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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： C. Gabellieri M. Tognon D. Sanalitro A. Franchi Robotics and Mechatronics (RaM) group EEMCS faculty University of Twente Enschede The Netherlands CNRS Inria IRISA Univ Rennes Rennes France LAAS-CNRS CNRS Université de Toulouse Toulouse France Electrical electronic and computer engineering department University of Catania Catania Italy Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

This work studies how force measurement/estimation biases affect the force-based cooperative manipulation of a beam-like load suspended with cables by two aerial robots. Indeed, force biases are especially relevant in a force-based manipulation scenario in which direct communication is not relied upon. First, we compute the equilibrium configurations of the system. Then, we show that inducing an internal force in the load augments the robustness of the load attitude error and its sensitivity to force-bias variations. Eventually, we propose a method for zeroing the load position error. The results are validated through numerical simulations and experiments.

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Symplectic Discrete-Time control of Flexible-Joint Robots: Experiments with Two Links ⁎

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IFAC-PapersOnLine 2021年第19期54卷 1-7页

作者： Tobias Thoma Xuwei Wu Alexander Dietrich Paul Kotyczka Technical University of Munich Department of Mechanical Engineering Chair of Automatic Control Garching Germany German Aerospace Center (DLR) Institute of Robotics and Mechatronics Oberpfaffenhofen Germany

We present the application and experimental validation of discrete-time control implementation based on symplectic integration - in short referred to as symplectic discrete-time control - to a serial robot manipulator with flexible-joints. Applying the implicit midpoint rule as a simple and popular symplectic integration scheme to both the model of the sampled system and the desired target dynamics, yields a discrete-time control law with the same structure as in continuous time. The arguments are, however, predicted stage values on the subsequent sampling interval resulting from a half implicit Euler step for the target system. The approach can be easily extended to a purely position-based feedback law. The experimental validation on a lightweight robot (KUKA LWR IV+) confirms the expected improvements at low sampling rates, with an increase in the assignable closed-loop stiffness of up to 29 %.

关键词： Sampled-data systems discrete-time control symplectic integration nonlinear mechanical systems flexible-joint robots serial elastic actuators KUKA LWR

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Machine Learning Integrated with Model Predictive control for Imitative Optimal control of Compression Ignition Engines

arXiv

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arXiv 2022年

作者： Norouzi, Armin Shahpouri, Saeid Gordon, David Winkler, Alexander Nuss, Eugen Abel, Dirk Andert, Jakob Shahbakhti, Mahdi Koch, Charles Robert Department of Mechanical Engineering University of Alberta Edmonton Canada Teaching and Research Area Mechatronics in Mobile Propulsion RWTH Aachen University Aachen Germany Institute of Automatic Control RWTH Aachen University Germany

The high thermal efficiency and reliability of the compression-ignition engine makes it the first choice for many applications. For this to continue, a reduction of the pollutant emissions is needed. One solution is the use of Machine Learning (ML) and Model Predictive control (MPC) to minimize emissions and fuel consumption, without adding substantial computational cost to the engine controller. ML is developed in this paper for both modeling engine performance and emissions and for imitating the behaviour of a Linear Parameter Varying (LPV) MPC. Using a support vector machine-based linear parameter varying model of the engine performance and emissions, a model predictive controller is implemented for a 4.5 L Cummins diesel engine. This online optimized MPC solution offers advantages in minimizing the NOx emissions and fuel consumption compared to the baseline feedforward production controller. To reduce the computational cost of this MPC, a deep learning scheme is designed to mimic the behavior of the developed controller. The performance in reducing NOx emissions at a constant load by the imitative controller is similar to that of the online optimized MPC, however, the imitative controller requires 50 times less computation time when compared to that of the online MPC optimization. © 2022, CC BY-NC-ND.

