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6th International Conference on Computer Science and Education, ICCSE 2011

作者： Wu, Jie Zhan, Xisheng College of Mechatronics and Control Engineering Hubei Normal University Huangshi China

ISBN: (纸本)9781424497188

In this note, a repetitive learning control (RLC) approach is proposed to deal with periodic tracking tasks for uncertain time-varying delay systems. The design of an open-close loop P type iterative learning controller is studied for uncertain time-varying delay systems. The design procedure is based upon obtaining the sufficient condition of convergence by Lyapunov theory, an iterative learning law is obtained by resolving linear matrix inequalities (LMI) © 2011 IEEE.

关键词： Linear matrix inequalities

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Novel Hybrid Ground/Aerial Autonomous Robot

Novel Hybrid Ground/Aerial Autonomous Robot

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International Conference on Innovative engineering Systems

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Mechatronics & Robotics Eng. Dept. School of Innovative Design Eng. Egypt-Japan University for Science and Technology E-JUST Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Computer & Automatic Control Dept. Faculty of Engineering Tanta University

ISBN: (纸本)9781467344401

This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The flying motion will be based on the concept of flying mechanism of the quadrotor. Wheeled mobile platform is combined to the flying mechanism to facilitate ground motion. Transformation mechanism was developed to transform the robot from the ground motion configuration to the flying motion configuration and vice versa. The idea of this mechanism is to close the rotors' arms of the quadrotor and put them in the vertical position when the robot is used for ground motion. This is necessary to enable navigation through narrow spaces. A manipulator with 3-DOF has been added to handle objects during ground motion. After defining the appropriate mechanisms and the basic structure of the robot, geometrical dimensions and material selection of each part are decided. Then, CAD model is developed using SolidWorks, and an iterative process has been carried out to enhance and develop the robot structure and the transformation mechanism. The CAD model was tested using the finite element method in ANSYS14 where static structural study is performed. Finally, motors, sensors and control system hardware were selected for this robot. The analysis indicates the feasibility of the proposed robot.

关键词： Flying robot Mobile robot Finite element anlysis Manipulators control system. aerospace robotics Manipulators Robot control systems Mobile robots Ground motion Flying control system hardware Finite element method Autonomous robots basic structure Materials selection

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System Identification model for an Intelligent Pneumatic Actuator (IPA) system

System Identification model for an Intelligent Pneumatic Act...

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Khairuddin Osman Ahmad 'Athif Mohd Faudzi M.F. Rahmat Nu'man Din Mustafa M. Asyraf Azman Koichi Suzumori Department of Industrial Electronics Faculty of Electrical and Electronics Universiti Teknikal Malaysia Melaka Durian Tunggal Malacca Malaysia Department of Mechatronics and Robotics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Department of Control Instrumentation and Automation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Graduate School of Natural Science and Technology Okayama University Okayama Japan

Intelligent Pneumatic Actuators (IPA) is a new generation of actuator for Research and Development (R&D). The purpose of this paper is to present the System Identification (SI) technique and procedure for the IPA system. System identification is used to obtain the mathematical model (transfer function) of the IPA system from the measured experimental data. Flow for the SI procedure starts with experimental setup, model structure selection, model estimation, model validation and finally testing with basic controller to prove the operation of IPA system. Auto Regressive with Exogenous Input (ARX) model is chosen as model structure of the system. Based on the input and output data of the system (model validation), best fit criterion and correlation analysis of the residual is analyzed to determine the adequate model to represent the IPA system. The result from SI model shows linear discrete model in order to obtain a discrete transfer function for the IPA system.

关键词： Analytical models Data models Silicon Mathematical model Actuators Robots Correlation

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Research on the electric field of electrorotation effect using passive electrostatic human body detection system

Research on the electric field of electrorotation effect usi...

