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2009 2nd International Conference on Emerging Trends in engineering and Technology, ICETET 2009

作者： Kasdirin, H.A. Herman Jamaluddin, M. Shukor, A. Zaki H. Khamis, Alias Fakulti Kejuruteraan Elektrik UTeM Malacca Malaysia Control Department Faculty of Electrical Engineering UTeM Malaysia Mechatronics Department Faculty of Electrical Engineering UTeM India Industrial Power Department Faculty of Electrical Engineering UTeM India

ISBN: (纸本)9780769538846

This paper describes a design and development of a Graphical User Interface (GUI) Panel for Microprocessor-based controller for a flying robot applications. The robot consists of a mini-aerial helicopter with a build-in integrated camera that linked to a PC-based controller that manipulated by a GUI Panel program. A couple of full duplex transceivers are used to provide wireless communications between the controller and the flying robots. The main objective is building advanced GUI panel that could simulate and visualize high-performance robot systems for further image acquisition and analysis. The test result is well described and the vision data captured is encouraging for future development. Some problems is also being notified for further improvement of the flying robot system. © 2009 IEEE.

关键词： controllers

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Dead start assist control using higher order sliding modes 10

Dead start assist control using higher order sliding modes

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2009 10th European control Conference, ECC 2009

作者： Alt, Benedikt Blath, Jan Peter Svaricek, Ferdinand Schultalbers, Matthias Control Engineering Group Department of Aeronautical Engineering University of the German Armed Forces Munich Neubiberg85577 Germany Department of Powertrain Mechatronics Development Gasoline Engines IAV GmbH Gifhorn38518 Germany

ISBN: (纸本)9783952417393

This paper deals with an idle speed control design approach that is able to cover the idle operating range at standstill and also during dead start. Thus the common dead start controller becomes dispensable. For this feasibility study a validated nonlinear simulation model of the entire powertrain helps to evaluate the performance of the closed-loop system. Furthermore, experimental results show the effectiveness of the proposed control design approach. © 2009 EUCA.

关键词： Closed loop systems

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Laser patterning with beam shaping on indium tin oxide thin films of glass/plastic substrate

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Thin Solid Films 2009年第4期518卷 1072-1078页

作者： Chen, Ming-Fei Hsiao, Wen-Tse Ho, Yu-Sen Tseng, Shih-Feng Chen, Yu-Pin Department of Mechatronics Engineering National Changhua University of Education Changhua 50058 Taiwan System Control and Integration Division Instrument Technology Research Center National Applied Research Laboratories Hsinchu 30076 Taiwan PCB Department Tongtai Machine and Tool CO. Kaohsiung 82151 Taiwan

In this research the laser beam shaper component has been used to obtain top-hat intensity distribution laser beam to perform line scribing and to perform electrode patterning on Indium thin oxide (ITO) thin films deposited on glass and plastic substrate. ITO films were removed with third harmonic Nd:YAG laser processing system. The pulse duration, laser output power, pulse repetition rate and scanning speed parameters of straight line patterning and electrode patterning on different types of substrates were discussed, respectively. The experimental results are measured by optical microscope and scanning electron microscope to evaluate the processing parameters and surface properties of ITO thin films. © 2009.

关键词： Indium compounds

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Project success criteria under Chinese conditions

Project success criteria under Chinese conditions

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IASTED International Conference on Modelling, Simulation, and Identification, MSI 2009

作者： Wang, Hua Xu, Lei Du, Guirong Yu, Jinquan Department of Economics and Management Harbin Institute of Technology Shenzhen Graduate School Shenzhen China Division of Control and Mechatronics Engineering Harbin Institute of Technology Shenzhen Graduate School Shenzhen China

ISBN: (纸本)9780889868106

Objective - The purpose of this paper is to study project success criteria under Chinese conditions. Method - A four dimensional model by Wideman was used to analyze a questionnaire given to participants who had at least three years of project experience. Result - Five dimensions of success criteria were put forward in this study: qualified products/services, future opportunities, direct contribution, internal project objectives and benefits to customers. Each dimension had common features with different criteria. Conclusions - We had three conclusions in this study. First, the five dimensions were practical under Chinese conditions. Second, the degree of importance for each dimension was different. Qualified products/services played the most important role while benefited customers the least and was less important. Third, favorable standards of a project were required to evaluate a successful project.

