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International Conference on control, Instrumentation, and Automation

作者： Hamed Kazemi Vahid Johari Majd Majid M. Moghaddam Intelligent Control Systems Laboratory School of Electrical and Computer Engineering Tarbiat Moalem University Tehran Iran Intelligent Control Systems Laboratory Tarbiat Modares University Tehran Iran Robotics and Mechatronics Laboratory Mechanical Engineering Department Tarbiat Moalem University Tehran Iran Mechanical Engineering Department Tarbiat Modares University Tehran Iran

In this paper, a quadruped robot is studied in bounding motion. A new simplified model of quadruped robot in bounding motion with four actuated and two unactuated joints is developed. The kinetic and potential energies of the under-actuated mechanical model of the quadruped robot are obtained and the dynamics of the robot model is derived using the Lagrangian method. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems. The main motivation of this paper is to obtain quadruped model in bounding motion such that one can apply different control methods directly or after transformation in the obtained dynamic equations. Utilizing MATLAB, dynamics of the planar model has been simulated in backward and forward states. Physical parameters of the Little-Dog robot as an instance of the quadruped robot are considered in simulation The simulation is without control and therefore is unstable but it illustrates robot's manner in bounding motion before instability.

关键词： Mathematical model Legged locomotion Dynamics Equations Joints Robot kinematics

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On the PD~(alpha)-Type Iterative Learning control for the Fractional-Order Nonlinear Systems

On the PD~(alpha)-Type Iterative Learning Control for the Fr...

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2011 American control Conference (ACC)

作者： Yan Li YangQuan Chen Hyo-Sung Ahn School of Control Science and Engineering Shandong University Jinan Shandong China Electrical and Computer Engineering Department Utah State University Logan UT USA Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea

In this paper, we discuss in time domain the convergence of the iterative process for fractional-order nonlinear systems. The PD~(alpha)-type iterative learning updating laws are considered. Most of the classical fractional-order cases for linear or nonlinear systems fall into the scheme of this paper. A number of numerical simulations are illustrated to validate the concepts.

关键词： Nonlinear systems Convergence Fractional calculus Equations Simulation Electronic mail

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Advanced service robotics for human assistance and support

Advanced service robotics for human assistance and support

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International Conference on Advanced Computer Science and Information System (ICACSIS)

作者： Toshio Fukuda Pei Di Fei Chen Kousuke Sekiyama Jian Huang Masahiro Nakajima Masaru Kojima Center of Micro-nano Mechatronics University of Nagoya Nagoya Japan Department of Micro-Nano Systems Engineering University of Nagoya Nagoya Japan Department of Control Science & Engineering Huazhong University of Science and Technology Wuhan Hubei China

There are growing demands on robotics and automation in the service sector for many years due to the age quake, silver society and man power shortage. Now that robotics is so advanced with sensor, actuator and computational intelligence along with the CPU development, it is expected to make much wider applications to service sector. Some are good for robot to be more intelligent and more effective. In this presentation, the robotics and automation is overviewed for the sake of human assistance and supports. Then there have been so many attempts to make robots more friendly and usable to human and some showed very successful results in bio-medicine field, material flow and daily life. Firstly, the “intelligent cane system” is presented as one of the examples of advanced service robotics systems. Secondary, a model for assembly strategy generation and selection for human and robot coordinated (HRC) cell assembly by a Dual Generalized Stochastic Petri Net (GSPN) model is discussed within the field of human and robot coordinated (HRC) cell assembly. From these applications, it turned out to be much more important for human service sector such that advanced robotics and automation system in this domain should have more cognitive functions as human intention estimation explicitly.

关键词： Robot kinematics Humans Legged locomotion Assembly Robot sensing systems Service robots

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Intelligent control of human prosthetic eye movements system for the emotional support by a huggable pet-type robot via Gaussian RBF neural network based on sliding mode control

Intelligent Control of human prosthetic eye movements system...

