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19th International Conference on Automation and Computing, ICAC 2013

作者： Subha, Nurul Adilla Mohd Liu, Guo-Ping School of Engineering University of South Wales Pontypridd CF37 1DL United Kingdom Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Malaysia

ISBN: (纸本)9781908549082

This paper provides prediction method to solve the external consensus problem for heterogeneous networked multi agent system (NMAS) with network delay. The proposed prediction strategy is based on transfer function and designed by adopting the recursive equation on the proposed consensus protocol. The consensus protocol developed in this work does not rely on the initial value of the agents' output but totally depends on the external input given to one of the agents in NMAS. By considering low-order multi process control system agents, the proposed strategy is simulated and validated through experimental work via intranet networked controller board with constant network delay. © 2013 Chinese Automation and Computing Society in the UK - CACS.

关键词： Transfer functions

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Efficient Observer Design for Multirate Sampled-Data Systems

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PAMM 2014年第1期14卷

作者： Thorsten Voigt Ulrich Konigorski Technische Universität Darmstadt Institute of Automatic Control Control Engineering and Mechatronics Lab Landgraf-Georg-Straße 4 64283 Darmstadt Germany

This contribution deals with the observer design for linear multirate sampled systems. The proposed algorithm is fea-tured by a time-invariant modelling approach. It is shown that a multirate state observer can be derived by gradually building up the observer gain matrix by means of optimization based design methods in combination with a pole placement observer design. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)

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Experimental study on PCB micro drilling force

Experimental study on PCB micro drilling force

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2nd International Conference on Computer-Aided Design, Manufacturing, Modeling and Simulation, CDMMS 2012

作者： Gong, Feng Chen, Baiqiang Li, Jibin College of Mechatronics and Control Engineering Shenzhen University Shenzhen 518060 China CAE Department Hans CNC Technology Co. Ltd Shenzhen 518057 China

ISBN: (纸本)9783037855409

With the development of high density, multi-functions, miniaturization and multi-layer on printed circuit board (PCB) design, great challenges have been presented to the miniaturization of drilling on PCB. In order to meet the hole precision, quality and improve the performance, efficiency of mechanical drilling, further research should be done on the cutting state. Kistler high-precision micro-force platform was used in this paper to test and analyze the cutting force, investigate the general laws of micro drilling, and optimize the parameters for HANS PCB drilling machine. Thereby, to improve the efficiency and precision of the drilling, range of processing, and increasing market competitiveness. © (2013) Trans Tech Publications, Switzerland.

关键词： Printed circuit boards

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Active Seat Suspension with Two Degrees of Freedom for Military Vehicles

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IFAC Proceedings Volumes 2013年第5期46卷 523-529页

作者： Rudiger Kieneke Christian Graf Jürgen Maas Ostwestfalen-Lippe University of Applied Sciences Control Engineering and Mechatronics 32756 Lemgo Germany

The following contribution describes the design and validation of an active seat suspension with two translational degrees of freedom. This seat suspension system is designed to be integrated in various military vehicles to reduce the mechanical vibrations caused by test runs on synthetic test tracks, which affect the human health and condition confidence. The proposed active seat suspension is specially designed to support the drivers during the test drives. In a first step the model of the seat and the driver are derived considering the motions in vertical and lateral direction. To suppress the vibrations a control strategy is presented in a further step. The vibration controller is designed for a 1 DOF model based on a hybrid Skyhook- and Groundhook-Principle and in alternative as a feedforward control using an ideal model for the seat and driver. Finally, the realized active seat suspension is integrated in a military vehicle to prove the amount of vibration suppression in comparison to a common passive seat by road test on synthetic tracks emphasing an improvement of the drivers well-being.

关键词： Modelling Seat Suspension Actuators control Algorithms Parametrization

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Formations Strategies for Obstacle Avoidance with Multi Agent Robotic System

Formations Strategies for Obstacle Avoidance with Multi Agen...

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16th FIRA RoboWorld Congress, FIRA 2013

作者： Norrazi, M.Azrai M. Yap, Wee Yang Ricky Sanhoury, Ibrahim M.H. Tousizadeh, Mahdi Mahmood, Mohd.Muhaimin Amin, Shamsudin H.M. Control and Mechatronics Engineering Dept Universiti Teknologi Malaysia Malaysia Centre for Artificial Intelligence and Robotics Manufacturing and Materials Research Alliance Universiti Teknologi Malaysia Malaysia

ISBN: (纸本)9783642404085

In this paper we aim to introduce the multi agent robotic systems (MARS) to make a good understanding of how it works. Multi-agent systems consisting lot type class of mobile which can communicate between each other and maintain a desired formation. Task become more challenging when group of multi agent change the formation when facing the obstacles. Three non-holonomic robots - "MYbots" will performs some demonstrations which first experiment to maintaining triangular formation while moving and second experiment focus on two type leader face obstacle and follow face obstacle avoidance. Method that used in this research is a leader follower method. Follower MYbot will follow the path commanded by the Leader MYbot to avoid obstacle. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Multipurpose robots

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Type-2 Fuzzy neural networks for sliding mode Fuzzy control of nonlinear dynamical systems with adaptive learning rate

Type-2 Fuzzy neural networks for sliding mode Fuzzy control ...

