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39th Annual IEEE Applied Power Electronics Conference and Exposition, APEC 2024

作者： Matiushkin, Oleksandr Husev, Oleksandr Afshari, Hossein Vinnikov, Dmitri Strzelecki, Ryszard Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia University of Extremadura Department of Electrical Electronic and Control Engineering Badajoz Spain Gdańsk University of Technology Faculty of Electrical and Control Engineering Gdańsk Poland

ISBN: (纸本)9798350316643

The novel piggyback dc-dc converter as a cost-effective solution is presented in this work. It provides a wide input voltage range of regulation with a low component count. The novel solution is an advanced forward dc-dc converter with an additional clamp output capacitor. The idea of such a type of converter is to transfer magnetizing energy of transformer to the output side, instead of using input clamp circuit. The design guidelines of the passive component of the proposed solution are discussed. A digital domain proportional integral controller is designed for the off-grid system validation, and it provides a stable output voltage in a wide range of the input voltage and power. Experimental prototype of the proposed piggyback converter along with experimental results of critical points are presented. The efficiency study of the proposed solution is done. © 2024 IEEE.

关键词： Power electronics

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A control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation 63

A Control Theoretic Study on Omnidirectional MAVs with Minim...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Ali, Ahmed Gabellieri, Chiara Franchi, Antonio Faculty Robotics and Mechatronics Department Enschede7500 AE Netherlands Sapienza University of Rome Department of Computer Control and Management Engineering Rome00185 Italy

ISBN: (纸本)9798350316339

We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of which are shown to achieve omnidirectionality while having a minimum number of inputs equal to the main body Degrees of Freedom DoF's, only uni-directional positive thrust propellers, and no internal forces generated at steady state. After dynamics are derived following the Euler-Lagrange approach, an I/O dynamic feedback linearization strategy is then used to show the controllability of any desired pose with stable zero dynamics. We finally verify the developed controller with closed-loop simulations. © 2024 IEEE.

关键词： Feedback linearization

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Gait dynamic stability evaluation on inclined surfaces for inverted or everted feet walking

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Fuss und Sprunggelenk 2024年第4期22卷 254-268页

作者： Raza, Anam Mahmood, Imran Sultana, Tayyaba Sultana, Salma Dehghani-Sanij, Abbas A. Department of Zoology Government College University Faisalabad Pakistan Mechatronics and Control Engineering Department Faisalabad Campus UET Lahore Pakistan Institute of Design Robotics and Optimisation School of Mechanical Engineering University of Leeds United Kingdom

Background: This study investigates gait dynamic stability on inclined surfaces while walking with foot rotational impairments such as everted and inverted feet. Walking stability is assessed during gait transitional periods i.e. weight loading and unloading phases. Methods: Foot rotational impairments (eversion and inversion) are imitated using wedged foot insoles. A total of ten healthy subjects performed five trials for each of the inverted, everted, and normal feet conditions. Experimental data was collected using a twelve-camera motion capture system and a force plate installed on an inclined platform. Lower limb joint kinematics were computed in Visual-3D motion analysis software to evaluate the degree of foot rotational impairments. Gait dynamic stability was assessed by analysing the centre of mass and centre of pressure signals as neuromechanical input and output responses respectively. Both signals were modelled in time and frequency domains and stability margins were quantified by applying Nyquist and Bode (N&B) methods from control engineering theory. Results: Stability margins quantified from N&B methods illustrated the loading phase as stable and the unloading phase as unstable gait transitions. During the loading phase, both rotational impairments illustrated a decrease in stability (p < 0,05) for the ramp ascent walk and an increase in stability (p < 0,05) for the ramp descent walk. However, there was no difference observed for the respective unloading phases. Results from neuromotor outputs (CoP-velocity) illustrated a strong interlimb correlation (p < 0,001) during gait transitional periods, implying a compensatory stability interaction exists between opposite limbs. Further, stabilities quantified from outputs were found greater in magnitudes than the instability quantified from inputs illustrating the robustness of neuromotor balance control. Conclusions: Results support the hypothesis that gait stability gets affected while walking with rotation

关键词： Balance control Foot Gait stability Inclined walk Rotational impairments

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Keypoints Estimation on Partial Point Clouds 6

Keypoints Estimation on Partial Point Clouds

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6th International Conference on Robotics and Automation in Industry, ICRAI 2024

作者： Saleem, Maryam Zohaib, Mohammad Naqvi, Syed Abbas Zilqurnain UET Human Centered Robotics Lab Department of Mechatronics and Control Engineering Lahore Pakistan SIGMA Clermont University of Clermont Auvergne Aubiere France

ISBN: (纸本)9798350355703

Estimating 3D keypoints of an object has achieved considerable interest, especially in computer graphics and ma-chine vision. The complexity of the problem increases when the object is noisy, decimated, or partially occluded. To this end, we present an approach to estimate 3D keypoints from the partial PCDs such that they also highlight the object's missing parts. It is based on two modules: shape completion and keypoints estimation. The first module computes the object's missing parts and generates a dense shape which is used by the second module to estimate semantically and geometrically consistent keypoints. The approach also estimates confidence scores that allow the selection of valid keypoint considering the object's structure. We evaluate the proposed method for four different backbones and observe that we get better results using PointNet. Furthermore, the presented results show that the Percentage of Correct Keypoints (PCK) and Dual Alignment Score (DAS) for the keypoints estimated from the dense shapes (36.61 and 76.29) are 23.51 % and 12.14% higher, respectively, compared to those estimated from the partial objects (13.10 and 64.15). © 2024 IEEE.

