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Conversion of a conventional electric automobile into an unmanned ground vehicle (UGV)

Conversion of a conventional electric automobile into an unm...

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International Conference on mechatronics (ICM)

作者： Volkan Sezer Çağnrı Dikilitaş Ziya Ercan Hasan Heceoğlu Alper Öner Ahmet Apak Metin Gökaşan Ata Muğan Control Engineering Department Faculty of Electronics Engineering Istanbul Technical University Istanbul Turkey Istanbul Teknik Universitesi Istanbul TR Mechatronics Engineering Faculty of Mechanical Engineering Istanbul Technical University Istanbul Turkey

In this study, conversion procedure of a conventional electric automobile into an unmanned ground vehicle (UGV) is illustrated. This conversion process is divided into two main parts as, mechanical and electrical modifications. Interface circuit, interface software, additional power system, selection of the sensors and computer hardware are given in electrical modifications part. Similarly, design of braking and steering system, their computer simulations and strength analysis are given in mechanical modifications part. All these applications are illustrated on a conventional electric vehicle during this study.

关键词： Lasers Sensors Vehicles Radio frequency Mobile robots Cameras Computers

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Model-based Fault Detection and Isolation Using Neural Networks: An Industrial Gas Turbine Case Study

Model-based Fault Detection and Isolation Using Neural Netwo...

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IEEE International Conference on Systems engineering

作者： Hasan Abbasi Nozari Hamed Dehghan Banadaki Mehdi Aliyari Shoorehdeli Silvio Simani Department of Mechatronics Faculty of Engineering Science and Research Branch Islamic Azad University Tehran Iran Department of control K.N. Toosi University of Technology Tehran Iran Department of Engineering University of Ferrara Italy

This study proposed a model based fault detection and isolation (FDI) method using multi-layer perceptron (MLP) neural network. Detection and isolation of realistic faults of an industrial gas turbine engine in steady-state conditions is mainly centered. A bank of MLP models which are obtained by nonlinear dynamic system identification is used to generate the residuals, and also simple thresholding is used for the intend of fault detection while another MLP neural network is employed to isolate the faults. The proposed FDI method was tested on a single-shaft industrial gas turbine prototype and it have been evaluated using non-linear simulations based on the real gas turbine data. A brief comparative study with other related works in the literature on this gas turbine benchmark is also provided to show the benefits of proposed FDI method.

关键词： Turbines Neurons Fault detection Predictive models Training Torque Temperature measurement

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Periodic disturbance rejection of a PMSM with adaptive control algorithms

Periodic disturbance rejection of a PMSM with adaptive contr...

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IEEE International Conference on Electric Machines and Drives (IEMDC)

作者： Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Department of Electrical and Computer Engineering University of Utah Salt Lake UT USA

Permanent magnet synchronous motors (PMSMs) produce a parasitic oscillating torque due to several reasons. This contribution cancels the oscillating torque with adaptive control algorithms. Therefore a mathematical model of the PMSM is necessary. A model with nonlinear dynamics and a Fourier approach for the ripples is used as a mathematical description. Through comparisons between measured data and simulated data it is shown that the model assumptions are valid. The adaptive algorithm is implemented as an add-on controller to the already existing control system which consists of a feedforward part and a basis controller. The challenge is that the closed loop system has a resonant frequency and the algorithm should have the same performance for all frequencies. Experimental results show the performance and convergence of the adaptive algorithm at constant and non constant velocity.

关键词： Torque Mathematical model Transfer functions control systems Feedforward neural networks Equations Adaptation models

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Identification of Hammerstein-Wiener ARMAX Systems Using Extended Kalman Filter

Identification of Hammerstein-Wiener ARMAX Systems Using Ext...

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2011 Chinese control and Decision Conference（CCDC）

作者： M.Mansouri H.Tolouei M.Aliyari Shoorehdeli Intelligent System Laboratory (ISLAB) faculty of Electrical EngineeringControl departmentK.N.Toosi University of Technology Advanced Process Automation & Control Laboratory (APAC) faculty of Electrical EngineeringControl departmentK.N.Toosi University of Technology Advanced Process Automation & Control Laboratory (APAC) faculty of Electrical EngineeringMechatronics departmentK.N.Toosi University of Technology

In this study,Extended Kalman Filter (EKF) algorithm is developed to estimate the parameters of Hammerstein-Wiener (H-W) ARMAX *** basic idea is to estimate the original parameters of the identification model,which are appeared in the form of product terms,***,other algorithms like Extended Forgetting Factor Stochastic Gradient (EFG),Extended Stochastic Gradient (ESG),Forgetting Factor Recursive Least Square (FFRLS) and Kalman Filter (KF),estimate parameters in the product form and they need another algorithms such averaging method (AVE method),singular value decomposition method (SVD method) to separate the ***,the computational complexity of the proposed approach *** show the efficiency of this method the results are compared with EFG and ESG method.

关键词： Hammerstein-Wiener model,Extended Kalman Filter algorithm,Extended Stochastic Gradient algorithm,Extended Forgetting Factor Stochastic Gradient algorithm

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A new nonlinear classification model based on cross-oriented Choquet integrals

A new nonlinear classification model based on cross-oriented...

