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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Ren, Yongxu Deichsel, Felix Hopf, Valentin Seiler, Jurgen Kaup, Andre Beckerle, Philipp Friedrich-Alexander-Universität Erlangen-Nürnberg Chair of Autonomous System and Mechatronics Erlangen Germany Friedrich-Alexander-Universität Erlangen-Nürnberg Chair of Multimedia Communications and Signal Processing Erlangen Germany Friedrich-Alexandcr-Universität Erlangen-Nürnberg Chair of Automatic Control Erlangen Germany Friedrich-Alexander-Universitat Erlangen-Nurnberg Chair of Autonomous System and Mechatronics Erlangen Germany

ISBN: (纸本)9781665410205

Networked devices, especially those comprising multiple identical devices, are extensively utilized in industrial scenarios. However, their complexity poses unique challenges in diagnostic processes, demanding efficient methodologies to identify and assess risks. The application of Failure Mode and Effects Analysis (FMEA) for analyzing complex systems, especially those consisting of networked devices, appears to be limited, particularly in identifying critical risk factors. In this paper, we propose a novel pipeline to diagnose networked systems by fusing FMEA with a Delphi (expert) Study. Our approach leverages the collective knowledge of a group of experts through a structured Delphi Study enabling them to contribute individually but also to interact. We demonstrate the applicability of our approach through a case study involving a system of networked mobile robots. Based on a Fault Tree Analysis (FTA), Risk Priority Numbers (RPN) of minimal fault tree cut sets are calculated to identify the most critical mechatronic failures. Our findings show that our methodology provides an RPN ranking that closely aligns with expert insights, highlighting its efficacy in accurately assessing risk in complex networked systems. © 2024 IEEE.

关键词： Failure modes

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Design. Implementation, and Control of a Novel Automated Manual Transmission (AMT) system for Manual Transmission Bicycles

Design. Implementation, and Control of a Novel Automated Man...

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Innovations in Intelligent systems and Applications Conference

作者： Fehmi Can Ay Bengisu Kılınç Talha Enes Ercan Ahmet Kağızman Volkan Sezer Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Institute of Science Smart and Autonomous System Laboratory (SASlab) Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Smart and Autonomous System Laboratory (SASlab) Istanbul Technical University Istanbul Turkey

ISBN: (数字)9798350379433

ISBN: (纸本)9798350379440

In recent years, the bicycle industry has undergone continuous transformation through the introduction of novel technologies and innovations. Automated Manual Transmission (AMT) system, which is widely used in motor vehicles and defined as automating the traditional manual gearbox through electronic components and actuators, has an important place in the automotive industry due to its advantages such as fuel efficiency, low cost, and driver comfort. However, a similar system is not yet available on bicycles. This article describes developing a new gear-shifting system that enables the manual gear-shifting mechanism in bicycles to be automated with an intelligence-based system. The developed system automatically performs the most appropriate gear change by processing the data received from the sensors, such as inclination, wheel, and pedal cadence, thus providing a more efficient and comfortable driving experience that does not require effort. The system has been tested by integrating it into a bicycle with manual transmission and it has been confirmed that automatic gear shifts were successful.

关键词： Industries Technological innovation Gears Wheels Manuals Bicycles Sensor systems Intelligent systems Intelligent sensors Vehicles

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Design and Implementation of an Image Processing-Based Ping Pong Training Robot

Design and Implementation of an Image Processing-Based Ping ...

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Innovations in Intelligent systems and Applications Conference

作者： Mert Aydın Sezercan Bektaş Ahmet Ajam Ahmet Kağızman Volkan Sezer Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Institute of Science Smart and Autonomous System Laboratory (SASlab) Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Smart and Autonomous System Laboratory (SASlab) Istanbul Technical University Istanbul Turkey

ISBN: (数字)9798350379433

ISBN: (纸本)9798350379440

This study aims to develop an image-processing-based ping-pong training robot to facilitate effective practice for ping-pong players. In the developed system, the image of the ping-pong player is processed from the camera integrated into the robot, the player's position is determined and the ball is directed to areas that are difficult for the player to reach. The reason for launching the ball into difficult areas is to improve the players' physical and strategic abilities. In the process of throwing the ball, the ball is placed in the hopper, driven from the hopper to the launch point with the help of a servo motor, and launched with the help of two DC motors. Experimental results confirm that the robot accurately detects the player's position and successfully directs the ball to the intended target area. Furthermore, the findings demonstrate that this system, which integrates image processing and robotic control technologies, provides a robust and adaptable training tool for ping-pong players.