关键词： Project management

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Cavitation indices in power control of Kaplan water turbines

Cavitation indices in power control of Kaplan water turbines

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6th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies 2009

作者： Juuso, Esko Lahdelma, Sulo Control Engineering Laboratory Department of Process and Environmental Engineering University of Oulu P.O.Box 4300 FI-90014 Finland Mechatronics and Machine Diagnostics Laboratory Department of Mechanical Engineering University of Oulu P.O.Box 4200 FI-90014 Finland

ISBN: (纸本)9781618390097

Cavitation is harmful to water turbines and may cause shutdowns for several weeks. The real-time detection of cavitation risk is increasingly important, and even narrow cavitation-free power ranges can be utilised in load optimisation. Higher derivative signals x(a),a =3 or 4, calculated from acceleration signals x(2)are very suitable for detecting impacts. Generalised moments and their lp norms, ||τ Mαp||, detect the normal operating conditions, which are free of cavitation, and also provide an early indication of cavitation risk. On-line cavitation monitoring is based on cavitation indices calculated from a moving maximum of the lp norms obtained from samples. Data compression is very efficient, as the detailed analysis only requires feature values with a short sample time, τ = 3s. The absolute mean, i.e. the order of moment p = 1, is very good in normal operating conditions and in the high power range. The cavitation indicator also provides warnings on short periods of cavitation if the power is not too low. This is readily suitable for intelligent sensors where a good solution is to use analogue signals x (4). The optimal norm (p = 2.75) is only needed in the low power range. Power control minimises the cavitation risk by dividing the load between three turbines, whose conditions are normal, bad and very good. Each turbine has three operating modes: low, normal and high power. In the normal area, a cavitation free power level is taken as an operating point. The low and high operating areas are defined by local minima of the cavitation indices. The control system has a feedforward controller, which allocates the load to the turbines by means of knowledge-based cavitation indices, and a feedback controller, which is based on the linguistic equation (LE) approach. Each turbine has a P type LE controller which is adapted to the operating conditions by the scaling functions. The cumulative time in the strong cavitation provides an indication of possible damage to be

关键词： Cavitation

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Generalised moments and lp norms in vibration analysis

Generalised moments and lp norms in vibration analysis

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6th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies 2009

作者： Lahdelma, Sulo Juuso, Esko Mechatronics and Machine Diagnostics Laboratory Department of Mechanical Engineering University of Oulu P.O.Box 4200 FI-90014 Finland Control Engineering Laboratory Department of Process and Environmental Engineering University of Oulu P.O.Box 4300 FI-90014 Finland

ISBN: (纸本)9781618390097

The signals x(3) and x(4) are very suitable for the condition monitoring, and real order derivatives x(α) provide additional possibilities. Generalised moments τM αp and their lp norms are defined by the order of derivation (α), the order of the moment (p) and sample time (τ), which all are real numbers. The lp norms have the same dimensions as the corresponding signal. Optimal parameters α, p and τ, have been obtained for a Kaplan water turbine, which was analysed in a wide power range. A short sample time, τ=3 s, and relatively small requirements for the frequency ranges make this approach feasible for on-line analysis and power control. High correlation to the knowledge-based cavitation index is achieved with the relative max( 3 M42.75). In the problematic low power range, absolute average and rms values result in considerably lower R2 values even when α=4, and the corresponding norms with α=3 are inacceptable. The second example is a centrifuge, which has very fast rotating roller bearings. The sensitivities of the norms with different values for the order α, and the order p are compared. The sample time 3.9 ms corresponds to two rotations. A good order of derivation and proper frequency ranges are beneficial for fault detection. The norms based on the signal x(4) provide the best results: good results are already obtained in the frequency range 10-1000 Hz. The absolute mean x(α) av can be used if the order α is proper and the frequency range is sufficient. This is readily suitable for intelligent sensors where a good solution is to use analog signals x(4) and combine peak values x (4)p and absolute averages x(4) av. These methodologies are not limited to vibration analysis.

关键词： Vibration analysis

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Kinematics and its solution methodology of A 3-PRR flexure-based parallel mechanism

Kinematics and its solution methodology of A 3-PRR flexure-b...

