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Six degrees of freedom magnetic levitation stage using new active magnetic bearings

Six degrees of freedom magnetic levitation stage using new a...

ASPE Spring Topical Meeting on Precision Mechanical Design and mechatronics for Sub-50nm Semiconductor Equipment, ASPE 2008

作者： Choi, Young-Man Jeong, Jaehwa Gweon, Dae-Gab Kim, Dongmin Department of Mechanical Engineering KAIST Daejeon Korea Republic of Department of Control and Instrumentation Engineering Korea University Youngi-Gun Chungnam Korea Republic of Mechatronics Center Samsung Electronics Suwon Gyeonggi-do Korea Republic of

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Flatness-based online controller reconfiguration

Flatness-based online controller reconfiguration

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Annual Conference of Industrial Electronics Society

作者： Semir Osmic Ansgar Trachtler Department of Control Engineering and Mechatronics Heinz Nixdorf Institute University of Paderborn Germany

It is a frequent wish for mechatronic systems to be able to adapt themselves to changing environmental conditions at runtime. Self-adapting behavior may require complex reconfigurations of controllers in the shape of mode management and control algorithms. These changes ought to be executed at runtime without shutting the system down. As this procedure may bring about unexpected system behavior we introduce a new flatness-based approach to an online reconfiguration of control algorithms. It provides a smooth switching of controllers while observing safety constraints with respect to value boundaries of the system. A DC-drive testbed serves as an application example.

关键词： control systems Switches mechatronics Runtime Shape control Testing Software maintenance control engineering Safety Application software

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fMRI-constrained source analysis of visual P300 in Landolt ring task

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Chinese Science Bulletin 2008年第1期53卷 76-86页

作者： LI YueZhi XU Tao WANG LiQun HU Yong College of Mechatronics and Control Engineering Shenzhen University Shenzhen 518060 China Academy of Metrology and Quality Inspection of-Shenzhen Shenzhen518055 China Applied Superconductivity Reseamh Laboratory Tokyo Denki University Chiba Japan Department of Orthopaedics and Traumatology University of Hong Kong Hong Kong China

An fMRI-constrained source analysis was applied to investigate visual P300 in the Landolt ring task. To study the localization and relative activation timing of P300 generators, we implemented simultaneous EEG/fMRI to identify BOLD signal changes and record 64-channel EEG in 10 subjects during a Landolt ring task inside a 1.5-T fMRI scanner using an MR-compatible EEG recording system. MRI artifact sub-traction software was applied to obtain continuous EEG data. Then, the simultaneous collecting of EEG and fMRI was validated in preserving relevant ERPs. The fMRI-constrained source analysis resulted in an 8-dipole solution. The bilateral middle frontal and the right inferior parietal dipole waveforms showed a short latency peak corresponding to the early P300 activity, while the four parietal and the anterior cingulate dipole waveforms showed a long latency peak corresponding to the late P300 activity. The longest latency peak of the anterior cingulate dipole agrees with its role in initiation of motor re-sponse after successful target recognition. Target detection in the Landolt ring task produces the strongest and most extensive parietal activation (especially superior parietal activation), which might be due to its particular visual attention switching.

关键词：视觉共点流环 fMRI分析偶极子

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Real-time HIL-simulation of power electronics

Real-time HIL-simulation of power electronics

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作者： Graf, Christian Maas, Jürgen Schulte, Thomas Weise-Emden, Johannes Hochschule Ostwestfalen-Lippe University of Applied Sciences Department of Control Engineering and Mechatronics Liebigstraße 87 D-32657 Lemgo Germany dSPACE GmbH Technologiepark 25 D-33100 Paderborn Germany

ISBN: (纸本)9781424417667

In modern vehicles, electrical drives and power electronics are used to control a large variety of different applications. To operate these components Electronic control Units have to be designed and tested. To validate the software of the Electronic control Units hardware-in-the-loop simulation is a today's standard method. Hardware-in-the-loop simulation always comprises a real-time simulation of the plant, including actuator and sensor models. In case of an electronic circuit the plant consists of passive components like capacitors and inductors, usually assumed to be linear, and semi-conductors with nonlinear and discontinuous behavior. The following paper suggests classification criteria and compares different methods for real-time simulations of electronic circuits considering switching events. For evaluation theoretical considerations as well as simulation results are presented concerning differences in approaches. © 2008 IEEE.

关键词： Hardware-in-the-loop simulation

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Fuzzy controller Design for Atomic Force Microscope System

Fuzzy Controller Design for Atomic Force Microscope System

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2008 IEEE International Symposium on Knowledge Acquisition and Modeling Workshop(KAM 2008)

作者： Her-Terng Yau Ming-Jyi Jang Yuan-Hung Su Department of Electrical Engineering Department of Automation and Control Engineering Graduate Institute of Opto-Mechatronics Far East University Tainan

This paper presents the design of a nonlinear rule based fuzzy logic controller for the nonlinear dynamic behavior of the probe tip of an atomic force microscope system (AFMs).At first,we use the bifurcation diagram to analysis the complex dynamic behavior of the atomic force microscope ***,the positive maximum Lyapunov exponent is obtained to identify that the chaotic motion do exist in *** order to suppress the undesired chaotic motion in AFMs,we address the design schemes of fuzzy logic controller to stabilize the slave chaotic AFMs to the master periodic *** the controller design process,it directly constructs the fuzzy rules subject to a common Lyapunov function such that the error dynamics of master and slave AFMs satisfy stability in the Lyapunov *** overcomes the trial-and-error tuning for the membership functions and rule base in traditional fuzzy logic ***,a numerical simulation is used to illustrate the effectiveness of the proposed controller.

