrated by predicting the hysteretic behavior of the testing samples with noticeable accuracy. The presented model is a powerful tool for virtually testing BRB specimens. Such a tool supplements the traditionally available experimental tools for BRB performance investigation. The developed modeling technique facilitates the BRB design and performance investigation processes by minimizing the need for, and extent of, experimental testing. © 2013 American Society of Civil Engineers.

关键词： Hysteresis

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mechatronics design applied to the concept of service robot to clean storage tanks 1

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5th International Conference on Intelligent Robotics and Applications, ICIRA 2012

作者： Acuña, Hernan Gonzalez Esparza, Fausto J. Samiento Lengerke, Omar Research Group in Control and Mechatronics Mechatronics Engineering Program Universidad Autonoma de Bucaramanga Bucaramanga Colombia

ISBN: (数字)9783642335037

ISBN: (纸本)9783642335020

This paper proposes a methodology of mechatronics design applied to the concept of a service robot to clean storage tanks. Through this methodology, the system static analysis is done first, followed by dynamic analysis, and finally robot design. In some cases the cleaning process is done manually, but in tall oil tanks, workers need scaffolding or cranes. The principal, most popular cleaning method used is sandblasting, but it can give the workers health problems like acute silicosis. This is why a robot capable of working with sandblasting is proposed, changing the traditional cleaning method and improving the life quality of workers, with reduced cleaning time and improved service quality. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Tall oil

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Balancing a system using variable speed drivers

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IFAC Proceedings Volumes 2013年第7期46卷 122-127页

作者： Oliveira L. Natalia de Paula A.B. Cícero Lepikson A. Herman Post-graduation program in Mechatronics Federal University of Bahia Salvador Brazil (Tel: 71-3283-9471) Center of technological qualification in industrial automation Federal University of Bahia Salvador Brazil (Tel:71-3283-9755) Mechanical Engineering Department Federal University of Bahia Salvador Brazil

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.

关键词： Balancing system Cyclic load factor Discrete Fourier transform Variable speed drivers

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Sliding-mode control of a flexure based mechanism using piezoelectric actuators

Sliding-mode control of a flexure based mechanism using piez...

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2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012

作者： Acer, Merve Sabanovic, Asif Mechatronics Engineering Program Sabanci University Orhanli Tuzla Istanbul Turkey

ISBN: (纸本)9781457710711

The position control of designed 3 PRR flexure based mechanism is examined in this paper. The aims of the work are to eliminate the parasitic motions of the stage, misalignments of the actuators, errors of manufacturing and hysteresis of the system by having a redundant mechanism with the implementation of a sliding mode control and a disturbance observe. x-y motion of the end-effector is measured by using a laser position sensor and the necessary references for the piezoelectric actuators are calculated using the pseudo inverse of the transformation matrix coming from the experimentally determined kinematics of the mechanism. The effect of the observer and closed loop control is presented by comparing the results with open loop control. The system is designed to be redundant to enhance the position control. In order to see the effects of the redundant system firstly the closed loop control for active 2 piezoelectric actuators experiments then for active 3 piezoelectric actuators experiments are presented. As a result, our redundant mechanism tracks the desired trajectory accurately and its workspace is bigger. © 2012 IEEE.

关键词： Sliding mode control

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