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2011 International Conference on Mechatronic Science, Electric engineering and Computer, MEC 2011

作者： Zhang, Yan Xu, Lixin State Key Laboratory of Mechatronics Engineering and Control Beijing Institute of Technology China

ISBN: (纸本)9781612847221

Electrostatic human body detector is a detector which obtain target information through catching the electrostatic field of the target. It play an important role in the human body detection technology. This paper focused on using dielectrophoresis theory to detect the coupling heart electric field between the operator and the detected living human, while analyzing the electrorotation electric field about this problem. Firstly, we described the electrorotation effect which belongs to dielectrophoresis theory. Then, the double-human coupling heart electric field and the electrorotation four-pole electrode structure which generates measuring electric field were analysised. Finally, the Three-dimensional finite element method was used to simulate and calculate the measuring electric field. Simulation result shows that electrorotation effect electric field and the conclusion is in accordance with the theory. The conclusion of this paper is the most significant studies of the passive electrostatic human body detection technique. © 2011 IEEE.

关键词： Electrodes

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Development of fuzzy logic water bath temperature controller using MATLAB

Development of fuzzy logic water bath temperature controller...

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IEEE International Conference on control System, Computing and engineering (ICCSCE)

作者： Norhaslinda Hasim Mohd Shahrieel Mohd Aras Mohd Zamzuri Ab Rashid Anuar Mohamed Kassim Shahrum Shah Abdullah Department of Control and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Durian Tunggal Malacca Malaysia Department of Mechatronics Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Durian Tunggal Malacca Malaysia Department of Electric and Electronics Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Kuala Lumpur Malaysia

In this paper, the development of a water bath temperature system to control the liquid's temperature in the water bath will be presented. In order to develop the water bath temperature control system, MATLAB fuzzy logic toolbox will be utilized. The Fuzzy Logic controller (FLC) is designed to control water temperature based on the input acquired from the thermal transducer sensor. The inference engines that are used are; Max-min (Mamdani) method and centre of gravity technique for defuzzification. The 4 × 4 matrix rules for the controller will be used in this project. In addition, the USB NI-DAQ card will be used as xPC target to link the MATLAB software and real time application. The real time output temperature is validated based on the simulation's temperature which is initially set by user. It can be concluded the performance of real time study is in par with the simulation result.

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Model-based Design of Self-Correcting Strategy for a Punch Bending Machine

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IFAC Proceedings Volumes 2012年第6期45卷 1551-1555页

作者： M. Borzykh U. Damerow C. Henke A. Trächtler W. Homberg Project Group Mechatronic Systems Design Fraunhofer Institute for Production Technology IPT Zukunftsmeile 1 33102 Paderborn Germany Forming and Machining Technology (LUF) University of Paderborn Warburger Str. 100 33098 Paderborn Germany Control Engineering and Mechatronics (RtM) University of Paderborn Pohlweg 98 33098 Paderborn Germany

The precise reproduction of geometrical form often constitutes a challenge in manufacturing of metal parts. The reasons for form deviation can be e.g. varying properties of the semi-finished product as well as wear of the punch-bending machine or the punch-bending tool themself. Usually the process parameters are manually adjusted on the introduction of new production scenario or after the deviation between the actual form of produced pieces and the designed form become clear. The choice of new process parameters is normally based on the experience of the machine operators. It leads to a time-consuming and expensive procedure right on the early stages of production scenarios as well as during the established production process. Furthermore, the trend of miniaturization of part sizes along with narrowing tolerances and increase in the strengths of materials drastically pushes up the requirements on the production process. Aiming at reduction of scrap rate and setup-time of production scenarios, a self-correcting control strategy has to be developed. The strategy is designed by modeling the bending process. In the first step the bending model has to be analyzed by varying of process variables (e.g. the strength or the geometrical properties of the material) influencing the process significantly. It is done by corresponding simulations. After that, the correlations between input and output variables were defined and different self-correcting control strategies were designed and tested. In order to identify and validate the simulation and to test the quality of the self-correcting control strategies, a special experimental tool, representing the most important bending operations, was built up at the University of Paderborn. The experimental tool is equipped with an additional measurement device and can be operated on a universal testing machine. Finally, the self-correcting control strategies were tested under real production conditions on the original tool in order to

关键词： metal parts punch-bending process self-correcting strategies model-based design

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Concurrent optimization for parameters of hybrid electric vehicle based on non-dominated sorting genetic algorithms

Concurrent optimization for parameters of hybrid electric ve...

