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International Conference on Digital Content, Multimedia Technology and its Applications (IDC)

作者： Sara Manifar Mahdi Aliyari Shoorhedeli Department of Mechatronics Engineering Islamic Azad University Science and Research Tehran Iran Department of Mechatronics Engineering and Advanced Process Automation and Control (APAC) Research Group K.N. Toosi University of Technology Tehran Iran

This paper discusses the design of a controller for teleoperation systems which operate in contact with unknown environments. For this purpose, the controller in the slave part is designed to use a classical controller and a neuro-fuzzy controller. To have a haptic teleoperation, the force feedback from the contact point to the master side is needed. In this study virtual force is fed back to the master instead of the measured contact force and the feedback force is the position error i.e. the difference between the position of master and slave robots. Primary, classical controller was designed for this object, the gains of this controller is obtained by standard genetic algorithm (GA), in offline and optimization method at nominal operating point. In master-slave robot with classical controller, when, robot works in soft or hard environment and the operating point was changed, the obtained controller are not suitable. For this reason, online neuro - fuzzy gain scheduling controller are designed for this system to tune the controller's parameters. The NF trained in offline mode based on GA and in online application tuned the controller based on monitoring of operating point of system. This method makes the system robust to uncertainties such as modeling errors, parameter mismatches and disturbances. The simulation results show the ability of proposed method in compare of other controllers such as Kalman filter.

关键词： Force Equations Monitoring Iron Mathematical model

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Experimental evaluation of robust-control-relevance: A confrontation with a next-generation wafer stage

Experimental evaluation of robust-control-relevance: A confr...

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American control Conference

作者： Robbert van Herpen Tom Oomen Marc van de Wal Okko Bosgra Faculty of Mechanical Engineering Control Systems Technology group Eindhoven University of Technology The Netherlands ASML Research Mechatronics Veldhoven The Netherlands

ISBN: (纸本)9781424474264

control-relevance is a paradigm that interconnects identification with successive model-based control design. Hereby, the current controller, used to conduct identification experiments, is an important factor to success in the design of a new, improved controller. The aim of this paper is to investigate the role of the experimental controller in robust-control-relevant modeling. Such a study is sensible only when unnecessary conservatism is prevented in the construction of perturbed model sets. Hereto, this paper establishes a model uncertainty description that transparently connects to the imposed robust performance criterion. By confronting the developed approach with a next-generation industrial wafer stage, the important role of the experimental controller during modeling for robust control is clarified indeed. It turns out that only after an increase of performance in successive control design iterations, construction of higher order model sets becomes both feasible and significant. As such, in pursuit of performance optimization up to fundamental limits, the experimental controller ensures a gradual extrapolation of the current experimental conditions.

关键词： Robust control controllers design control Modeling experimental conditions model set

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Parameter Estimation of Thrust Models of Uninhabited Airborne Systems

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IFAC Proceedings Volumes 2010年第16期43卷 354-359页

作者： Tristan Perez Pierre de Lamberterie Alejandro Donaire Elias Revestido Herrero School of Engineering Discipline of Mechanics and Mechatronics The University of Newcastle Callaghan NSW 2308 AUSTRALIA Centre for Complex Dynamic Systems and Control (CDSC) The University of Newcastle Callaghan NSW 2308 AUSTRALIA Dept. of Electronic Technology Systems Engineering and Automatic Control The University of Cantabria Spain

This paper presents a method for the estimation of thrust model parameters of uninhabited airborne systems using specific flight tests. Particular tests are proposed to simplify the estimation. The proposed estimation method is based on three steps. The first step uses a regression model in which the thrust is assumed constant. This allows us to obtain biased initial estimates of the aerodynamic coefficients of the surge model. In the second step, a robust nonlinear state estimator is implemented using the initial parameter estimates, and the model is augmented by considering the thrust as random walk. In the third step, the estimate of the thrust obtained by the observer is used to fit a polynomial model in terms of the propeller advanced ratio. We consider a numerical example based on Monte-Carlo simulations to quantify the sampling properties of the proposed estimator given realistic flight conditions.

