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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Sakaki, Taisuke Kiyota, Takanori Kino, Hitoshi Sagara, Shinichi Oguro, Ryuichi Moromugi, Shunji Imado, Keiji Ikeuchi, Hidetaka Fukushima, Manabu Ikeda, Takeshi Aoki, Kanta Ushimi, Nobuhiro Department of Engineering Kyushu Sangyo University Fukuoka Japan Department of Mechanical Systems Engineering University of Kitakyushu Kitakyushu Japan Department of Intelligent Mechanical Engineering Fukuoka Institute Technology Fukuoka Japan Department of Control Engineering Kyushu Institute of Technology Kitakyushu Japan Department of Computer Science and System Engineering Kyushu Institute of Technology Iizuka Japan Department of Mechanical Systems Engineering Nagasaki University Nagasaki Japan Department of Architecture and Mechatronics Oita University Oita Japan Department of Media Technology Nippon Bunri University Oita Japan Department of Mechanical Engineering Kyushu University Fukuoka Japan Department of Art Kyushu Sangyo University Fukuoka Japan

ISBN: (纸本)9784907764296

We describe a unique competition based on the novel concept of robotics and mechatronics products that included evaluation of the products' engineering function and interface design. Seventy-seven students of eleven teams from seven universities in the Kyushu area participated in the competition, whose subject was " Health care, life supporting and communication or other technical aids for the elderly or disabled." Many of the plans presented ideas that balanced function and design, showing the results of collaboration among students studying engineering and students studying product design. © 2009 SICE.

关键词： Robotics

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The mobility performances of new wheeled and legged hybrid mechanisms system robot iSRo

The mobility performances of new wheeled and legged hybrid m...

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SICE Annual Conference

作者： Son Kuswadi Indra Adji Sulistijono Rachman Ardyansyah Ahmad Zulkarnain Tiyo Avianto Ilmi Rizki Imaduddin Achmad Luthfi Moh. Saifulloh Achmad Jazidie Mitsuji Sampei Department of Mechatronics Engineering Electronics Engineering Polytechnic Institute of Surabaya Surabaya Indonesia Department of Electrical Engineering Institut Teknologi Sepuluh Nopember Surabaya (ITS) Surabaya Indonesia Department of Mechanical and Control System Engineering Tokyo Institute of Technology Meguro Tokyo Japan

In rescue robot competition field, a robot needs to operate in various dynamic environments where they encounter a multitude of unknown both static and/or moving obstacles and targets. Hence, the robot should have high mobility performance to cope with this situation. Here, we propose a new robot hybrid mechanism that consists of wheeled and legged actuators. Based upon the designed mechanism, we derive 10 primitive motions. It is apparent that with this large number of primitive motions, the robot could achieve high mobility performances. We show such high performance by simulation and experiment.

关键词： Legged locomotion Mobile robots Robot kinematics Service robots Leg Actuators Parallel robots Robotic assembly Welding Biological systems

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Design of fire control system of electrostatic fuze based on FPGA

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Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology 2009年第SUPPL. 2期29卷 105-107页

作者： Zheng, Wei Cui, Zhan-Zhong Chen, Xi Li, Yan-Xu State Key Laboratory of Mechatronics Engineering and Control Beijing Institute of Technology Beijing 100081 China

Based on the application of FPGA, proposed a new design method of fire control system for electrostatic fuze aiming at the problem that design of fire control system of electrostatic fuze's circuits is quite complicated. This fire control system comprises the current detecting electrostatic detection circuit and the digital circuit composed of the modules of filter, differentiation and zero-crossing detection. This fire control system has the advantages of simple system structure and flexible design mode. Simulations indicate that this fire control system can enhance the electrostatic fuze's ability to identify the target's signal and thereby improve the fuze-warhead efficiency.

关键词： Fire control systems

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Application of digital lock-in amplifier to induced electrostatic signal test

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Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology 2009年第SUPPL. 2期29卷 99-101页

作者： Hao, Xiao-Hui Cui, Zhan-Zhong Chen, Xi Gao, Wei-Tao State Key Laboratory of Mechatronics Engineering and Control Beijing Institute of Technology Beijing 100081 China

Digital lock-in amplifier is designed based on field programmable gate array (FPGA), and the structure and operating principle of the system are discussed in detail. In digital lock-in amplifying system, the spectrum of DC or slowly changed signal is shifted by a modulator, and then is frequency selective amplified, which can avoid the adverse effect of 1/f noise. Digital phase sensitive detector is used to demodulate the signal, and the low pass filter is used to restrain the broadband noise. Testing principle of the electrostatic induced signal is emulated by using this lock-in amplifier. System performance is emulated, and the simulation result indicate that the digital lock-in amplifier can be used in weak electrostatic signal test.