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International Conference on control, Instrumentation, and Automation

作者： Faezeh Farivar Mojtaba Rostami Kandroodi Mahdi Aliyari Shoorehdeli Department of Mechatronics Engineering Islamic Azad University Tehran Iran Control & Intelligent Processing Center of Excellence University of Tehran Tehran Iran Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

In this study, intelligent control of human eye movements system for the emotional support by a huggable pet type robot via Gaussian RBF neural network based on sliding mode control is presented. Despite active research and significant progress in the last three decades on control of human eye movements, it remains challenging issue due to its applications in prosthetic eyes and robotics. The geometry and model of human eye movements system are investigated and this system is considered as a nonlinear control system. The specified model may only be an academic exercise. It can have scientific importance in understanding of the human movement system in general. Also, it can be useful for robotics. By using Gaussian RBF Neural Networks Based on Sliding Mode control, the control goal can be achieved. The adaptation laws of designed controllers are obtained based on sliding mode control methodology without calculating the Jacobian of the system. The proposed method is capable to control of human eye movements system. Intelligent methods such as artificial neural networks are proposed to control the human eye movements and numerical simulations are presented. It is concluded that the intelligent controls applied to control of human eye movements system are emulated from the neural controls in biological system.

关键词： Humans Robots Mathematical model Sliding mode control Intelligent control Geometry

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A novel type of trigonometric neural network trained by Extended Kalman Filter

A novel type of trigonometric neural network trained by Exte...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： M. Norouzi M. Mansouri M. Teshnehlab M. Aliyari Shoorehdeli Faculty of Engineering Department of Computer Engineering Science and Research Branch Islamic Azad University Iran Intelligent System Laboratory (ISLAB) Faculty of Electrical Engineering Control Department K.N. Toosi University of Technology Tehran Iran Faculty of Electrical Engineering Department of Mechatronics Engineering Advanced Process Automation &Control Laboratory (APAC) K.N. Toosi University of Technology Tehran Iran

In this study, a new type of trigonometric neural network is presented by adding frequency and phase to trigonometric activation functions. The proposed trigonometric neural network has more flexibility in comparison with conventional trigonometric neural networks and even other types of neural networks. Due to the low convergence rate and high posibility of trapping in a local minimum of backpropagation algorithm, Extended Kalman Filter algorithm is used to train the neural network's parameters which they appear in a nonlinear form. The Simulation of the suggested neural network based on the prediction of Mackey-Glass time series and identification of a nonlinear dynamic ystem reveals the efficiency of the proposed network. To show the efficiency of this method, the results are compared with the results of the others.

关键词： Biological neural networks Kalman filters Equations Neurons Vectors Covariance matrix Mathematical model

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On the skew and sway control of container cranes

On the skew and sway control of container cranes

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International Conference on control, Instrumentation, and Automation

作者： M. Mahrueyan H. Khaloozadeh Mechatronics engineering K. N. Toosi University of Technology Tehran Tehran Iran Systems and control department K. N. Toosi University of Technology Tehran Tehran Iran

It is conventional to control the sway of the container cranes based on a two dimensional model. Unfortunately, two dimensional models are not capable of controlling the skew of container cranes. Moreover, the anti-sway controllers make the skew intensified. In this paper, we add another degree of freedom to a three dimensional container crane model by installing two wagons in the trolley to impose a couple force for regulating both its sways and skew to zero using State Dependent Riccati equation (SDRE) controller. As the couple force only have rotational effect on the container platform, and is a free vector it will not change the dynamic of the system. Furthermore, SDRE controllers are the extended version of LQR, they will lead into an optimal result while being simple in controlling a system with three inputs and being loyal to nonlinear characteristics of the system. We will simulate the controller on a 3D model with the trolley acceleration of 0.8.

关键词： Containers Cranes Mathematical model Solid modeling Force Equations control systems

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Designing flexible neuro-fuzzy system based on sliding mode controller for magnetic levitation systems

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International Journal of Computer Science Issues 2011年第4 4-1期8卷 160-171页

作者： Mohammadi, Zahra Teshnehlab, Mohammad Shoorehdeli, Mahdi Aliyari Electrical Engineering Department Science and Research Branch of Islamic Azad University Tehran Iran Faculty of Electrical Engineering Department of Control Engineering K. N. Toosi University of Technology Tehran Iran Faculty of Electrical Engineering Department of Mechatronics Engineering K. N. Toosi University of Technology Tehran Iran

This study presents a novel controller of magnetic levitation system by using new neuro-fuzzy structures which called flexible neuro-fuzzy systems. In this type of controller we use sliding mode control with neuro-fuzzy to eliminate the Jacobian of plant. At first, we control magnetic levitation system with Mamdanitype neuro-fuzzy systems and logical-type neuro-fuzzy systems separately and then we use two types of flexible neuro-fuzzy systems as controllers. Basic flexible OR-type neuro-fuzzy inference system and basic compromise AND-type neuro-fuzzy inference system are two new flexible neuro-fuzzy controllers which structure of fuzzy inference system (Mamdani or logical) is determined in the learning process. We can investigate with these two types of controllers which of the Mamdani or logical type systems has better performance for control of this plant. Finally we compare performance of these controllers with sliding mode controller and RBF sliding mode controller.