关键词： Model predictive control

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Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks

Hardware-in-the-Loop Simulation of Vehicle-Manipulator Syste...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Hemjyoti Das Bjørn Kåre Sæbø Kristin Y. Pettersen Christian Ott Faculty of Electrical Engineering and Information Technology Automation and Control Institute (ACIN) Technical University of Vienna TU Wien Vienna Austria Department of Engineering Cybernetics Centre for Autonomous Marine Operations and Systems (NTNU AMOS) NTNU Norwegian University of Science and Technology Trondheim Norway German Aerospace Center Institute of Robotics and Mechatronics Wessling Germany

Hardware-in-the-loop simulation (HILS) allows a more realistic evaluation of control approaches than what is possible with pure software simulations, but without the actual complexity of the complete system. This is important for some complex systems such as orbital robots, where testing of the system is typically not possible after its launch, and an on-ground replica is used to validate the performance of such a system. In this article, an impedance-matching approach is presented to match the end-effector dynamics of a fixed-base robot manipulator with that of a target vehicle-manipulator system (VMS), while taking into account the redundant nullspace dynamics in a connected real-time simulation framework. This approach ensures that the forces and torques exerted by the system on the environment matches with that of the simulated system. The contact wrenches used in our approach are not obtained from numerical simulations, but rather from real physical interaction, which is one of the main advantages of our approach. The effectiveness of our method is validated by demonstrating various physical interaction tasks with the environment, using a suspended aerial manipulator as the target system.

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Analysis of Power and Power Spectral Density for Quaternary Random Pulse Position Modulation

Analysis of Power and Power Spectral Density for Quaternary ...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Hung-Chi Chen Hsiang-Kai Wu Chih-Chiang Wu Department of Electronics and Electrical Engineering National Yang Ming Chiao Tung University (NYCU) Hsinchu Taiwan R.O.C. Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University (NYCU) Hsinchu Taiwan R.O.C. Mechanical and Mechatronics Systems Research Laboratories Industrial Technology Research Institute (ITRI) Hsinchu Taiwan R.O.C.

ISBN: (数字)9798331516116

ISBN: (纸本)9798331516123

In this paper, the quaternary random pulse position modulation (QRPPM) is proposed to further reduce the power of dominant harmonic clusters. From the analysis of the power and power spectral density, the minimum integer-harmonics power dispersion rate (HPDR) is increased from 50.0% of the conventional random center/edge alignment PWM (RCEA-PWM) to 75.0% of the proposed QRPPM. Some results are provided to validate the proposed method.

关键词： Time-frequency analysis Frequency modulation Voltage Switches Power system harmonics Pulse width modulation Harmonic analysis Frequency conversion Power electronics Dispersion

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Enzymatic optical biosensors for healthcare applications

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Biosensors and Bioelectronics: X 2022年 12卷

作者： Sadani, Kapil Nag, Pooja Thian, Xiao Yun Mukherji, Soumyo Department of Biosciences and Bioengineering Indian Institute of Technology Bombay Mumbai400076 India Department of Instrumentation and Control Manipal Institute of Technology Manipal Academy of Higher Education Manipal576104 India Department of Mechatronics Engineering Manipal Institute of Technology Manipal Academy of Higher Education Manipal 576104 India

Enzymes are one of the most studied biorecognition elements for biosensing applications. Enzymes are known to offer a distinctive advantage of catalytic biorecognition with simultaneous signal amplification offering excellent sensitivity and selectivity. The enzyme linked immunosorbent assay (ELISA) remains a gold standard technique for biosensing in hospital settings. The evolution of enzymatic optical biosensors has seen development of novel nanostructured substrates for loading the enzymes, customized for the type of enzyme and the specific method of optical transduction. Various novel chromogenic and fluorogenic substrates are being designed for detection of a wide range of analytes, such as, disease biomarkers, drugs and hormones. Design and development of optical enzymatic biosensors for point of use is primarily focused on developing substrates, immobilization chemistries for maximally retaining the efficiencies and stability of the enzymes, and coupling of the enzyme catalytic activity with the optical platform. This article encompasses an overview of different types of enzymatic optical biosensors, customization of substrates for enzymatic detection, immobilization methods and discussion on the optical enzymatic sensors in commercial use today. Of particular interest are the discussions in materials and methods of improving enzymatic stability and preservation of its activity using metal organic frameworks and non-covalent methods of binding, use of nanozymes, the translation of the interface chemistries on to substrates easily integrable with pocket electronic gadgets for easy use and prospects in use of enzymatic optical sensors as wearables. The potential journey of some of these technologies from laboratory to real healthcare applications are discussed. © 2022 The Author(s)

关键词： Substrates

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A fast and effective maximum power point tracking method under various weather conditions for grid-connected photovoltaic systems

A fast and effective maximum power point tracking method und...