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IASTED International Conference on Modelling, Simulation, and Identification, MSI 2009

作者： Tian, Y. Shirinzadeh, B. Zhang, D. Fatikow, S. Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC 3800 Australia School of Mechanical Engineering Tianjin University Tianjin 300072 China Division of Microrobotics and Control Engineering University of Oldenburg Oldenburg 26111 Germany

ISBN: (纸本)9780889868106

This paper presents the mechanical design and kinematic analysis methodologies of a 3-PRR flexure-based parallel mechanism, which can be utilized to conduct planar precision positioning as required for automating micro/ nano manipulation tasks. Flexure hinges are used as the revolute joints to provide smooth motion in the range of micrometers. Three high performance piezoelectric actuators are utilized to drive the flexure-based mechanism. The kinematics of the proposed flexure-based parallel mechanism is established. Finite element analysis is conducted to validate the performance of the 3-PRR flexure-based parallel mechanism. Two simplified methodologies are proposed to improve the computational efficiency of the kinematics of the developed mechanism.

关键词： Kinematics

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A numerical solution to the ray-shooting problem and its applications in robotic grasping

A numerical solution to the ray-shooting problem and its app...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yu Zheng Chee-Meng Chew Control & Mechatronics Laboratory Department of Mechanical Engineering National University of Singapore Singapore

Based on the distance algorithm by Gilbert et al., this paper presents a numerical algorithm for computing the intersection of the boundary of a compact convex set with a ray emanating from an interior point of the set, which is known as the ray-shooting problem. Affinely independent points on the boundary of the convex set are also determined such that the intersection point can be written as their convex combination. Because of its high efficiency and other good qualities, this algorithm provides superior solutions to three fundamental problems in robotic grasping, i.e., force-closure test, contact force optimization, and grasp quality evaluation, which can be formulated as the ray-shooting problem.

关键词： Robots Robotics and automation Testing Helium Computational geometry Convergence Friction Linear programming

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Automatic adjustment of the transition between local models in a hierarchical structure identification algorithm

Automatic adjustment of the transition between local models ...

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European control Conference (ECC)

作者： Benjamin Hartmann Oliver Nelles Automatic Control Mechatronics Department of Mechanical Engineering University of Siegen Siegen Germany

This article addresses the adjustment of overlaps between local models in hierarchical local model networks. A comparison with flat model structures exposes the advantages of the hierarchical approach. The objective is to identify a smooth global model with validity functions that have a local and unimodal interpretation in the input space. The difficulty in achieving appropriate local model overlaps is solved with a new algorithm for automatic transition adjustment. It overcomes the problem that an a-priori smoothness fixation is disadvantageous because of the primary unknown number of hierarchy levels of the identified model. The universal approximation characteristic will get lost if too large overlaps of newly added local models prevent an improvement of the global model. An illustration of this effect is given by a simple demonstration example. Furthermore an example of a practical application is presented with the torque modeling of a combustion engine map.

关键词： Computational modeling Estimation Adaptation models Interpolation Partitioning algorithms Covariance matrices Polynomials

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Measurement of localized deformation of shape memory alloy under fast tensile loading

Measurement of localized deformation of shape memory alloy u...

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International Conference on Experimental Mechanics 2008, ICEM 2008

作者： Feng, Ping Sun, Qing-Ping Yu, Tong-Xi Shenzhen Key Laboratory of Advanced Mould Manufacturing Technology College of Mechatronics and Control Engineering Shenzhen University Shenzhen 518060 China Department of Mechanical Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

The deformation of NiTi shape memory alloy strips and microtubes subjected to uniaxial tensile loading involves formation and growth of high-strain martensite domain(s) of various shapes due to autocatalytic stress-induced phase transformation. Under fast tensile loading with strain rates of 10 -3∼100/s, the number of the domains will increase with the strain rate and the domain morphology becomes very complicated. Measurement of this kind of highly inhomogeneous and localized deformation is a challenging problem. This paper reports the results of our recent experimental advances in solving such problem. It includes: (1) the determination of domain front by direct characterization method, block tracking method, and speckle tracking method;(2) non-contact measurement of global and local strains by flexible video extensometer method. The above methods used in the measurements have been proved to be reliable and suitable for the localized deformation under fast tensile loading conditions. © 2009 SPIE.

关键词： Strain rate

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