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2013 3rd IEEE International Conference on Computer, control and Communication, IC4 2013

作者： Khoramdel Azad, Alireza Zarif Khanesar, Mojtaba Ahmadieh Teshnehlab, Mohammad Department of Mechatronics Engineering South Tehran Branch Islamic Azad University Tehran Iran Department of Electrical and Control Engineering Electrical and Computer Engineering Faculty Semnan University Semnan Iran Control Department Electrical and Computer Engineering Faculty K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467358859

This paper proposes a novel training method for type-2 fuzzy neural networks (T2FNN). The proposed control method benefits from a sliding mode training method with adaptive learning rate. The proposed control structure is a feedback error learning structure so consists of a conventional controller in parallel with a T2FNN The conventional controller is responsible to stabilize the system. The stability of the proposed training method and the adaptive learning rate is proved using an appropriate Lyapunov function. The adaptive learning rate makes it possible to control the system without prior knowledge about the upper bound of the states of the system and their derivatives. The proposed approach is tested on the velocity control of an electro hydraulic servo. The proposed controller is compared with type-1 fuzzy neural networks;it is shown that in the presence of noise type-2 fuzzy system outperforms its type-1 counterpart. © 2013 IEEE.

关键词： Fuzzy neural networks

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on control (control)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Analysis of movement for unmanned underwater vehicle using a low cost integrated sensor

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AIP Conference Proceedings 2015年第1期1660卷

作者： Mohd Shahrieel Mohd Aras Shahrum Shah Abdullah Ahmad Fadzli Nizam Abdul Rahman Mohd Farriz Basar Anuar Mohamed Kassim Hazriq Izzuan Jaafar Department of Mechatronics Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Electric and Electronics Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia International Campus Jalan Semarak 54100 Kuala Lumpur Malaysia Faculty of Information Technology and Communication Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Electric and Electronics Faculty of Technology Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Control and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia

This paper presents the development of low cost integrated Smart Sensor for Unmanned Underwater Vehicle (UUV) namely as underwater Remotely Operated Vehicle (ROV). In the underwater industries, the most crucial issues are the sensors that are needed for the underwater task. The sensors that are utilized in this area are quite expensive and sensitive. Every sensors used in the underwater vehicle are not in the form of integrated sensors and most of them based on case to case basis. However, nowadays, a lot of industries are involved in the development of the integrated sensor in order to reduce the production cost as well as to increase accuracies, efficiencies and productivities. Therefore, this research proposes an integrated sensor to be applied in the underwater operations. The integrated sensor is designed based on three goal performances which are; the accuracies; the sensitivities and the cost efficiencies. This integrated sensor is the combination of pressure sensor, inertial measurement unit (IMU), digital compass and temperature sensor that are placed in a waterproof casing. This integrated sensor is targeted to be used to control the movement of ROV to maintain its position called station keeping. The purpose of the station keeping is to ensure the ROV to remain stationary at the desired depth by utilizing the pressure sensor. The experimental studies have been carried out in order to see the responses of each sensor.

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2-DOF State control Scheme for the Motion control of a Parallel Kinematic Machine

2-DOF State Control Scheme for the Motion Control of a Paral...

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Conference on control and Fault-Tolerant Systems

作者： S. Flottmeier A. Trachtler Heinz Nixdorf Insitute Control Engineering and Mechatronics University of Paderborn

ISBN: (纸本)9781479928569

In this article a state control scheme for the end effector motion control of a 6-DOF parallel kinematic machine is presented. The control scheme complies with a two degrees of freedom (DOF) structure: A feed forward path based on the nonlinear inverse dynamics ensures a good tracking behavior, while disturbances are compensated for via a constant state feedback path. The constant feedback matrix is designed solving the Riccati regulator equation, using a linearized system representation. In contrast to established approaches, this allows the consideration of the actuator coupling within the controller design. Its stability over the entire workspace is evaluated through an examination of the eigenvalues of the closed-loop path. The required knowledge of the system states is obtained by means of a Kalman filter. Simulations with a dynamic model of a hydraulically actuated 6-DOF Stewart-Gough platform demonstrate the effectiveness of the control design approach.

关键词： Motor control State control two degrees of freedom design approach kinematics machine

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Coordination of multiple autonomous intersections by using local neighborhood information

Coordination of multiple autonomous intersections by using l...

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International Conference on Connected Vehicles and Expo (ICCVE)

作者： Chairit Wuthishuwong Ansgar Traechtler Control Engineering and Mechatronics Department University Paderborn Paderborn Germany

Traffic congestion is considered one of the most important problems of road transportation. The concept of Intelligent Transportation System (ITS) has been introduced to improve the efficiency of the traffic flow. The autonomous vehicle technology is slowly becoming a reality, alongside wireless communication technology, which is becoming a major role in vehicle communication. Wireless communication devices will be generally used in vehicles for the future road transportation. The purpose of this research work is to use the local traffic information to reduce delay time of a vehicle at an intersection. In this paper, the fully autonomous intersection system is represented as a single intersection model. In addition, the multiple intersections are created based on the connection of a single autonomous intersection agent. The communication topology of the intersection network is modeled by using the undirected graph. The traffic information in the network is able to be exchanged by Infrastructure-to-Infrastructure (I2I) communication. This discrete consensus algorithm is implemented for coordinating the local traffic information and the neighborhood intersection. The proposed method works, based on the concept Green Wave, which maximizes the throughput, as well as minimizing the delay time. It maintains the traffic density of every intersection in the network to manage every vehicle for a continuous drive with a minimal delay time. The simulation of variable traffic flow rate of multiple autonomous intersections is implemented based on the proposed method.

关键词： Vehicles Wireless communication Mathematical model Roads Mobile robots Equations

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