关键词： Low pass filters

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Robust H∞ controller design for distillation column based on multi-objective optimization and genetic algorithms

Robust H∞ controller design for distillation column based o...

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IEEE Symposium on Industrial Electronics & Applications (ISIEA)

作者： Ata Arvani Mohammad Teshnehlab Mahdi Aliyari Sh. Control Engineering Dept. K. N. Toosi University of Technology (KNTUT) Tehran Tehran Iran Mechatronics Engineering Dept. K. N. Toosi University of Technology (KNTUT) Tehran Iran

In this paper, the design of a robust control system using genetic algorithms for distillation column is presented. The controller ensure robust stability and robust performance of the closed-loop system and fulfillment of a mixture of time-domain and frequency-domain specifications. The simulation of the closed-loop system with the distillation column model shows very good performance for different reference signals as well as for different values of the uncertain parameters. Simulation results confirm that the proposed genetic algorithm based controller outperforms the classical controller.

关键词： Robust control Algorithm design and analysis Distillation equipment Design optimization Genetic algorithms control systems control engineering Industrial electronics Robust stability Frequency domain analysis

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Identification of Nonlinear Predictor and Simulator Models of a Cement Rotary Kiln by Locally Linear Neuro-Fuzzy Technique

Identification of Nonlinear Predictor and Simulator Models o...

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International Conference on Computer and Electrical engineering, ICCEE

作者： Masoud Sadeghian Alireza Fatehi Department of Mechatronics Engineering International Campus Sharif University of Technology Kish Island Iran Advanced Process Automation and Control (APAC) Research group Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran

One of the most important parts of a cement factory is the cement rotary kiln which plays a key role in quality and quantity of produced cement. In this part, the physical exertion and bilateral movement of air and materials, together with chemical reactions take place. Thus, this system has immensely complex and nonlinear dynamic equations. These equations have not worked out yet. Only in exceptional case; however, a large number of the involved parameters were crossed out and an approximation model was presented instead. This issue caused many problems for designing a cement rotary kiln controller. In this paper, we presented nonlinear predictor and simulator models for a real cement rotary kiln by using nonlinear identification technique on the Locally Linear Neuro-Fuzzy (LLNF) model. For the first time, a simulator model as well as a predictor one with a precise fifteen minute prediction horizon for a cement rotary kiln is presented. These models are trained by LOLIMOT algorithm which is an incremental tree-structure algorithm. At the end, the characteristics of these models are expressed. Furthermore, we presented the pros and cons of these models. The data collected from White Saveh Cement Company is used for modeling.

关键词： Predictive models Kilns Computational modeling Power system modeling Production facilities Nonlinear control systems Chemical technology Nonlinear equations Automatic control Process control

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Identification, Prediction and Detection of the Process Fault in a Cement Rotary Kiln by Locally Linear Neuro-Fuzzy Technique

Identification, Prediction and Detection of the Process Faul...

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International Conference on Computer and Electrical engineering, ICCEE

作者： Masoud Sadeghian Alireza Fatehi Department of Mechatronics Engineering Sharif University of Technology International Campus Kish Island Iran Advanced Process Automation and Control (APAC) Research group Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran

In this paper, we use nonlinear system identification method to predict and detect process fault of a cement rotary kiln. After selecting proper inputs and output, an input-output model is identified for the plant. To identify the various operation points in the kiln, Locally Linear Neuro-Fuzzy (LLNF) model is used. This model is trained by LOLIMOT algorithm which is an incremental tree-structure algorithm. Then, by using this method, we obtained 3 distinct models for the normal and faulty situations in the kiln. One of the models is for normal condition of the kiln with 15 minutes prediction horizon. The other two models are for the two faulty situations in the kiln with 7 minutes prediction horizon are presented. At the end, we detect these faults in validation data. The data collected from White Saveh Cement Company is used for in this study.