关键词： Training Technological innovation Image processing Robot vision systems Process control DC motors Cameras Servomotors Intelligent systems Robots

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Networked systems Diagnostics: A Fusion of Failure Mode and Effects Analysis and a Delphi Expert Study

Networked Systems Diagnostics: A Fusion of Failure Mode and ...

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IEEE International Conference on systems, Man and Cybernetics

作者： Yongxu Ren Felix Deichsel Valentin Hopf Jürgen Seiler André Kaup Philipp Beckerle Chair of Autonomous System and Mechatronics Friedrich-Alexander-Universität Erlangen-Nürnberg Erlangen Germany Chair of Multimedia Communications and Signal Processing Friedrich-Alexander-Universität Erlangen-Nürnberg Erlangen Germany Chair of Automatic Control Friedrich-Alexandcr-Universität Erlangen-Nürnberg Erlangen Germany Chair of Autonomous System and Mechatronics Friedrich-Alexander-Universitat Erlangen-Nurnberg Erlangen Germany

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

关键词： Fault diagnosis mechatronics Pipelines Complexity theory Mobile robots Object recognition Complex systems system analysis and design Cybernetics Fault trees

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Single-Phase Grid-Connected Inverter With Predictive Control Cost Function for Leakage Current Mitigation and FAS Model

IEEE Open Journal of the Industrial Electronics Society

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IEEE Open Journal of the Industrial Electronics Society 2025年 6卷 764-774页

作者： Limones, Cesar Vazquez, Nimrod Femat, Ricardo Estrada, Leonel Vazquez, Jeziel Hernandez, Claudia De Castro, Angel Vaquero, Joaquin TecNM Instituto Tecnológico de Celaya Department of Electronics Engineering Celaya38010 Mexico San Luis Potosí Dynamical System Department of IPICyT San Luis Potosí78216 Mexico Mechatronics Department Polytechnic University of Querétaro Querétaro76240 Mexico Autonomous University of Madrid Electronics and Communications Technology Department Madrid28049 Spain Rey Juan Carlos University Electronics Technology Area Mostoles28933 Spain

Leakage current is one of the main issues for transformerless grid-connected photovoltaic inverters, and its reduction is a primary focus of various studies reported in the literature. This article proposes and validates a finite control set model predictive controller with a novel cost function to mitigate leakage current in a single-phase full-bridge (FB) grid-connected inverter with an LCL filter, making no modifications to the traditional FB topology and without adding any extra components. Furthermore, mathematical modeling is based on the fully actuated system model, allowing a reduction in the number of variables sensed during implementation, resulting in only grid current and voltage being measured. © 2020 IEEE.

关键词： Cost functions

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Data-driven modeling fast-slow coupling delayed dynamics using noisy data and sparse enhancement 5

Data-driven modeling fast-slow coupling delayed dynamics usi...

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5th International Conference on Industrial Artificial Intelligence, IAI 2023

作者： Tang, Huifang Wu, Yuqiang Dong, Yingming Cheng, Cheng Li, Xiuting Huazhong Agricultural University College of Science Wuhan China Yunnan Mechanical Research and Design Institute of Machinery Research Institute Group Yunnan Key Laboratory of Mechatronics Applied Technology Yunnan China Ministry of Education of China Huazhong University of Science and Technology Autonomous Intelligent Unmanned System Engineering Research Center Wuhan430074 China Huazhong University of Science and Techonology School of Artificial Intelligence and Automation Wuhan430074 China

