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Optimal tracking control for underactuated airship

Journal of engineering and Applied Science 2024年第1期71卷 2页

作者： Atyya, Mohamed ElBayoumi, Gamal M. Lotfy, Mohamed Mechatronics Engineering Department Faculty of Media Engineering and Technology German University in Cairo New Cairo11865 Egypt Aerospace Engineering Department Faculty of Engineering Cairo University Giza12613 Egypt

A non-linear mathematical model of underactuated airship is derived in this paper based on Euler-Newton approach. The model is linearized with small disturbance theory, producing a linear time varying (LTV) model. The LTV model is verified by comparing its output response with the result of the nonlinear model for a given input signal. The verified LTV model is used in designing the LQT controller. The controller is designed to minimize the error between the output and required states response with acceptable control signals using a weighted cost function. Two LQT controllers are presented in this work based on two different costates transformations used in solving the differential Riccati equation (DRE). The first proposed assumption of costates transformation has a good tracking performance, but it is sensitive to the change of trajectory profile, whereas the second one overcomes this problem due to considering the trajectory dynamics. Therefore, the first assumption is performed across the whole trajectory tracking except for parts of trajectory profile changes where the second assumption is applied. The hybrid LQT controller is used and tested on circular, helical, and bowed trajectories. The simulation assured that the introduced hybrid controller results in improving airship performance. © 2023, The Author(s).

关键词： Airships

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Intelligent inspection system framework for surface damage mitigation of large-aperture optics 11

Intelligent inspection system framework for surface damage m...

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Optical Metrology and Inspection for Industrial Applications XI 2024

作者： Yin, Zhaoyang Zhao, Linjie Li, Tianyuan Zhang, Tianhao Cheng, Jian Chen, Mingjun School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781510682108

Micron-level surface damages can seriously affect the optical and mechanical properties of large-aperture optics, so it is of great significance to perform high-precision inspection and mitigation of surface damages. Surface micro-damages are not only multi-category but also randomly distributed on the optics. Manual inspection and mitigation are not only time-consuming but also difficult to ensure the accuracy and reliability of mitigation, so it cannot meet the engineering requirements for large-volume mitigation of optics. In order to solve this problem, an intelligent inspection system framework for optics surface damage mitigation is proposed in this paper. The inspection system consists of an optics surface ranging fitting module, a dark-field rapid inspection module, and a multi-illumination micro-inspection module. Based on the above modules, a damage inspection process flow is established, including automatic alignment of optics surface, rapid dark-field inspection of flaws with large field of view, microscopic precision inspection of damages with small field of view, automatic configuration and execution of damage mitigation strategies, and quality control of mitigation structure. In order to realize the above flow, a predictive model library related to damage inspection is constructed, including: a dark field classification and size calibration model, a microscopy multi-classification model, and a mitigation quality inspection model. The automation and intelligence of the process flow is achieved by replacing the manual decision-making process with predictions from the model library. Based on the proposed framework, the working principle and workflow of the damage intelligent inspection system are explained, and the inspection efficiency and automation level of the system are evaluated in this paper. The intelligent inspection system framework proposed in this paper can provide technical support for future high-volume mitigation of large-aperture optics.

关键词： Inspection equipment

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Fuzzy-Based Bioengineering System for Predicting and Diagnosing Diseases of the Nervous System Triggered by the Interaction of Industrial Frequency Electromagnetic Fields

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Critical Reviews in Biomedical engineering 2024年第5期52卷 1-16页

作者： Korenevskiy, Nikolay A. Al-Kasasbeh, Riad Taha Krikunova, Evgenia A. Rodionova, Sofia N. Shaqdan, Ashraf Al-Habahbeh, Osama M. Filist, Seregy Alshamasin, Mahdi Salman Khrisat, Mohammad S. Ilyash, Maksim South-West State University Kursk Russia Department of Mechatronics Engineering School of Engineering The University of Jordan Amman Jordan Zarqa University Zarqa Jordan Department of Mechatronics Engineering Faculty of Engineering Technology Al-Balqa Applied University Amman Jordan ITMO University Kronverksky St. Petersburg Russia

The study aims to enhance the standard of medical care for individuals working in the electric power industry who are exposed to industrial frequency electromagnetic fields and other relevant risk factors. This enhancement is sought through the integration of fuzzy mathematical models with contemporary information and intellectual technologies. The study addresses the challenges of forecasting and diagnosing illnesses within a specific demographic characterized by a combination of poorly formalized issues with interconnected conditions. To tackle this complexity, a methodological framework was developed for synthesizing hybrid fuzzy decision rules. This approach combines clinical expertise with artificial intelligence methodologies to promote innovative problem-solving strategies. Additionally, the researchers devised an original method to evaluate the body’s protective capacity, which was integrated into these decision rules to enhance the precision and efficacy of medical decision–making processes. The research findings indicate that industrial frequency electromagnetic fields contribute to illnesses of societal significance. Additionally, it highlights that these effects are worsened by other risk factors such as adverse microclimates, noise, vibration, chemical exposure, and psychological stress. Diseases of the neurological, immunological, cardiovascular, genitourinary, respiratory, and digestive systems are caused by these variables in conjunction with unique physical traits. The development of mathematical models in this study makes it possible to detect and diagnose disorders in workers exposed to electromagnetic fields early on, especially those pertaining to the autonomic nervous system and heart rhythm regulation. The results can be used in clinical practice to treat personnel in the electric power industry since expert evaluation and modeling showed high confidence levels in decision-making accuracy. © 2024 by Begell House, Inc.

