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14th Biennial IEEE Conference on Electromagnetic Field Computation, CEFC2010

作者： Hwang, Kyu-Yun Rhyu, Se-Hyun Kwon, Byung-Il Department of Electronic Electrical Control and Instrumentation Engineering Hanyang University 1271 Sa-3 dong Sangnok-gu Ansan Kyeonggi-do 425-791 Korea Republic of Intelligent Mechatronics Research Center Korea Electronics Technology Institute 203-101 Bucheon Yakdae-dong Wonmi-gu Bucheon-si Kyeonggi-do 420-140 Korea Republic of

ISBN: (纸本)9781424470594

A novel coefficient modeling for skewed PM and overhang structure as a coefficient estimation method is introduced for optimal design in the 2D region for a PM motor. The novel model is constructed using 3D FEM and a response surface method (RSM) based on moving least square method (LSM). Then the novel model is coupled with an additional approximated model for optimal design in the 2D region. Finally, by combining the novel model and evolution algorithm (EA), an optimal design is performed. The usefulness of the proposed design is verified by 3D FEM simulation results. © 2010 IEEE.

关键词： Brushless DC motors

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Fast implicit surface reconstruction method based on normal constraints

Fast implicit surface reconstruction method based on normal ...

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International Conference on mechatronics and Automation

作者： Guo, Guangyue Wu, Xiaojun Wang, Michael Yu Wu, Jianhuang Shenzhen Graduate School Harbin Institute of Technology 518055 China Division of Control and Mechatronics Engineering Shenzhen Graduate School Harbin Institute of Technology 518055 China Mechanical and Automation Engineering Department Chinese University of Hong Kong Shatin N.T. Hong Kong Shenzhen Institute of Advanced Integration Technology Chinese Academy of Sciences Chinese University of Hong Kong Shatin N.T. Hong Kong

ISBN: (纸本)9781424451418

In this paper, a new procedure for implicit surface reconstruction from oriented points is presented. A normal constraints based implicit polynomials fitting method and the partition of unity approach are fused into our framework. Firstly, a large scale input data is subdivided into some overlapping patches by octree. Then the global implicit surface is transferred into local implicit patch fitting and blending of them. To fit the local implicit polynomials, we build an energy by three steps corresponding to enforcement of the interpolatory constraints, satisfying of normal constraints and enhancement of fitting stability. The unkowns in an implicit polynomial are determined by minimizing this quadratic energy function. It is demonstrated in some experiments with several real data sets that this combination provides an intuitive and effective means to approximate the scattered point data associated normals. © 2010 IEEE.

关键词： Surface reconstruction

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Self-Tuning control Design Strategy for an Electronic Throttle with Experimental Robustness Analysis

Self-Tuning Control Design Strategy for an Electronic Thrott...

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American control Conference

作者： Benedikt Alt Jan Peter Blath Ferdinand Svaricek Matthias Schultalbers Department of Aeronautical Engineering Chair of Control Engineering at the University of the German Armed Forces 85577 Neubiberg Germany University of Applied Sciences and Arts 30459 Hannover Germany Department of Powertrain Mechatronics Development Gasoline Engines at IAV Gmbh 38518 Gifhorn Germany

ISBN: (纸本)9781424474264

In this paper a self-tuning control design strategy for the electronic throttle is introduced. The proposed control design consists of a modified PID controller and an additional nonlinear controller that helps to compensate the nonlinearities of the plant. The control parameters are calculated automatically using an appropriate process identification algorithm. The efficiency of the proposed control design strategy is shown by experimental results. In a next step the performance loss due to aging effects is analyzed. Finally, the robustness properties with regards to environmental influences are investigated.