关键词： Aerospace aircraft nonlinear filtering least squares parameter estimation regression unscented Kalman filters

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Investigation of a rotary-linear switched reluctance motor

Investigation of a rotary-linear switched reluctance motor

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International Conference on Electrical Machines, ICEM

作者： J.F Pan N.C. Cheung Guang-zhong Cao Department of Automation College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Department of Electrical Engineering Hong Kong Polytechnic University Hong Kong China

A novel direct-drive rotary-linear switched reluctance motor (RLSRM) is proposed. The motor has the advantages of robust mechanical structure, low manufacture cost and capability of operation under hostile environments. Simulation tools such as finite element analysis (FEA) are applied for the verification of motor performance and corresponding experiments are carried out to testify the simulation results. The authors expect that the innovative actuator design can be applied in industrial applications that require both rotary and linear motions.

关键词： Reluctance motors Force Torque Finite element methods Stator windings Switches

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Optimization of wings in ground effect using multi-objective genetic algorithm

Optimization of wings in ground effect using multi-objective...

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作者： Lee, Juhee Hong, Chol-Ho Kim, Byeong Sam Park, Kyoungwoo Ahn, Jong Kwan Department of Mechatronics Hoseo University Asan 336-795 Korea Republic of Department of System and Control Engineering Hoseo University Asan 336-795 Korea Republic of Department of Automotive Engineering Hoseo University Asan 336-795 Korea Republic of Department of Mechanical Engineering Hoseo University Asan 336-795 Korea Republic of

ISBN: (纸本)9781600867392

The shape optimization using the multi-objective genetic algorithm and the analysis of the 3-dimensional wings in ground effect has been performed. Unlike an airplane flying out of ground effect, wings in ground effect have to satisfy static height stability to cruise steadily above the ground or water surface. In this study, both aerodynamic performance and static height stability are considered as objectives. Due to the multi-objective optimization, the optimal solutions are not unique but a set of non-dominated potential solutions: Pareto optima. After twenty evolutions, 74 non-dominated Pareto optima can be obtained. Three objectives, lift coefficient, lift-to-drag ratio and static height stability, are strongly tradeoff each other so that the unique and dominate solution is not existed. The Pareto optima obtained in this study are placed on the edge of the objective space. From the analysis of the Pareto optima, static height stability was improved at the lower height and the higher angle of attack. The lift-to-drag ratio increases with the lower height since the pressure on the lower wing surface increases while that on the upper surface remains constant. The influence of the tip vortex reduces as ground approached.

关键词： Multiobjective optimization

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A new type of medical micropump for an endoscopic robot

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Biomedical Instrumentation and Technology 2010年第3期44卷 261-267页

作者： Ye, Dongdong Yan, Guozheng Zan, Peng Wang, Kundong Beijing Institute of Control Engineering Beijing China Lab 820 School of Electronics Information and Electrical Engineering Shanghai Jiaotong University Shanghai China Department of Automation College of Mechatronics Engineering and Automation Shanghai University China

Researchers have developed a new type of medical micropump for an endoscopic robot, which is driven by a linear actuator based on a direct current (DC) motor. This micropump consists of two active one-way valves and a cylindrical air drum. The overall size of the pump prototype is 12.5 mm in diameter and 56 mm in length. This paper describes the structure of the micropump and linear actuator and analyzes the inflation mechanism of the micropump. The experimental results show that the driving force of the linear actuator can reach up to 2.55 N, which fulfills the need of the micropump. The rated output flow of the micropump is 16 mL/min, which can rapidly supply the gas bag with enough air with minimal noise and vibration.

关键词： Linear actuators

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T2: A novel two degree-of-freedom translational parallel robot for pick-and-place operation

T2: A novel two degree-of-freedom translational parallel rob...