关键词： Artificial intelligence

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Research on Autonomous Mobile Robot Path Planning Based on Improved A* Algorithm 7

Research on Autonomous Mobile Robot Path Planning Based on I...

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7th International Conference on Advanced Electronic Materials, Computers, and Software engineering, AEMCSE 2024

作者： Niu, Jigao Kou, Xiaohui Xu, Chunhua School of Mechatronics Engineering Zhongyuan University of Technology Zhenzhou450001 China

ISBN: (纸本)9781510681866

In order to address the issue of optimal pathfinding in autonomous mobile robot navigation, an improved path planning scheme based on the traditional A* algorithm is proposed. Firstly, aiming at the problem of collision and low planning search efficiency in traditional A* algorithm, a safety distance is set, and the Euclidean distance calculation method is selected in the heuristic function, constructing a cost function with dynamically adjustable heuristic function weights. Secondly, to smooth out the non-smooth paths generated by traditional A* algorithm, a Bezier curve smoothing algorithm is employed for path smoothing. Then, through simulation experiments, the significant improvements of the algorithm in terms of planning efficiency, safety, and path smoothness are verified. Finally, through autonomous navigation experiments, the feasibility of the improved A* algorithm is demonstrated. The research demonstrates that the algorithm designed in this paper can plan the optimal path and safely and efficiently reach the target point. © 2024 SPIE.

关键词： Mobile robots

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Research on trajectory tracking control algorithms for autonomous vehicles 4

Research on trajectory tracking control algorithms for auton...

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4th International Conference on Image Processing and Intelligent Control, IPIC 2024

作者： Niu, Jigao Zhou, Zhongjing Cui, Chengcheng Jiu, Jiangke School of Mechatronics Engineering Zhongyuan University of Technology Zhengzhou450007 China

ISBN: (纸本)9781510682313

A coordinated control strategy integrating Linear Quadratic Regulator (LQR) and Model Predictive Control (MPC) has been designed to enhance the trajectory tracking accuracy and stability of autonomous vehicles. This strategy consists of upper and lower-level controllers, with the upper level responsible for tracking desired trajectories and vehicle speed while minimizing lateral error. The lower-level control executes actions to achieve desired steering angles and accelerations. An Extended Kalman Filter (EKF) observer is employed to update the vehicle state. Finally, hardware-in-the-loop testing experiments are conducted to validate the robustness and effectiveness of the controller, which effectively reduces lateral error and improves tracking accuracy. © 2024 SPIE.

关键词： Extended Kalman filters

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Problem-based UAV Design for Port Surveillance and Monitoring and Machine Learning for Detection and Identification of Vessels 8

Problem-based UAV Design for Port Surveillance and Monitorin...

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8th International Conference on Electronics, Communication and Aerospace technology, ICECA 2024

作者： Sethi, Prakhar Sharma, Nishtha Shah, Aarav Shah, Palash Shanmugavel, Madhavan Vani, S. Srm Institute of Science and Technology Department of Mechatronics Engineering Chennai India

ISBN: (纸本)9798350367904

This paper presents a system design methodology for UAV-based surveillance to monitor vessel traffic and to detect encroachments in port areas. Different solutions in terms of types and configurations of UAVs are proposed for different applications and problems. Though there are similarities in solution approaches, the environment and constraints posed by each problem may not allow direct use of one solution to the other. Therefore, a holistic solution may be needed for the problem such as port surveillance, vessel detection and encroachment. In this work, a systematic approach is proposed for the design of a UAV, and simulation of machine learning for vessel detection and identification is demonstrated. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Task Allocation in a Multi-Robot System Using RRT∗ Algorithm

Task Allocation in a Multi-Robot System Using RRT∗ Algorith...