关键词： control design Robust control Aging Automatic control Internal combustion engines Valves Three-term control control nonlinearities Robustness Torque

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Vision based lane keeping assistance control triggered by a driver inattention monitor

Vision based lane keeping assistance control triggered by a ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Özgür Tunçer Levent Güvenç Fuat Coşkun Elif Karslıgil Ford Otosan – Gebze Engineering Gebze Kocaeli Turkey ITU Mekar Labs and Automotive Control and Mechatronics Research Center Istanbul Technical University Istanbul Turkey Department of Computer Engineering Yildiz Technical University İstanbul Turkey

Inattentive and impaired drivers are a major cause of road accidents. Especially when impaired by drugs, fatigue or physical handicaps, the skill levels, driving habits, capabilities and decisions of a human driver are adversely affected. In such cases, the ability of a driver to safely operate a vehicle may be augmented considerably by well tuned and driver adaptive warning and assistance systems. Data from 105 drivers were collected in the Drive Safe project on an approximately 30 km route containing both city and highway traffic. The data was used to develop methods for determining inattentive/impaired drivers. This paper is on a lane keeping driver assistant system that is activated once such an inattentive/impaired driver who cannot perform a good task of lane keeping by himself is determined. Robust, parameter space based and velocity scheduled control design techniques carried out in the COMES toolbox are used for designing the lane keeping controller. A camera based image processing algorithm for lane detection and tracking is used. The image processing algorithm and the lane keeping assistant control system are evaluated first using offline simulations and then using more realistic, real time hardware-in-the-loop simulations. While a relatively simple linear model is used for lane keeping controller design, evaluation of the designed controller also uses the high fidelity, high order, realistic and nonlinear vehicle model in Carmaker HiL. A PC is used for processing video frames coming from an in-vehicle camera pointed towards the road ahead. Lane detection and tracking computations including fitting of composite Bezier curves to curved lanes are carried out in this PC. A dSpace microautobox is available for obtaining the lane data from the PC and the Carmaker vehicle data from the dSpace compact simulator used and calculating the required steering actions and sending them to the Carmaker vehicle model. Offline and real time simulation results demonstrate t

关键词： Process control Robustness

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Modular fuzzy control with input shaping technique for transformation of two-wheeled wheelchair to four-wheeled mode

Modular fuzzy control with input shaping technique for trans...

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IEEE Symposium on Industrial Electronics & Applications (ISIEA)

作者： Salmiah Ahmad M. O. Tokhi N. H. Siddique Department of Mechatronics International Islamic University Malaysia Kuala Lumpur Malaysia Automatic Control & Systems Engineering University of Sheffield Sheffield UK School of Computing & Intelligent System University of Ulster UK

This paper presents a mechanism for wheelchair transformation from two-wheeled upright position to four-wheeled position using a modular fuzzy logic control (MFC) approach. A wheelchair model that can be operated in four-wheeled and two-wheeled modes has been developed within the Visual Nastran environment and integrated with Simulink for control purposes. A multi-input multi-output modular fuzzy logic control configuration is designed and implemented on the wheelchair model. To improve the system performance, an input shaping technique is augmented inside the feedback loop. It is shown that the shaped signals have improved the system performance with promising results.

关键词： Wheelchairs Niobium Wheels Mathematical model Torque Fuzzy control Conferences

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Auxiliary Model-based Stochastic Gradient Algorithm for Multivariable Output Error Systems

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Acta Automatica Sinica 2010年第7期36卷 993-998页

作者： Feng DING Xiao-Ping LIU School of Communication and Control Engineering Jiangnan University Wuxi 214122 P. R. China School of Mechatronics Engineering Nanchang University Nanchang 330031 P. R. China Department of Systems and Computer Engineering Carleton University Ottawa K1S 5B6 Canada

The identification problem of multivariable output error systems is considered in this paper. By constructing an auxiliary model using available input-output data and by replacing the unknown inner variables in the information vector with the outputs of the auxiliary model, an auxiliary model-based stochastic gradient (AM-SG) identification algorithm is presented. Convergence analysis using the martingale convergence theorem indicates that the parameter estimates given by the AM-SG algorithm converge to their true values. The AM-SG algorithm with a forgetting factor is given to improve its convergence rate. The simulation results confirm the theoretical findings.

关键词： Recursive identification parameter estimation stochastic gradient (SG) auxiliary model identification multivariable systems convergence property martingale convergence theorem

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Wijin Suteeratanapirom Rapeepong Rattanawaorahirankul Chutima Laosapan Peerayot Sanposh Nattapon Chayopitak Kanokvate Tungpimolrut Hiroaki Kunieda TAIST Tokyo Technology China Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward controller (FFC-PFC) are presented.