关键词： 3D modeling

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Classifying Car Crash Types to Enhance Airbag Performance: A Machine Learning Approach 12

Classifying Car Crash Types to Enhance Airbag Performance: A...

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12th RSI International Conference on Robotics and mechatronics, ICRoM 2024

作者： Takaloo, Amir Jahangard Shoorehdeli, Mahdi Aliyari K.N.Toosi University of Technology Faculty of Electrical Engineering Department of Control Engineering Tehran Iran K.N.Toosi University of Technology Faculty of Electrical Engineering Department of Mechatronics Engineering Tehran Iran

ISBN: (纸本)9798331529734

Cars are heavily used in life, and therefore, the safety of passengers is a priority. Since the invention, the importance of airbags as a safety feature has always been used until today. Research indicates that they help to reduce the risk of severe injuries and fatalities during accidents. Therefore, they must be used in vehicles. This paper classifies car crash types for improved airbag performance as a measure to enhance passenger safety. The research is based on data from the National Highway Traffic Safety Administration (NHTSA) company. The company provides multidimensional acceleration data and makes it available for public investigation on its website. Data will be analyzed and used to categorize of six different types of car accidents: frontal collision, oblique collision, rear collision, pole collision, offset collision, and rollover. The research covers 45 different vehicles including Honda, Toyota, Jeep, Genesis, Lexus, etc. This data makes a classification of the crash types possible and allows for differentiation among the 45 vehicles. We can also classify car types. Comparative analysis will be done based on the performance of machine learning algorithms and the results will be documented. Six machine learning algorithms are being compared, i.e., Decision Tree (DT), Adaboost Classifier, Random Forest (RF) Classifier, Multilayer Perceptron (MLP), Radial Basis Function (RBF), K-Nearest Neighbors (KNN) to find a model to distinguish different kinds of vehicles and different types of car crashes. From the comparison of DT, Adaboost, and RF algorithms with the other three algorithms, we have better accuracy, and we reached a more precise and accurate result of 100%. © 2024 IEEE.

关键词： Random forests

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Automated Dual-axis Solar Tracking System Using Fuzzy Logic control 9

Automated Dual-axis Solar Tracking System Using Fuzzy Logic ...

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9th IEEE International Conference on Smart Instrumentation, Measurement and Applications, ICSIMA 2023

作者： Yang, Leng Zhi Yunus, Mohd Amri Md Sahlan, Shafishuhaza Jamali, Annisa Universiti Teknologi Malaysia Faculty of Electrical Engineering Control Mechatronics and Engineering Department Johor Malaysia Universiti Malaysia Sarawak Faculty of Engineering Department of Mechanical and Manufacturing Engineering Malaysia

ISBN: (纸本)9798350343380

Utilization of solar powered system as renewable energy alternatives plays a dominant role in generating electricity. Throughout the years, solar tracking system has been continuously improved by researchers globally to maximize the power efficiency of a system. In this paper, a Fuzzy Logic controller (FLC) is integrated into a large scale solar tracking system with photovoltaic (PV) panels to optimize the system's performance. In this project, a dual-axis solar tracking based on light intensity comparison using Fuzzy Logic control method is utilized. Arduino Uno microcontroller is used as the main controller of this system and Light Dependent Resistors (LDR) are used to sense the light intensity at different altitude angles and sun azimuth. Two NEMA 34 stepper motors are used to actuate the Photovoltaic (PV) system. FLC is utilized to help the microcontroller to decide which direction and position of the PV panel should rotate to or stay. From the experiment conducted, it was observed that the developed system has an increase of output power efficiency of 96% when compared to the conventional solar tracking system. © 2023 IEEE.

关键词： Microcontrollers

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System for Determining the Shape of the Wavefront of a Nonsinusoidal Periodic Acoustic Wave 17

System for Determining the Shape of the Wavefront of a Nonsi...

