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IEEE International Conference on Robotics and Biomimetics

作者： M. Shahbazi G.A.D. Lopes R. Babuška Department of Mechatronics Engineering University of Tehran Iran Delft Center for Systems and Control Delft University of Technology Delft The Netherlands

ISBN: (纸本)9781479927456

Maintaining postural balance is a fundamental requirement for humanoid robots faced with unknown terrain or external perturbations. In this paper we present an observer-based balancing control strategy that is robust to persistent perturbations on the ground slope which is based on the estimation of the disturbance without the need for an inertial measurement unit. We use the workspace control method in combination with an observer to perform specific maneuvers while maintaining postural balance. We employ a linear observer, a gain-scheduling observer and an extended Kalman filter and compare the results obtained. For the control task considered, while the linear observer falls short in this setting, both the gain-scheduling observer and the extended Kalman filter perform well, which is confirmed by experimental results on a planar biped robot.

关键词： Observers Mathematical model Joints Vectors Foot Robot kinematics

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Smith predictor based generalized PI control for a class of input delayed nonlinear mechanical systems

Smith predictor based generalized PI control for a class of ...

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European control Conference (ECC)

作者： M. Ramírez-Neria H. Sira-Ramírez A. Luviano-Juárez A. Rodriguez-Angeles Department of Automatic Control CINVESTAV-IPN Mexico Department of Electrical Engineering Mechatronics Section Mexico UPIITA-IPN Mexico

ISBN: (纸本)9781479901890

This article addresses the problem of Linear Active Disturbance Rejection control for a class of nonlinear mechanical input time delayed systems. To solve the problem, it is necessary to obtain a set of predictive lumped disturbance estimations, which is carried out by a purely linear high gain observer of Extended Luenberger type, denoted as a Generalized Proportional Integral (GPI) Observer. This task is performed using an approximation of the predictive disturbance using a truncated Taylor series expansion, where the set of necessary values for the estimation are provided by the observer. Once the (approximate) disturbance canceling is made, the control task is reduced to a simple linear Smith Predictor PD control, using the simplified model of the mechanical system. Some experimental results show the effectiveness of the strategy in a trajectory tracking task for a perturbed flywheel.

关键词： Observers Trajectory Approximation methods Delay effects DC motors Taylor series

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Study of ASIC self-destruction technology based on MEMS initiator

Study of ASIC self-destruction technology based on MEMS init...

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IEEE International Conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： A. Zhao Yue B. Li Kang C. Lou Wenzhong D. Li Dongguang Miao Zhihui National Key Laboratory of Mechatronics Engineering and Control Beijing Institute of Technology China School of Electronic and Optical Engineering Nanjing University of Science and Technology China

ISBN: (纸本)9781467363501

MEMS initiator has been developed rapidly for its low detonating power and small volume. MEMS metal bridge as one type of the MEMS initiators, which has the same process with ASIC (Application-specific integrated circuit). In this paper, one novel ASIC self-destruction technology in chip level mainly based on MEMS metal bridge initiator is presented. A typical experimental structure was designed. Based on this structure, a simulation model was built. Through the simulation, when the MEMS metal bridge made by proper material was excited by pulse current, the circuits of the ASIC could be destroyed immediately because of the electric blasting produced by excited metal bridge. The conclusion was that the self-destruction technology can achieve the self-destruction of ASIC in chip level.

关键词： Metals Bridge circuits Micromechanical devices Application specific integrated circuits Resistance Integrated circuit modeling

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Output Feedback Stabilization of Networked control Systems with Uncertain Transition Probability Matrix

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IFAC Proceedings Volumes 2013年第20期46卷 292-297页

作者： Li Qiu Xiaopin Zhong Shanbin Li Bugong Xu Shenzhen Key Laboratory of Urban Rail Transit College of Mechatronics and Control Engineering Shenzhen University Shenzhen 518060 P. R. China Key Laboratory of Autonomous Systems and Network Control Ministry of Education School of Control Science and Engineering South China University of Technology Guangzhou 510640 P.R. China

In this paper, the output feedback stabilization problem for a class of discrete-time networked control systems (NCSs) with uncertain transition probability matrix and random packet dropouts are investigated. Random packet dropouts occurring in the sensor-to-controller (S-C) and controller-to-actuator (C-A) are modeled as Markov chain. The resulting closed-loop systems are modeled as discrete-time Markovian jump linear systems (MJLSs) with uncertain transition probability matrix. Sufficient conditions for existence of a output feedback controller which guarantees the stochastic stability of NCS are established based on stochastic Lyapunov function and linear matrix inequality approach. A simulation example illustrates the validity and feasibility of the results.