关键词： controllers

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A Complementary Modularized Ramp Metering Approach Based on Iterative Learning control and ALINEA

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IEEE Transactions on Intelligent Transportation Systems 2011年第4期12卷 1305-1318页

作者： Zhongsheng Hou Xin Xu Jingwen Yan Jian-Xin Xu Gang Xiong Advanced Control Systems Laboratory School of Electronic and Information Engineering Beijing Jiaotong University BJTU Beijing China Institute of Automation College of Mechatronics and Automation National University of Defense Technology Changsha China Department of Electrical and Computer Engineering National University of Singapore Singapore Automation Institute Chinese Academy of Sciences (CAS) Beijing China

Ramp metering is an effective tool for traffic management on freeway networks. In this paper, we apply iterative learning control (ILC) to address ramp metering in a macroscopic-level freeway environment. By formulating the original ramp metering problem as an output regulating and disturbance rejection problem, ILC has been applied to control the traffic response. The learning mechanism is further combined with Asservissement Linéaire d'Entrée Autoroutière (ALINEA) in a complementary manner to achieve the desired control performance. The ILC-based ramp metering strategy and the modified modularized ramp metering approach based on ILC and ALINEA in the presence of input constraints are also analyzed to highlight the advantages and the robustness of the proposed methods. Extensive simulations are given to verify the effectiveness of the proposed approaches.

关键词： Traffic control Mathematical model Convergence Learning systems Feedforward neural networks

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An under Load Servo Actuator Identification

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IFAC Proceedings Volumes 2011年第1期44卷 5303-5307页

作者： M. Maboodi M.H. Ashtari Larki M. Aliyari Shoorehdeli H. Bolandi Dept. of Computer Engineering Hashtgerd Branch Islamic Azad University Karaj Iran(Tel: 98-021-84062161) Faculty of Electrical Engineering Control Dept. Iran University of Science and Technology Tehran Iran Faculty of Electrical and Computer Engineering Mechatronics Dept. K.N. Toosi University of Technology Tehran Iran

Abstract This paper addresses the experimental identification of a servo actuator which is used in many industrial applications. Because the system consisted of electrical and mechanical components, the behavior of the system was nonlinear. In addition, the under load behavior of this servo was different. The load torque was considered as the input and a two input-one output model was presented for this servo actuator. Special focus was given in order to present a simple model for this servo actuator. The comparison between simulation and experimental results showed the effectiveness of the propose model. The model can be applied as a reference for characterizing different designs and future control strategies.

关键词： Servo Actuator Identification Modeling ARMAX

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On the Joint Design and Hydraulic Actuation of Octahedron VGT Robot Manipulators

On the Joint Design and Hydraulic Actuation of Octahedron VG...

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IEEE/ASME International Conference on Advanced Intelligent mechatronics (AIM)

作者： Sven Rost Matthias Uhlemann Karl-Heinz Modler Yevgen Sklyarenko Frank Schreiber Walter Schumacher National Technical University Donetsk Department of Control Systems and Mechatronics Artema 58 83000 Donetsk Ukraine Dresden University of Technology Institute of Solid Mechanics 01062 Dresden Germany Technical University Braunschweig Institute of Control Engineering Hans-Sommer-Str. 66 38106 Braunschweig Germany

ISBN: (纸本)9781457708381

In this paper, the design for variable geometry truss manipulators, with 3-DOF octahedron-shaped modules and hydraulic actuation is introduced. The main features of the concept are the optimized multiple collocated spherical joints and a structure-integrated supply of the drive fluid for the hydraulic actuators. Based upon the known Spherical Joint Mechanism, design rules are deduced and modified joint elements are presented to provide a larger workspace for a single module. The potential of the resulting module design is demonstrated by the calculation of the workspace, as well as the payload-to-mass ratio. Based upon the presented results, a family of highly maneuverable light-weight hyper-redundant manipulators can be derived.

关键词： Workplace Hydraulic actuators BALL JOINT Activation Robot Manipulator Octahedron Hydrodynamics Joints Joints hyper-redundant manipulators mass-ratio family

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