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International Seminar Day on Diffraction

作者： M.V. Golub A.N. Shpak I. Buethe C.-P. Fritzen H. Jung J. Moll Institute for Mathematics Mechanics and Informatics Kuban State University Krasnodar Russia Institute of Mechanics and Control Engineering-Mechatronics University of Siegen Siegen Germany Johann Wolfgang Goethe-Universität Frankfurt am Main Germany

Piezoelectric wafer active sensors (PWAS) are employed in a variety of structural health monitoring (SHM) applications. Failure of these might lead to significant problems, so monitoring of actuators themselves is necessary. While totally debonded PWAS can be detected easily, small debondings could still occur. In that case PWAS is still capable of generating ultrasound waves, but might lead to false diagnostic results since the underlying baseline measurements are not valid anymore. Therefore an experimental setup with a specimen of 16 partially debonded actuators has been used. Phenomena accompanying wave excitation by debonded actuators are examined. Collected knowledge is analyzed in order to identify existence, location and shape of a debonded part of the actuator. For a sufficiently debonded PWAS some interesting abnormalities have been detected for high frequencies. Wavelet analysis has revealed that the velocities of the motion and carrier frequencies depend on the shape of the debonded part of the PWAS.

关键词： Resonant frequency Actuators Wavelet transforms Sensors Monitoring Frequency measurement

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CRM TC covering paper - Robotics trends

CRM TC covering paper - Robotics trends

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Annual Conference of Industrial Electronics Society

作者： Ferenc Tajti Géza Szayer Bence Kovács Balázs Dániel Péter Korondi MTA-ELTE Comparative Ethology Research Group (Group number: 01 031) Hungary Department of Mechatronics Optics and Engineering Informatics Budapest Univ. of Technology and Economics Hungary Productive Programming Methods AS Norway MTA-BME Control Engineering Research Group Hungary

Previously, robots were mainly used by big companies in high volume manufacturing (i.e.: car industry). Industrial robots were perfect to execute procedures simplified to tiny (angular) movements. Today robots have appeared in small and medium enterprises, and they will appear rapidly in non-engineering fields as well, like offices, hospitals, and even in our homes. Robotics grains ground in newer and newer fields and it is too wide to overview it in one paper. This paper tries to summarize the nowadays robotics trends from the point of view of industrial electronics and industrial informatics.

关键词： Service robots Mobile robots Robot sensing systems Programming Market research Artificial intelligence

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Speed control of a Digital Servo System using parallel distributed compensation controller and Neural Adaptive controller

Speed control of a Digital Servo System using parallel distr...

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Iranian Conference on Fuzzy Systems (IFSC)

作者： Zohreh Alzahra Sanai Dashti Mohammad Jafari Milad Gholami M. Aliyari Shoorehdeli M. Teshnehlab Department of Electrical Engineering Islamic Azad University Qazvin Iran Mechatronics Department K. N. Toosi University Tehran Iran Control Department K. N. Toosi University Tehran Iran

This study applies technique PDC (parallel distributed compensation) for speed control of a Digital Servo System. PDC method is based on nonlinear Takagi-Sugeno (T-S) fuzzy model. Also in this study Neural Adaptive is used for velocity control and identification of a Digital Servo System. It is shown that these techniques can be successfully used to stabilize any chosen operating point of the system. All derived results are validated by experimental and computer simulation. The controllers which introduced have big range for control the system. We compare PDC controller with Neural Adaptive controller results and PID controller.

关键词： Servomotors PD control Biological neural networks Adaptive systems Mathematical model Vectors Adaptation models

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Human in the loop: Optimal control of driving simulators and new motion quality criterion

Human in the loop: Optimal control of driving simulators and...

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2012 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2012

作者： Qaisi, Imad Al Traechtler, Ansgar Control Engineering and Mechatronics Heinz Nixdorf Institute University of Paderborn Paderborn Germany

ISBN: (纸本)9781467317146

In this paper, a new model based optimal motion controller for driving simulators is presented. Models of human perception systems in combination with a simulator dynamic model are used in the design of the optimal controller. The basic idea of the new approach is based on minimizing the difference between the perceived signals in the vehicle and the perceived signals in the simulator. In addition, a new approach based on the human vestibular system is used to represent the sustained acceleration for the tilt coordination. Compared to conventional motion cueing algorithms, the proposed approach provides a more realistic impression, the workspace of the simulator is better exploited and all the constraints of the driving simulator are always respected. Furthermore, a new objective quality criterion is suggested to evaluate the new approach. A comparison between the classical washout, the adaptive washout and the new optimal control strategy is carried out. © 2012 IEEE.