关键词： AFM chaotic motion bifurcation fuzzy controller.

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Comparison of gait generation methods in Quadruped walking

Comparison of gait generation methods in Quadruped walking

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Osman Darici Mehmet Kursat Yalcin Hakan Temeltas Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Control Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9781424424948;9781424424955

In this study, three types of gait generation methods in Quadruped walking are compared using simulation software such as ADAMS and Matlab/Simulink. Stability and straight path following performance of these three types is simulated and third type of gait generation method (Trotting) is found considerably well suited for practical point of view.

关键词： Leg Robots Actuators Legged locomotion Mathematical model Stability analysis Titanium

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Development of a Collision Avoidance Algorithm Using Elastic Band Theory

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IFAC Proceedings Volumes 2008年第2期41卷 8520-8525页

作者： Öncü Ararat Bilin Aksun Güvenç Automotive Control and Mechatronics Research Center İstanbul Technical University Department of Mechanical Engineering Gümüşsuyu Taksim İstanbul TR − 34437 Turkey

This paper presents a new Collision Avoidance (CA) Algorithm which uses Elastic Band Theory. Researchers tried to develop warning systems to avoid collisions which warn drivers of possible collision risk with audio and or visual signs. However, these systems are not sufficient for avoidance of a collision in situations where the driver gives no response to the warnings. CA System is a kind of Active Safety System which takes control of the vehicle for a couple of seconds and applies emergency maneuver when the collision is unavoidable through driver action alone. The proposed CA algorithm uses Elastic Band Theory which is an obstacle avoidance method used in robotics. This paper aims to introduce this theory applied with modifications to road vehicle based systems and presents realistic simulation results using high fidelity vehicle models with several different collision scenarios.

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Mathematical model and genetic optimization for hybrid flow shop scheduling problem based on energy consumption

Mathematical model and genetic optimization for hybrid flow ...

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Chinese control and Decision Conference, CCDC

作者： Xiang Liu Fengxing Zou Xiangping Zhang Department of Automatic Control College of Mechatronics Engineering Automation National University of Defense Technology Changsha Hunan China

Hybrid flow shop scheduling problem (HFSP) is characterized as the scheduling of jobs in a flow shop environment where, at any stage, there may exist multiple machines. Besides the finishing time of the last job, energy consumption is another important factor affecting economy benefit of hybrid flow shop. A mixed-integer nonlinear programming model is established for the HFSP with minimizing the energy consumption, according to the characteristic of HFSP in practice. It is a typical NP-hard combinatorial optimization problem. For solving it efficiently, an improved genetic algorithm is presented. The fitness based on the ranking of the energy consumption of every individual and the self-adaptive mutation operation based on the fitness are adopted. The numerical experiment is carried out on the three-two-three HFSP, and the result indicates that the model is right and the improved algorithm is efficient.

关键词： Energy consumption Job shop scheduling Genetics Genetic algorithms Optimization Encoding Finishing

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Extended MinMAC algorithm and comparison of sensor placement methods

Extended MinMAC algorithm and comparison of sensor placement...

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26th Conference and Exposition on Structural Dynamics 2008, IMAC-XXVI

作者： Li, Dong-Sheng Fritzen, Claus-Peter Li, Hong-Nan Dalian Univ. of Technology Department of Civil Engineering Linggong Rd. 2 Dalian 116023 China University of Siegen Institute of Mechanics and Automatic Control - Mechatronics Paul-Bonatz Str. 9-11 D-57076 Siegen Germany

ISBN: (纸本)9781605600666

This paper discusses an extension of the MinMAC algorithm to aid sensor placement for modal tests. The extension is, essentially, a forward-backward combinational MinMAC algorithm. The original MinMAC algorithm proposed by Carne can be regarded as a forward sequential MinMAC algorithm, which maximizes the discrimination between mode shapes of interest starting from a small intuition set. The proposed forward-backward combinational MinMAC algorithm aims to combine advantages of both forward addition and backward deletion MinMAC approaches. Moreover, the proposed algorithm is applied to the I-40 Bridge and the result is compared with that of the Effective Independence method. Furthermore, discussions of influencing sensor placement methods and their connections based on our resent results are presented, through which the insight of sensor placement problem is clearly interpreted. In particular, the physical significance and efficient computation of the Effective Independence method are introduced. Finally, comparison of sensor placement methods on a ladder structure and evaluation criteria are discussed.

关键词： Effective independence method MinMac algorithm Optimal sensor location Sensor placement method

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Real-time HIL-simulation of power electronics

Real-time HIL-simulation of power electronics

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Annual Conference of Industrial Electronics Society

作者： Christian Graf Jurgen Maas Thomas Schulte Johannes Weise-Emden Department of Control Engineering and Mechatronics Hochschule Ostwestfalen-Lippe University of Applied Sciences Lemgo Germany DSPACE GmbH Paderborn Germany

In modern vehicles, electrical drives and power electronics are used to control a large variety of different applications. To operate these components electronic control units have to be designed and tested. To validate the software of the electronic control units hardware-in-the-loop simulation is a todaypsilas standard method. Hardware-in-the-loop simulation always comprises a real-time simulation of the plant, including actuator and sensor models. In case of an electronic circuit the plant consists of passive components like capacitors and inductors, usually assumed to be linear, and semi-conductors with nonlinear and discontinuous behavior. The following paper suggests classification criteria and compares different methods for real-time simulations of electronic circuits considering switching events. For evaluation theoretical considerations as well as simulation results are presented concerning differences in approaches.

关键词： Power electronics Circuit simulation Electronic circuits Electric vehicles Vehicle driving Application software Electronic equipment testing Circuit testing Software standards Actuators

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