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2010 8th IEEE International Conference on control and Automation, ICCA 2010

作者： Li, Zhibin Lou, Yunjiang Li, Zexiang Yang, Guilin Gao, Jian Division of Control and Mechatronics Engineering Shenzhen Graduate School Harbin Institute of Technology Shenzhen China School of Mechanical and Electrical Engineering Shenzhen Polytechnic China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Hong Kong Singapore Institute of Manufacturing Technology Singapore Singapore School of Electromechanical Engineering Guangdong University of Technology 729 East Dongfeng Road Guangzhou 510090 China

ISBN: (纸本)9781424451951

This paper deals with the conceptual design and kinematic analysis of a novel 2-DOF translational parallel robot for pick-and-place operations named as T2. The proposed architecture is composed of two actuated kinematic chains in the vertical plane and a passive chains in the transversal plane to make the orientation of the moving platform unchangeable. It not only has high speed and high acceleration, but also has a simple and symmetrical mechanism, and will be easier to control and cheaper than the existing 2-DOF robot. In this paper, the loop-closure equations of the robot is derived. the inverse kinematics, forward kinematics, singularity, and workspace analysis are presented. © 2010 IEEE.

关键词： Robots

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Real-time on-line parameter estimation of linear switched reluctance motor

Real-time on-line parameter estimation of linear switched re...

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International Conference on Electrical Machines, ICEM

作者： N.C. Cheung J.F. Pan Jin-quan Li Department of Electrical Engineering Hong Kong Polytechnic University Hong Kong China Department of Automation College of Mechatronics and Control Engineering Shenzhen University Shenzhen China

The on-line least-square identification method is applied for the linear switched reluctance motor (LSRM) based closed-loop control system. Since switched reluctance motors have severe nonlinear characteristics, on-line system identification for model parameters is the basis for precise modeling and effective control algorithms. By on-line parameter identification of LSRM with least-square scheme, the parameter characteristics can be predicted despite of operation variations. The experimental results demonstrate the identification scheme has fast response and converging speed and the capability of effective parameter prediction under different conditions.

关键词： Parameter estimation Switches Reluctance motors Mathematical model Electrical engineering Real time systems

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A new segment-based stereo matching using graph cuts

A new segment-based stereo matching using graph cuts

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International Conference on Computer Science and Information Technology (CSIT)

作者： Daolei Wang Kah Bin Lim Department of Mechanical Engineering Control and Mechatronics Laboratory National University of Singapore Singapore EA #05-15 Department of Mechanical Engineering National University of Singapore Singapore

In the paper, we formulate a new energy function followed by the use of graph cuts to refine the disparity map which takes segment as node. Firstly, the robust disparity plane fitting is modeled and the method of Singular Value Decomposition (SVD) is used to solve least square. In order to ensure reliable pixel sets for the segment, we filter out outliers through three main rules, namely; cross-checking, judging reliable area and measuring the distance between previous disparity to the computed disparity plane. Secondly, we apply improve hierarchical clustering algorithm to merge neighbor. Finally, the final disparity map is obtained. Experimental results demonstrate that our approach is effective in improving the state of the art.

关键词： Pixel

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RVI Reinforcement Learning for Semi-Markov Decision Processes with Average Reward

RVI Reinforcement Learning for Semi-Markov Decision Processe...

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The 8th World Congress on Intelligent control and Automation(第八届智能控制与自动化世界大会 WCICA 2010)

作者： Yanjie Li Fang Cao Division of Control and Mechatronics Engineering Harbin Institute of Technology Shenzhen Graduate Sc State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044

Based on the sensitivity-based approach, we discuss the reinforcement learning problem of semi-Markov decision processes (SMDPs) with average reward. First, we provide a new Bellman optimality equation. On this basis, we propose a relative value iteration (RVI) reinforcement learning algorithm. The new RVI reinforcement learning algorithm may avoid the estimation of optimal average reward in the process of learning and has a good convergence rate.

关键词： Learning Equations Markov processes Convergence Estimation Algorithm design and analysis Heuristic algorithms

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