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作者： Fang, L.C. Xu, G. Li, T.L. Zhu, K.M. College of Mechatronics and Control Engineering Shenzhen University Shenzhen China

The optimizing design of hybrid electric vehicle (HEV) aims at improving fuel economy and decreasing emissions subject to the satisfaction of its drivability. The concurrent optimization for main parameters of powertrain components and control system is the key to implement this objective. However, this problem is challenging due to the large amount of coupling design parameters, conflicting design objectives and nonlinear constraints. A comprehensive methodology based on the Non-dominated Sorting Genetic Algorithms (NSGA) is presented in this paper to achieve parameters optimization for powertrain and control system simultaneously and find the Pareto-optimal solutions set successfully. This optimal solutions set provides a wide range of choices for the design, which can improve the fuel economy and reduce emissions without sacrificing vehicle performance. A case simulation is carried out and simulated by ADVISOR, the results demonstrate the effectiveness of the algorithms proposed in this paper. © 2011 Zhejiang University.

关键词： Fuel economy

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Study on control strategy and simulation for ISG-type parallel hybrid electric vehicle

Study on control strategy and simulation for ISG-type parall...

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作者： Zhang, Baishun Xu, Gang Fang, Licun College of Mechatronics and Control Engineering Shenzhen University Shenzhen China

A reasonable control strategy for Parallel Hybrid Electric Vehicle can achieve optimal energy distribution so as to obtain good fuel economy and lower emissions. The article uses CRUISE to establish a powertrain model for ISG-Type Parallel Hybrird Electric Vehicle, adopting MATLAB / stateflow to develop powertrain control strategy, then conduct joint simulation. In this paper, logic threshold control strategy based on engine optimization is proposed. According to different PHEV(Parallel Hybrid Electric Vehicle) operating modes, adopting reasonable torque distribution algorithm to make engine work along optimal operation line. By using simulation platform CRUISE, simulation for the control strategy based on NEDC driving cycles is conducted. The results indicate that hybrid electric vehicle has better fuel economy and emissions than traditional vehicle. © 2011 Zhejiang University.

关键词： Fuel economy

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Fuzzy gain scheduling PI controller for a mechatronic system

Fuzzy gain scheduling PI controller for a mechatronic system

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Proceedings of the Biannual World Automation Congress

作者： Luis F. Cerecero-Natale Julio C. Ramos Fernández Luis E. Ramos-Velasco Victor E. Pedraza Vera Mechatronics Engineering Laboratorio de Investigación en Robótica y Electrónica Avanzada Universidad Politécnica de Pachuca Hidalgo Mexico Automation and Control Engineering Centro de Investigación en Tecnologías de la Información y Sistemas Universidad Autnoma del Estado de Hidalgo Mexico

This paper presents the integration results of the EMC2 software, mechatronic prototype and fuzzy PI controller. The structure of fuzzy controller has two-inputs, two-outputs (TITO) system where the error and derivative error are the inputs while the proportional and integral gains are the outputs. The fuzzy sets for each input are five Gaussian membership functions, the product fuzzy logic AND operator and the centroid defuzzifier are used to gain scheduling PI. The experimental results of the closed-loop system show the viability and effectiveness of the control position strategy. This mechatronic system is widely used in metal-mechanical industry.

关键词： Microcontrollers DC motors Fuzzy logic Pulse width modulation mechatronics Permanent magnet motors Laboratories

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Research on the coupling heart electric field using passive human body detection system

Research on the coupling heart electric field using passive ...

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IEEE 2011 10th International Conference on Electronic Measurement and Instruments, ICEMI 2011

作者： Zhang, Yan Xu, Lixin State Key Laboratory of Mechatronics Engineering and Control Beijing Institute of Technology Beijing China

ISBN: (纸本)9781424481590

An analysis of the coupling heart electric field is a pivotal step in the human body detection system which target for the heart coupling electric field between the operator and the detected living human. In this paper, the double-human heart coupling electric field is discussed and the three-dimensional finite element method is used to analytically solve that problem. Firstly, we described the principle of the single human cardiact electric dipole equal effects. Then, the double-human coupling heart electric field is analyzed. Finally, the three-dimensional finite element method is used for simulating and calculating the coupling heart electric field. The three different typical coupling heart electric fields are shown in the result. The conclusion of this paper is the most significant studies of the passive human body detection technique. © 2011 IEEE.

关键词： Heart

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