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2024 International Conference on Recent Advances in Electrical, Electronics, Ubiquitous Communication, and Computational Intelligence, RAEEUCCI 2024

作者： Malla, Omar Shanmugavel, Madhavan SRM Institute of Science and Technology Department of Mechatronics Engineering Kattankulathur India

ISBN: (纸本)9798350354539

Task allocation in multi-robot systems is essential to optimize system efficiency, particularly in scenarios where multiple robots can achieve tasks common to all the robots. This paper presents a hybrid approach to independent non-constrained task allocation utilizing the RRT∗ algorithm. The allocation process is based on a cost function calculated when the RRT∗ algorithm finds a path from initial robot configuration to goal node. Path planning is essential in task allocation and to generate feasible paths in robot environments, especially if obstacles are scattered around the task-space. The RRT∗ algorithm is capable of finding optimal paths in cluttered environments, incorporating modifications for improved convergence and efficiency. The study evaluates the proposed approach using a multi-robot system comprising two ABB IRB1410 manipulators. The system demonstrates the effectiveness of the algorithm in allocating tasks based on their cost and achievability. Experiments are conducted to showcase the algorithm's ability to navigate obstacles and optimize task allocation. Overall, the paper contributes to task allocation strategies in multi-robot systems by offering a practical implementation using RRT∗ capability to minimize the cost function of the task. © 2024 IEEE.

关键词： Multipurpose robots

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Optimization of braking noise caused by eccentric wear of friction plates based on response surface method 10

Optimization of braking noise caused by eccentric wear of fr...

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2024 10th International Conference on Applied Materials and Manufacturing technology, ICAMMT 2024

作者： Zhang, Xuesong Jiao, Quanwei School of Mechatronics Engineering Zhongyuan University of Technology Zhengzhou450007 China

Given the noise caused by the friction plate of wear, the finite element model of the brake after eccentric wear of the friction pad was established, and the complex eigenvalue method was used to analyze the influence of eccentric wear of friction pads on braking noise. The value range of brake material parameters is determined by a single-factor test, and the response surface approximate model was constructed to reduce the TOI value of the vibration tendency coefficient. The results show that the braking noise tends to increase with the increase of the eccentric wear of the friction plate. After material parameter optimization, the vibration tendency coefficient of the eccentric wear brake is reduced by 66.2%, and the vibration tendency coefficient of the new brake is reduced by 36.8%. The conclusion provides some basis for the design of the brake. © Published under licence by IOP Publishing Ltd.

关键词： Eigenvalues and eigenfunctions

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The vortex field simulation of a robotic fish driven by rotary-to-oscillatory mechanism 9

The vortex field simulation of a robotic fish driven by rota...

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9th International Symposium on Sensors, mechatronics, and Automation System, ISSMAS 2023

作者： Zhu, Xiaowen He, Jingfeng Jiang, Hongzhou Tong, Zhizhong Ye, Zhengmao School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781510672802

This paper presents a vortex field analysis of a four-joint robotic fish using the Viscous Vortex Domain (VVD) method. Firstly, the structural composition of the robotic fish is briefly introduced. Secondly, by establishing discrete Lagrangian mesh points and analyzing the fish's oscillation posture based on discrete vortex field points, the swimming performance of the robotic fish in a flowing vortex field and its oscillation posture in a stationary vortex field are analyzed. © 2024 SPIE.

关键词： Robotics Diffusion 3D modeling Biological research Fluid dynamics Computational fluid dynamics Modeling Motion models Robots

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Recent Development of Piezoelectric Fast Tool Servo (FTS) for Precision Machining

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International Journal of Precision engineering and Manufacturing 2024年第4期25卷 851-874页

作者： Liu, Yung-Tien Department of Mechatronics Engineering National Kaohsiung University of Science and Technology 1 University Rd. Yanchao Kaohsiung824005 Taiwan

With an increasing demand of photoelectric components, the micro/ultraprecision machining technology has become more and more important. However, for some particular applications such as micro lens array for light emitting device, head-up display for windscreen of a car, and compensation lens for laser light, etc., those manufactures require the so-called fast tool servo (FTS) or slow tool servo (STS) technology. Different to the STS, the FTS is to employ an auxiliary device of tool holder incorporating with the machine tool. In this review article, an overview of FTS is provided. In the beginning, the classifications of FTS based on motion- and actuator-type are presented. Practical FTSs constructed by piezoelectric, electromagnetic, and magnetostrictive actuators are described. Then, the content is expanded to the piezoelectric FTS including its main components, characteristics of piezoelectric actuator, displacement amplification mechanisms based on flexure hinge, multiple-actuator, hydraulic bellows-type, and hybrid-actuator. In addition to the applications of micro/ultraprecision machining conducted by the STS, the piezoelectric FTS that can provide further unique applications such as non-axisymmetric aspheric machining, on-machine measurement, vibration-assisted machining, axis error compensation, and active vibration control are addressed. Moreover, the control strategies for the piezoelectric FTS are introduced, and the progress of multi-axis piezoelectric FTS is described. Finally, the challenges and perspective of the FTS are mentioned, and a conclusion is made. Through this article, the fundamental knowledge of FTS can be acquired. This is helpful in further developments and practical applications of FTS. © The Author(s), under exclusive licence to Korean Society for Precision engineering 2023.

关键词： Piezoelectric actuators

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