关键词： Quality control

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Output feedback stabilization of networked control systems with random packet dropouts

Output feedback stabilization of networked control systems w...

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31st Chinese control Conference, CCC 2012

作者： Li, Qiu Bugong, Xu Shanbin, Li Qin, Luo Feng, Gong College of Mechatronics and Control Engineering Shen Zhen University Shenzhen 518060 China

ISBN: (纸本)9789881563811

This paper investigates the output feedback stabilization problem for a class of discrete-time networked control systems (NCS) with random packet dropouts. Considering the random packet dropouts occurring in the sensor-to-controller (S-C) and controller-to-actuator (C-A), the resulting closed-loop NCS is modeled as a discrete-time Markovian jump linear system (MJLS) with four modes. 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. © 2012 Chinese Assoc of Automati.

关键词： Networked control systems

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Low-cost sensor array design optimization based on planar electromagnetic sensor design for detecting nitrate and sulphate

Low-cost sensor array design optimization based on planar el...

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International Conference on Sensing Technology, ICST

作者： Alif Syarafi Mohamad Nor Mohd Amri Md Yunus Sophan Wahyudi Nawawi Sallehuddin Ibrahim Universiti Teknologi Malaysia Skudai Johor MY Infocomm Research Alliance (RA - Infocomm) Universiti Teknologi Malaysia Skudai Malaysia Material and Manufacturing Research Alliance (MMRA) Control and Mechatronics Engineering Department (CMED) Universiti Teknologi Malaysia Skudai Malaysia

In recent years, the tremendous development of agriculture sector has been driven by the growing human population. Therefore, the crop productions need to be increased to fulfill the food demands. In order to do it, the amount of fertilizer used, might have been more than required and unabsorbed fertilizer by plants usually washed into water sources like rivers, ponds, and wells. Hence, the water will be polluted and unsafe to consume. Therefore, it is important to determine the contamination level in natural water resources. This paper discusses the development of a low-cost sensor array based on planar electromagnetic sensors to determine the contamination levels of two common fertilizer components which are nitrate and sulphate in water sources. Three types of sensor array, were suggested: parallel, star, and delta. The modeling and simulation of all type of sensor array were carried out using COMSOL Multiphysics 4.2 software to calculate the sensors' impedance value. The contamination state was simulated by altering the electrical properties values of the environment domain of the model to represent water contamination. The simulations results show that all types of sensor array are sensitive to conductivity, σ and permittivity, ε. Furthermore, a set of experiments was conducted to determine the relationship between the sensor's impedance and the waters' nitrate and sulphate contamination. The performance of the system was observed where the sensors were tested with the additional of distilled water with different concentrations of amount of potassium nitrate and potassium sulphate. The sensitivity of the developed sensors was evaluated where the best sensor was selected. Based on the outcomes of the experiments, the star sensor array placement has the highest sensitivity and can be used to measure the water content in the water.

关键词： Arrays Impedance Water pollution Electromagnetics Contamination Sensitivity Mathematical model

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Study of a novel bi-stable and easy integrated MEMS ETBS

Study of a novel bi-stable and easy integrated MEMS ETBS

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7th IEEE International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2012

作者： Zhao, Yue Lou, Wenzhong Li, Dongguang National Key Laboratory of Mechatronics Engineering and Control Beijing Institute of Technology Beijing China

ISBN: (纸本)9781467311243

This paper presents a novel bi-stable and integrated single use MEMS blowout switch based on electro-thermal theory. The switch mechanically breaks a metallic line. Switching between the two stable states is accomplished by a DC signal through an integrated heating resistance underneath the electrical lines to be melted. Some key features are that switches are bi-stable, integratable and IC compatible. They are compatible with various voltages operation for different applications, operation in ambient environment may be possible;predicted lifetime is very long and therefore both switches can be used for long life systems. Batch fabrication using planar processing methods is used. The ETBS could be manufacture easily in great amount. The switch can also be applied in some areas of high-energy control such as initiation security and self-control in failure. © 2012 IEEE.