ISBN: (纸本)9798350325294

In this work, we focus on fast-slow delayed dynamical systems, which are usually described by coupled delayed differential equations with two-time scales. The purpose of this article is to propose a data-driven discovery method to identify the fast-slow delayed differential equations from noisy measurements. The proposed method blends delay dictionary-based sparse identification of nonlinear dynamics (SINDy) framework and a fixed interval sampling strategy. Specifically, we leverage the SINDy methodology to describe the fast-slow delayed differential equations by a few active terms of a large dictionary containing the delay terms and many candidate nonlinear basis functions. To identify the active terms and the corresponding coefficients, a sequential thresholded re-weighted 2 least squares algorithm is used to solve the resulting sparse regression problem to enhance the sparsity. Once a sparse model with fixed delay is selected, the proposed method further estimates the delayed time by calculating the reconstruction error from the sparse model until the one that makes the reconstruction error minimum. We verify the effectiveness of the proposed method with several classical fast-slow coupling delayed systems. The experimental results show that the proposed method can well automate the fast-slow delayed differential equations from noisy data and the delayed terms also can be detected accurately. © 2023 IEEE.

关键词： Dynamical systems

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Efficient Hybrid Multi-Population Genetic Algorithm for Multi-UAV Task Assignment in Consumer Electronics Applications

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IEEE Transactions on Consumer Electronics 2025年

作者： Bai, Xiaoshan Jiang, Haoyu Li, Chao Ullah, Inam Dabel, Maryam M. Al Bashir, Ali Kashif Wu, Zongze Sam, Shuzhi Shenzhen University College of Mechatronics and Control Engineering National Engineering Laboratory for Big Data System Computing Technology Shenzhen518060 China Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Shenzhen University Shenzhen City Joint Laboratory of Autonomous Unmanned Systems and Intelligent Manipulation Shenzhen518060 China Tashkent State University of Economics Department of Artificial Intelligence Tashkent100066 Uzbekistan University of Hafr Al Batin Department of Computer Science and Engineering College of Computer Science and Engineering Saudi Arabia Manchester Metropolitan University Manchester United Kingdom Shenzhen518060 China National University of Singapore Department of Electrical and Computer Engineering Singapore117576 Singapore

In recent years, as people’s living standards have improved and consumption concepts have been transformed, the demand for purchasing consumer electronics online has continued to grow, further stimulating the development of the logistics industry. Consequently, how to deliver consumer electronics to households at minimal cost has become a crucial factor that limits the development of the consumer technology industry. To tackle this problem, this paper studies the task assignment problem for multiple initially dispersed UAVs to deliver products to target locations while minimizing their total operation time. Each UAV can continuously provide delivery services to multiple target locations within its limited loading capacity and operation time. To solve this problem, we propose several hybrid multipopulation genetic algorithms. First, a novel crossover operator for the genetic algorithms is designed, through which a single parent chromosome can generate offspring individually. Second, two mutation mechanisms are performed to increase gene diversity. Third, multiple local search strategies are employed to enhance the populations’ fitness during each iteration of evolution. An improved 2-opt local search strategy is applied to optimize individual chromosomes when their similarity with the current best chromosome falls below a prescribed threshold. Alternatively, local search strategies are utilized for 1-opt, 2h-opt and interchange processes. Combining local search strategies, genetic operators, and the multi-population mechanism leads to several hybrid multi-population genetic algorithms. Numerical simulations and experimental tests demonstrate that the hybrid multi-population genetic algorithm, integrated with the improved 2-opt and 1-opt local search strategies, exhibits superior performance among the designed hybrid genetic algorithms, the minimum marginal cost algorithm (MMA), and the existing popular Co-evolutionary Multi-population Genetic Algorithm (CMGA). In exp

关键词： Genetic algorithms

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Self-Tuning Clamping Force Control with Optimal Trajectory Tracking for autonomous Pipe Inspection Robots

SSRN

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SSRN 2025年

作者： Sun, Guoxin Xia, Longfei Du, Xinpeng Yu, Qihui Zhang, Jianlong Qin, Ripeng School of Mechanical Engineering Inner Mongolia University of Science and Technology Inner Mongolia Autonomous Region Baotou014010 China Inner Mongolia Engineering Technology Research Center of Mechatronics System Intelligent Diagnosis & Control Engineering 014010 China Inner Mongolia Ming yang North Smart Energy Research and Development Center Co LTD China Department of Mechanical Engineering Denmark Inner Mongolia University of Science and Technology China