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2011 International Conference on Information Science and Technology, ICIST 2011

作者： Wang, Zhenyuan Yang, Rong Shi, Yong Department of Mathematics University of Nebraska Omaha NE United States College of Mechatronics and Control Engineering Shenzhen University China Research Center on Fictitious Economy and Data Science Chinese Academy of Sciences Beijing 100190 China College of Information Science and Technology University of Nebraska at Omaha Omaha NE 68182 United States

ISBN: (纸本)9781424494408

The nonadditive set function defined on the power set of all considered feature attributes can describe the interaction among the contributions from various feature attributes towards classification. The Choquet integral with respect to nonadditive set functions then is a proper aggregation tool in classifications with a nonlinear classifying boundary. Regarding the Choquet integral as a nonlinear projection from a high-dimensional feature space onto an axis, the current study provides a new nonlinear classification model consisting of two Choquet integrals with a common projection axis. The values of unknown parameters in the new model can be optimally determined via a genetic algorithm when a proper training data set is available. The new model is more powerful than the nonlinear classification model based on only a single Choquet integral and is a generalization of the latter. It is more suitable to be applied in bioinformatics. © 2011 IEEE.

关键词： Genetic algorithms

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Application of convex optimization in integrated design of five-bar mechanism

Application of convex optimization in integrated design of f...

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World Congress on Intelligent control and Automation (WCICA)

作者： Hong Wang Jiangzhao Yang Zexiang Li Division of Control and Mechatronics Engineering Shenzhen Graduate School Harbin Institute of Technology Shenzhen China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong China

In this paper, we presented an integrated design methodology for a five-bar mechanism. Five-bar mechanisms are often used in applications that require high speed and high precision motion control. One example of such applications is the semiconductor wire bonding process. In this process, the tip acceleration needs to reach 10g to 15g with sub-micron precision and little vibration. In order to meet such strict design requirements, we first developed a dynamic equation for the rigid five-bar mechanism and obtained a simplified model for designing the structure distribution of the mechanism. Secondly, taking both mechanical and controller parameters as design variables, we formulated the settling time and overshoot functions of the closed-loop system and investigated the convexity features of them. By properly choosing optimal variables, we obtained a convex function which is treated as an objective function with a set of real constraints in an optimization problem. Finally, by optimization algorithm of differential evolution, we obtained a set of global optimal values including mechanical and controller parameters. The effectiveness of the proposed design approach is demonstrated by simulation results.

关键词： Reactive power Optimization Mercury (metals)

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Sliding mode simulation and robustaness controller

Sliding mode simulation and robustaness controller

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International Conference on engineering and Industries (ICEI)

作者： Ali Amer Ahmed R. B Ahmad Saadi A. Alobaidi Abid Yahya L. A. Hassnawi Z. G. Ali Hazim H. Tahir School of Computer and Communication Engineering University Malaysia Perlis Malaysia Head of Computer Techniques Eng. Dept. Dijlah University College Baghdad Iraq Mechatronics Department Control and Mechatronics Research Ministry of Science and Technology Baghdad Iraq

Thailand has exported longan to international market more than four decades, and China is the main international market. After Thailand and China agreed the ASEAN framework under Free Trade Agreement (FTA) since 2003, the average volume and value of longan export per year during 2004-2010, grow up to 200,000 tons and 2,737 million Baht respectively. And the average of growth rate per year of volume and value is 18%, 15%. Therefore, the objectives of the research aim to investigate the supply chain performance, collaborative supply chain of exported longan and impact factors under Thailand-China FTA. The results are based upon empirical studies, a grower and an exporter. The questionnaires developed by Q-sort technique, have been intensively employed in order to collect data. As a significant result; this paper finds exporters have high level out of eight factors, it illustrates that good competence in business for this part of supply chain as well as are well-packed and much stronger than the grower. Nevertheless, the results from regression analysis also confirm the relationship of factors in all four models. From these experimental results, both international business and agriculture business have to be emphasized in order to manage longan export.

关键词： Equations Mathematical model Switches DC motors Trajectory Dynamics

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Direct contour error compensation for biaxial contouring control systems based on a global fixed coordinate frame

Direct contour error compensation for biaxial contouring con...

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World Congress on Intelligent control and Automation (WCICA)

作者： Jiangzhao Yang Zexiang Li Hong Wang Yunjiang Lou Zhili Long Division of Control and Mechatronics Engineering Shenzhen Graduate School Harbin Institute of Technology Shenzhen China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Kowloon Hong Kong China

In the tasks of contour following, two important issues are required to be concerned. They are the real-time contour error estimation and compensation. Recent research shows that the accuracy of real-time contour error estimation can be improved by the approach of circular approximation. However, in such an approach, the estimated contour error is calculated from the artificial moving coordinate frame and has to be transformed back to the fixed coordinate frame for compensation. In this paper, an approach to estimate and compensate the real-time contour error based on the global fixed coordinate frame is proposed. In this method, the real-time contour error can be obtained from the tracking error decomposition to the global fixed coordinate frame via a projection map. Based on this estimation, direct contour error compensation will be performed with respect to the global fixed coordinate frame through modifying the reference position inputs. Experiments show that the estimation accuracy of the direct tracking error decomposition is the same as that of the circular estimation and the tracking performance of the contouring system is evidently improved after the compensation.

关键词： Approximation methods Real time systems Estimation Error analysis Error compensation Accuracy control systems

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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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