关键词： Friction Computer numerical control Metalworking machines Servomotors Three-term control Fasteners Rails Servomechanisms Torque control Error correction

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Motion planning of multiple mobile robots with formation requirement

Motion planning of multiple mobile robots with formation req...

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International Conference on Information and Automation (ICIA)

作者： Shuang Liu Dong Sun Changan Zhu Control and Mechatronics Group Suzhou Research Center of City University of Hong Kong Suzhou Hong Kong China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China Department of Precision Machinery and Precision Instrumentations University of Science and Technology Hefei China

ISBN: (纸本)9781424457014

This paper presents a motion planning approach to coordinating multiple mobile robots in moving along the designed paths. The robots are required to fulfill the formation requirement during the motions subject to the constraints of velocity/acceleration bounds and mutual collision avoidance. The coordination is achieved by properly planning robots' velocities along the paths, which is modeled as a velocity optimization problem. An objective function to minimize the formation errors is established. A solution to achieve this objective function is obtained by the optimizer of LINGO (a linear interactive and general optimizer). Simulations and experiments are performed on a group of mobile robots to demonstrate the effectiveness of the proposed approach.

关键词： Motion planning Mobile robots Robot kinematics Acceleration Path planning Manufacturing automation Technology planning Collision avoidance Mathematical programming Robot programming

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Comparison of neuro-fuzzy approaches with artificial neural networks for the detection of Ischemia in ECG signals

Comparison of neuro-fuzzy approaches with artificial neural ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Hoda Tonekabonipour Ali Emam Mohamad Teshnelab Mehdi Aliyari Shoorehdeli Mechatronics Department Qazvin Islamic Azad University Qazvin Iran Electrical Engineering K.N. Toosi University of Technology Tehran Iran Electrical Engineering Advanced Process Automation and Control (APAC) K.N. Toosi University of Technology Tehran Iran

This paper compares different classification methods of ECG signals including their accuracies. First of all , Preprocessing for ECG signal is necessary in order to detect QRS complex. Then, with the intention of extract influential features in Ischemia disease, baseline wandering and noise suppression is done. Following to above mentioned target, two neuro-fuzzy classification algorithms incorporated with two artificial neural networks classifiers selected. They put under test to investigate their ability to recognize Ischemic Heart Disease (IHD) from ECG signals. Adaptive Neuro Fuzzy Inference System (ANFIS) and Locally Linear Model Tree (LOLIMOT), are two neuro-fuzzy networks used in the test. They have good capability of learning. Also Multi layer Perceptron (MLP) and Probabilistic Neural Networks (PNN) used as well in test. These are four structures totally used in this paper. The ECG sampled signals are taken from MIT-BIH database. They are used to train neural networks enabling them to classify Ischemia. All neuro-structures have been tested by using experimental ECG records of individuals. The results suggest that neuro-fuzzy classifiers perform better than the other types of classifiers.

关键词： Electrocardiography

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Motion planning of multirobot formation

Motion planning of multirobot formation

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Shuang Liu Dong Sun Changan Zhu University of Science and Technology Suzhou China Control and Mechatronics Group Suzhou Research Center of City University of Hong Kong Suzhou Hong Kong China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China Department of Precision Machinery and Instrumentations University of Science and Technology Hefei China

This paper presents a motion planning approach to coordinating multiple mobile robots in moving along specified paths. The robots are required to fulfill formation requirements while meeting velocity/acceleration constraints and avoiding collisions. Coordination is achieved by planning robot velocities along the paths through a velocity optimization process. An objective function for minimizing formation errors is established and solved by a linear interactive and general optimizer. Motion planning can be further adjusted online to address emergent demands such as avoiding suddenly-appearing obstacles. Simulations and experiments are performed on a group of mobile robots to demonstrate the effectiveness of the proposed coordinated motion planning in multirobot formations.

关键词： Robot kinematics Collision avoidance Planning Optimization Mobile robots Lead

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