In response to the limitations of existing external pipe-crawling robots, which are unable to automatically adjust clamping force during operation, a novel external pipe-crawling robot has been designed. To enable adaptive clamping based on varying pipeline conditions, an adaptive clamping force control method based on optimal speed curve tracking is proposed. First, the target clamping force is calculated according to pipeline conditions, and it is then converted into a target speed signal through optimal speed curve planning. Subsequently, the motor precisely tracks the speed signal to achieve accurate clamping force control. Experimental results from the robot prototype demonstrate that the proposed algorithm maintains a clamping force control error rate of less than 8.0% under pipelines with different diameters, inclination angles, and surface roughness, ensuring stable operation across various pipeline conditions. © 2025, The Authors. All rights reserved.

关键词： Clamping devices

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Data-driven modeling fast-slow coupling delayed dynamics using noisy data and sparse enhancement

Data-driven modeling fast-slow coupling delayed dynamics usi...

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International Conference on Industrial Artificial Intelligence (IAI)

作者： Huifang Tang Yuqiang Wu Yingming Dong Cheng Cheng Xiuting Li College of Science Huazhong Agricultural University Wuhan China School of Artificial Intelligence and Automation Huazhong University of Science and Techonology Wuhan China Yunnan Key Laboratory of Mechatronics Applied Technology Yunnan Mechanical Research and Design Institute of Machinery Research Institute Group Yunnan China Autonomous Intelligent Unmanned System Engineering Research Center Ministry of Education of China Huazhong University of Science and Technology Wuhan China

In this work, we focus on fast-slow delayed dynamical systems, which are usually described by coupled delayed differential equations with two-time scales. The purpose of this article is to propose a data-driven discovery method to identify the fast-slow delayed differential equations from noisy measurements. The proposed method blends delay dictionary-based sparse identification of nonlinear dynamics (SINDy) framework and a fixed interval sampling strategy. Specifically, we leverage the SINDy methodology to describe the fast-slow delayed differential equations by a few active terms of a large dictionary containing the delay terms and many candidate nonlinear basis functions. To identify the active terms and the corresponding coefficients, a sequential thresholded re-weighted ℓ 2 least squares algorithm is used to solve the resulting sparse regression problem to enhance the sparsity. Once a sparse model with fixed delay is selected, the proposed method further estimates the delayed time by calculating the reconstruction error from the sparse model until the one that makes the reconstruction error minimum. We verify the effectiveness of the proposed method with several classical fast-slow coupling delayed systems. The experimental results show that the proposed method can well automate the fast-slow delayed differential equations from noisy data and the delayed terms also can be detected accurately.

关键词：

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Vulnerabilities in the vehicle's electronic network equipped with ADAS system 3

Vulnerabilities in the vehicle's electronic network equipped...

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3rd School on Dynamics of Complex Networks and their Application in Intellectual Robotics, DCNAIR 2019

作者： Kurbanov, Arthur Grebennikov, Sergey Gafurov, Salimzhan Klimchik, Alexandr Laboratory of Autonomous Transport System Innopolis University Innopolis Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

Modern vehicles are distributed systems with numerous Electronic Control Units (ECUs) communicating with each other by means of the standard protocol known as Controller Area Network (CAN-Bus). Such architecture is a basis for Advanced Driver-Assistance systems (ADAS). ADAS is supposed to take driver's tasks consistently pushing people out of the driving process and decreasing of driver's stress load. Potentially it will result in increasing of vehicles functionality and overall safety on the roads. However, such CAN-bus as a base of ADAS system has a number of significant security limitations. This, the security of such systems plays an important role in their design and operation. This paper gives a brief overview of publications in the field of ADAS systems security. We have conducted a number of experiments on a real car to estimate its vulnerabilities for possible attacks. This article shows how an ADAS-equipped vehicle gives attackers the opportunity to gain control over its critical modules. © 2019 IEEE.

关键词： Advanced driver assistance systems

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