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17th International Conference on engineering of Modern Electric Systems, EMES 2023

作者： Codoban, Adrian Coroiu, Laura Gergely, Eugen Sarosi, Jozsef University of Oradea Department Control Systems Engineering and Management Oradea Romania University of Szeged Department of Mechatronics and Automation Szeged Hungary

ISBN: (纸本)9798350310634

The shape of the wavefront is important for the most realistic reproduction of the acoustic wave. In acoustics, the wave front (or wave surface) is defined as the totality of points in the space of the propagating medium that have the same instantaneous elongation amplitude. In the ideal case, in a homogeneous and isotropic propagation medium without other disturbances, the wave has a spherical symmetry, i.e. the shape of the wavefront is circular and at large distances from the wave source, due to dispersion, the shape of the wavefront can be considered plan. In practice, however, due to the multiple component harmonics, reflections and possible summations of the primary acoustic wave, the elongation has a non-sinusoidal shape, and the wavefront may have an irregular random shape. Moreover, if the source of the wave or bodies from which it is reflected are in motion, the shape of the wavefront may even be variable in time. The paper presents a method for determining the shape of the wave front of a non-sinusoidal periodic plane acoustic wave, resulting from the addition of several harmonic components, reflected waves, etc. It uses an array of omnidirectional capacitive microphones arranged in line, at equal distances between them. At each of the microphones, the acoustic wave is captured out of phase depending on the position of the microphone in space and the shape of the wave front. These phase shifts placed next to each other give an image of the shape of the wavefront captured by the microphone system. The method presented in this paper reproduces sounds very realistically and can be used in Active Noise Cancel systems, in open spaces, with one or more mobile noise sources. One of the benefits is the increase in hearing comfort in noisy environments. Another is to record sounds with high fidelity. © 2023 IEEE.

关键词： Wavefronts

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Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 126-137页

作者： Dongfang Li Jie Huang Rob Law Xin Xu Limin Zhu Edmond Q.Wu IEEE the School of Electrical Engineering and Automation Fuzhou University the Key Laboratory of System Control and Information Processing Ministry of Education the School of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University the University of Macau the College of Mechatronics and Automation National University of Defense Technology the School of Mechanical Engineering Shanghai Jiao Tong University the Department of Computer Science and Engineering Shanghai Jiao Tong University

This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

关键词： Adaptive integral surge line-of-sight approximation robotic fish speed observer

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Perception Reinforcement Using Auxiliary Learning Feature Fusion: A Modified Yolov8 for Head Detection

Perception Reinforcement Using Auxiliary Learning Feature Fu...

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2023 China Automation Congress, CAC 2023

作者： Chen, Jiezhou Wang, Guankun Liu, Weixiang Zhong, Xiaopin Tian, Yibin Wu, ZongZe College of Mechatronics and Control Engineering Shenzhen University Shenzhen China The Chinese University of Hong Kong Department of Electronic Engineering Hong Kong

ISBN: (纸本)9798350303759

Head detection provides distribution information of pedestrian, which is crucial for scene statistical analysis, traffic management, and risk assessment and early warning. However, scene complexity and large-scale variation in the real world make accurate detection more difficult. Therefore, we present a modified Yolov8 which improves head detection performance through reinforcing target perception. An Auxiliary Learning Feature Fusion (ALFF) module comprised of LSTM and convolutional blocks is used as the auxiliary task to help the model perceive targets. In addition, we introduce Noise Calibration into Distribution Focal Loss to facilitate model fitting and improve the accuracy of detection. Considering the requirements of high accuracy and speed for the head detection task, our method is adapted with two kinds of backbone, namely Yolov8n and Yolov8m. The results demonstrate the superior performance of our approach in improving detection accuracy and robustness. © 2023 IEEE.

关键词： Risk assessment

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Design and Analysis of Extensible Cable-Driven Continuum Robot with Variable Stiffness

Design and Analysis of Extensible Cable-Driven Continuum Rob...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Seleem, Ibrahim A. Naeem, Mohamed A. Ishii, Hiroyuki Waseda University Department of Modern Mechanical Engineering Japan Menoufia University Faculty of Electronic Engineering Department of Industrial Electronics and Control Engineering Egypt Harbin Institute of Technology School of Mechanical and Electrical Engineering Department of Mechatronics Engineering China South Valley University Faculty of Engineering Department of Mechatronics and Robotics Engineering Egypt

ISBN: (纸本)9798350325706

Extensible Soft Robots (ESRs) have increasingly attracted attention, especially in tight and complex environments, owing to their dexterity, and wide reachable workspaces relative to their volume. The existing actuation methods of ESR still suffer from challenges including large dimensions, expensive, complex modeling and control, and limited payload capacity. In this paper, we introduce a novel design for a lightweight, extensible and variable stiffness soft robot-based cable-driven actuation without backbone. The design composes of one section with three segments based on semi-octagon honeycomb structure, wherein the middle segment acts like a soft spring to provide extension feature. Additionally, the top and bottom segments have identical structure with two honeycomb patterns embedded within each other to improve the stiffness of the design. A design analysis is conducted to optimize the proposed structure with respect to stress and displacement. Additionally, a shape estimation approach is utilized to get accurate inference of the prototype's shape based on data acquired from a low-cost Inertial Measurement Unit (IMU) and Motion Capture System (MCS), and constant curvature assumption. A series of experiments including workspace reach-ability, repeatability, shape approximation and payload analysis are carried out to validate the proposed design. The results show that the prototype exhibits good compression/extension ratio up to 42% and 50% relative to its normal length, respectively. Moreover, its payload capability reaches to 565 grams. © 2023 IEEE.

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