关键词： Processing

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A multiobjective-based switching topology for hierarchical model predictive control applied to a hydro-power valley

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IFAC Proceedings Volumes 2013年第20期46卷 534-539页

作者： A. Núñez C. Ocampo-Martinez B. De Schutter F. Valencia J.D. López J. Espinosa Section of Road and Railway Engineering Delft University of Technology Delft The Netherlands Institut de Robòtica i Informàtica Industrial (CSIC-UPC) Technical University of Catalunya Barcelona Spain Delft Center for Systems and Control Delft University of Technology Delft The Netherlands School of Mechatronics Universidad Nacional de Colombia Medellín Colombia

In a Hierarchical Model Predictive control (H-MPC) framework, this paper explores suitable time-variant structures for the hierarchies of different local MPC controllers. The idea is to adapt to different operational conditions by changing the importance of the local controllers. This is done by defining the level of the hierarchy they belong to, and solving within each level the local MPC problem using the information provided by the higher levels at the current time step and the predicted information from the lower levels obtained in the previous time step. As selecting a hierarchy results in a combinatorial optimization problem, it is explicitly solved for a limited number of relevant topologies only and then the switching between topologies is defined with a multiobjective optimizer, so as to decide the best H-MPC scheme according to the expected performance. A comparison with fixed-topology H-MPC controllers is done, showing the effectiveness of the proposed approach for the power control of a hydro-power valley.

关键词： Hierarchical Model Predictive control Switching Topologies Supervisory control Multiobjective Optimization Hydro-Power Valley

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Modeling and control of a Novel Hybrid Ground Aerial Robot

Modeling and Control of a Novel Hybrid Ground Aerial Robot

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IEEE International Conference on mechatronics and Automation

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt Adjunct Professor at Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology. Prod. Eng. & Mechanical Design Dept. Mansoura University Mansoura Egypt. Adjunct Professor at Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology. Computers Engineering & Automatic Control Dept. Tanta University Tanta Egypt.

ISBN: (纸本)9781467355599

This paper presents the dynamic modeling and control simulation of a novel robot that combines flying motion and on ground motion into an integrated single robot. The ground motion is based on four wheels configuration that provides more stability. The flying motion is depending on the flying mechanism of quadrotor system. Smart transformation mechanism is developed to switch the robot from the ground motion configuration to the flying motion configuration and vice versa without adding any additional actuators. A manipulator with 3 DOF is added to handle an object during the ground motion and it is useful to hold this object during the flying motion. A CAD model is developed using SOLIDWORKS. The dynamic model of this robot is derived to achieve the eccentricity of the payload, the weight of the eccentric manipulator and managing the variation of the payload in the dynamic model. The derived robot dynamics are highly nonlinear. A controller is designed based on feedback linearization technique to stabilize the robot attitude and altitude. controlling the horizontal movements' nonholonomic constraints is used to generate the desired trajectories of robot attitudes. Another dynamic model and controller have been established for the transformation mechanism. Finally, the simulation results using MATLAB/SIMULINK show that the controller successfully vanish the eccentric effect and stabilize the robot attitude.

关键词： Flying robot Dynamic Modeling of UA V Feedback Linearization technique controller design

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A Comparative Study between Causal and Non-causal Algorithms for the Energy Management of Hybrid Storage Systems

A Comparative Study between Causal and Non-causal Algorithms...

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European Conference on Power Electronics and Applications

作者： Claudio Pinto Ricardo de Castro Rui Esteves Araujo INESC TEC Faculty of Engineering University of Porto Institute of System Dynamics and Control Robotics and Mechatronics Center German Aerospace Center (DLR)

ISBN: (纸本)9781479901159

This paper presents a comparative study between two non-causal algorithms for the energy management problem of electric vehicles, endowed with batteries and supercapacitors (SCs). Toward that goal, an optimization-based energy problem is formulated, which targets the minimization of the source's energy losses throughout a given driving cycle. This problem is solved, firstly, with the help of a fast (but locally optimal) non-linear programming solver;and, secondly, with a slow, but globally optimal, dynamic programming (DP) approach. Simulation results will demonstrate that, despite the different theoretical properties associated with these two solver approaches, both generate similar solutions. In the second part of the work, we will develop a filter-based energy management algorithm, i.e., employ batteries to provide the low-frequency content of the power demand, while SCs cover the high-frequency demand. Our approach builds on the idea of adapting the filter's time constant throughout the vehicle's journey, using, for that purpose, a fuzzy logic algorithm and the information of the state of the vehicle. In comparison with the traditional fixed time-constant approach, the simulation results show that under some conditions the adaptive time-constant algorithm has the potential to reduce the energy losses of the sources by up to 62%.

关键词： Optimisation Energy system management Electric vehicle Hybrid power integration Supercapacitor

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