关键词： Fault diagnosis Fault detection Kilns Production facilities Electrical fault detection Fuzzy systems Delay estimation Nonlinear systems Predictive models Automation

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Improved RSSI-based Localization Algorithm for Park Lighting control and Child Location Tracking

Improved RSSI-based Localization Algorithm for Park Lighting...

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2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

作者： Jia Chen Xiao-jun Wu Jian-wei Liu Feng Ye Ping Song Department of Control and Mechatronics Engineering Harbin Institute of Technology Shenzhen Graduate H&T Intelligent Control CO. LTD.Shenzhen518055China Shenzhen Key Laboratory of network information appliances Shenzhen Academy of Aerospace TechnologyS

Based on the ZigBee wireless network, a park lighting control and child location tracking system is designed in this paper. Considering that there may be a number of children that needs to be tracked concurrently, distributed localization is needed, so an improved RSSI-based algorithm is introduced in this paper. As a goal of our system, the new method, unlike commercial digital-hardware-block based strategy used in CC2431, can be implemented by using ordinary 8-bit MCU. In the new distributed localization strategy, instead of 'lognormal', 'piecewise linear' path loss model was established, which needs only linear operation when estimating range from RSSI. Besides, min-max method, other than maximum likelihood estimation method, was used to simplify coordinates calculation. Furthermore, ZigBee compatible node modules were developed as the system hardware platform to carry out the experiments, and results demonstrate the new method has close or even better precision compared with basic algorithm, and therefore meets the demand of child location tracking system in the park.

关键词： Lighting control ZigBee Hardware Wireless networks Costs Mesh networks Wireless mesh networks Pediatrics Design automation Algorithm design and analysis

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Iterative Learning control for Network Systems with Communication Delay or Data Dropout

Iterative Learning Control for Network Systems with Communic...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Chunping Liu Jianxin Xu Jun Wu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University Department of Mechatronics Engineering Shaoxing College of Arts and Sciences Department of Electrical and Computer Engineering National University of Singapore Hangzhou Qian Jiang expert SUPCON Technology Co.Ltd.SUPCON Park

In this paper,iterative learning control(ILC) is applied to network-based control problems in which communication channels are subject to random transport delay and data *** averaging ILC algorithm is used to overcome the random *** analysis,it is shown that ILC can perform well and achieve asymptotical convergence in ensemble average along the iteration axis,as far as the probability of the transmission delay and data dropout are known a priori.A unique contribution in this work is to illustrate the applicability of ILC to nonlinear systems while both the one-step delay and the data-dropout phenomena are taken into *** analysis and simulations validate the effectiveness of the ILC algorithm for network-based control tasks.

关键词： ILC Iterative Learning control for Network Systems with Communication Delay or Data Dropout dropout

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Mechanical characterization of human red blood cells by robotic manipulation with optical tweezers

Mechanical characterization of human red blood cells by robo...

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IEEE International Conference on Robotics and Biomimetics

作者： Youhua Tan Dong Sun Wenhao Huang Hanxiong Li Control and Mechatronics Group University of Science and Technology Suzhou China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China Department of Precision Machinery and Precision Instrumentation University of Science and Technology Hefei China

ISBN: (纸本)9781424447749;9781424447756

Human red blood cells (RBCs) are responsible to transport oxygen and carbon dioxide for human bodies. The physiological functions of RBCs are greatly influenced by their mechanical properties. Any alteration of the cell mechanics may cause human diseases. In this paper, to understand the correlation between the cell properties and their osmotic environments, robotic manipulation technology with optical tweezers is used to stretch human RBCs in hypotonic conditions. The swollen RBCs are stretched at different levels of laser powers by a single optical trap. The induced deformation responses are recorded for analysis. To extract the mechanical properties from the force-deformation relationship, a mechanical model is developed from our previous work (J.P. Mills et al., 2004). This model is based on membrane theory and adopts Evans-Skalak material to represent the deformation behavior of RBC membrane. By fitting the modeling results to the experimental data, the area compressibility modulus and elastic shear modulus are characterized as 0.29 ± 0.05 N/m and 6.5 ±1.0 ¿N/m, respectively, which are less than the reported results of the natural RBCs in the isotonic solution. This preliminary study indicates that the hypotonic environment makes human RBCs become much softer and more deformable, and further, may provide insight into the pathology of some human diseases and disease therapy.

关键词： Humans Red blood cells Robots Diseases Mechanical factors Optical recording Biomembranes Carbon dioxide Laser modes Laser theory

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