关键词： Networked control systems Markovian jump linear systems uncertain transition probability matrix random packet dropouts

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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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Linearized Mathematical Model of Intelligent Pneumatic Actuator System: Position, Force and Viscosity controls

Linearized Mathematical Model of Intelligent Pneumatic Actua...

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Asian control Conference

作者： Ahmad 'Athif Mohd Faudzi Teh Chuan Enn Khairuddin Osman Zool Hilmi Ismail Center for Artificial Intelligence and Robotics (CAIRO) Universiti Teknologi Malaysia Johor Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor

ISBN: (纸本)9781467357661

This paper proposed a linearized model of intelligent pneumatic actuator (IPA) based on the linearization technique known as Taylor series expansion. First, nonlinear mathematical modeling for the IPA system according to fundamental physical derivation is presented. Linearization is then introduced to linearize this nonlinear mathematical model. For the controller design, Neuro-Fuzzy Inference System (ANFIS) is proposed. ANFIS, which combines neural network and fuzzy logic, are adopted and applied to the linear mathematical model to perform position, force and viscosity controls. By training the correct data, membership functions for the fuzzy logic can be obtained through ANFIS toolbox in MATLAB. Closed-loop control for IPA system is conducted and performance the Proportional-Integral (PI) ANFIS controller is analyzed and compared with conventional PI controller. Simulation results show that PI ANFIS controller performed better than conventional PI controller in terms of position, force tracking and viscosity control.

关键词： Intelligent Pneumatic Actuator (IPA) Cylinder Linearization PI ANFIS

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On Visualization of Micro-movement of Formant Tracks on Vowel Space

On Visualization of Micro-movement of Formant Tracks on Vowe...

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International Congress on Image and Signal Processing

作者： Cheolwoo Jo Osho Gupta Dept. of Control & Instrumentation Engineering College of Mechatronics Changwon National University Changwon Korea Dept. of Electronic Engineering IIT-BHU Vanarasi India

ISBN: (纸本)9781479927654

This paper presents a basic research results to visualize the micro-movement of formant tracks for the purpose of using it to analyze speech signal on the research of speech analysis and synthesis etc. Current analysis method on formant is mainly focusing on analysis of static statistical characteristics. But dynamic information about changing vowels is hard to acquire using conventional statistical results such as mean, variance etc. In this experiment we propose a new visualization method to display the dynamic behavior of vowel changes according to the micro movement of formant on vowel space.

关键词： formant visualization vowel space

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Erratum to: Neural Networks for Normative Knowledge Source of Cultural Algorithm

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International Journal of Computational Intelligence Systems 2014年第5期7卷 1-1页

作者： Ghomsheh, Vahid Seydi Teshnehlab, Mohamad Shoorehdeli, Mahdi Aliyari Khanesar, Mojtaba Ahmadieh Artificial Intelligence Department Islamic Azad University Science and Research Branch Tehran Iran Electrical Engineering Control Department K. N. Toosi University of Tech. Tehran Iran Mechatronics Department K. N. Toosi University of Tech. Tehran Iran Electrical and Control Engineering Department Semnan University Semnan Iran

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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Study of doubly fed induction generator for wind power application

Study of doubly fed induction generator for wind power appli...

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International Conference on Clean Electrical Power (ICCEP)

作者： P. Stumpf I. Nagy Department of Mechatronics Optics and Engineering Informatics MTA-BME Control Engineering Research Group Budapest University of Technology and Economics Hungary MTA-BME Control Engineering Research Group Department of Automation and Applied Informatics Budapest University of Technology and Economics Hungary

The paper is concerned with the control of doubly fed induction generator applied in wind power technology. Assuming stator flux oriented vector control, the torque and power relations are derived. Using the relations, the slip versus torque and slip versus stator reactive power characteristics are drafted in subsynchronous and in supersynchronous state for investigating the control possibilities of the generator side converter supplying the rotor circuit. The effects of the d and q component of the converter output voltage for the torque, power and speed are studies in qualitative and quantitative way. The active and reactive power flows in stator and rotor side are shown.

关键词： Stators Rotors Reactive power Torque Wind power generation Wind speed Induction generators

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