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IEEE Conference on Power Electronics and Renewable Energy (CPERE)

作者： Karam Khairullah Mohammed Saad Mekhilef Muhyaddin Rawa Control and Mechatronics Engineering Department School of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Malaysia School of Software and Electrical Engineering Faculty of Science Engineering and Technology Swinburne University of Technology Hawthorn VIC Australia Smart Grids Research Group Center of Research Excellence in Renewable Energy and power Systems King Abdulaziz University Jeddah Saudi Arabia Department Of Electrical and computer Engineering Faculty of engineering K. A Care Energy Research and Innovation Center King Abdulaziz University Jeddah Saudi Arabia

Photovoltaic systems (PV) are exposed to various weather conditions during the day and getting the maximum power of a PV system is one of its major challenges. While the conventional methods take time to track the maximum power accompanying the fluctuation around the maximum power. Consequently, several metaheuristic algorithms have been presented to overcome the fluctuating around the maximum power. On the other hand optimization methods will search into entire the PV curve to extract the maximum power. This leads to unnecessary search points during the uniform shading conditions which decrease the convergence speed towards the maximum power. In overcoming the tracking time issues as well as the capacity to distinguish between uniform and partial shading conditions, a quick and efficient tracking technique connected to the grid system was presented in this paper. The proposed system, has been tested using MATLAB/SIMULINK, which includes a boost converter to track the maximum power with a sampling time of 0.05 seconds, While a voltage source converter (VSC) is used to transfer the power generated by solar panels to the grid. The simulation results demonstrated that the proposed method was successfully implemented, with an average tracking time of 0.412 s for different weather conditions. Moreover, the comparison with the conventional method of perturb and observe (P& O) has been presented to evaluate the proposed method’s efficiency.

关键词： Maximum power point trackers Renewable energy sources Fluctuations Simulation Optimization methods Power electronics Solar panels

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Data-Driven Leader-following Consensus for Nonlinear Multi-Agent Systems against Composite Attacks: A Twins Layer Approach

arXiv

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arXiv 2023年

作者： Gong, Xin Peng, Jintao Yang, Dong Shu, Zhan Huang, Tingwen Cui, Yukang Department of Mechanical Engineering The University of Hong Kong Pokfulam Road Hong Kong College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China China Academy of Space Technology Beijing100094 China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada Texas A&M University at Qatar Doha23874 Qatar

This paper studies the leader-following consensuses of uncertain and nonlinear multi-agent systems against composite attacks (CAs), including Denial of Service (DoS) attacks and actuation attacks (AAs). A double-layer control framework is formulated, where a digital twin layer (TL) is added beside the traditional cyber-physical layer (CPL), inspired by the recent Digital Twin technology. Consequently, the resilient control task against CAs can be divided into two parts: One is distributed estimation against DoS attacks on the TL and the other is resilient decentralized tracking control against actuation attacks on the CPL. First, a distributed observer based on switching estimation law against DoS is designed on TL. Second, a distributed model free adaptive control (DMFAC) protocol based on attack compensation against AAs is designed on CPL. Moreover, the uniformly ultimately bounded convergence of consensus error of the proposed double-layer DMFAC algorithm is strictly proved. Finally, the simulation verifies the effectiveness of the resilient double-layer control scheme. © 2023, CC BY.

关键词： Multi agent systems

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A K-Means Clustering-Based Optimization of IT2FL for Improved Regenerative Braking Performance

A K-Means Clustering-Based Optimization of IT2FL for Improve...

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Smart mechatronics (ICSMech), IEEE International Conference on

作者： Muhammad Rizalul Wahid Endra Joelianto Bentang Arief Budiman Manida Tongroon Mulia Pratama Mahmudah Salwa Gianti Muhammad Fauzan Hernadi Mechatronics and Artificial Intelligence Universitas Pendidikan Indonesia Bandung Indonesia Instrumentation Control and Automation Research Group Institut Teknologi Bandung Bandung Indonesia Faculty of Mechanical and Aerospace Engineering Institut Teknologi Bandung Bandung Indonesia Department of Mechanical Engineering ATAE Research Unit Kasetsart University Sriracha Thailand Pusat Riset Mekatronika Cerdas Organisasi Riset Elektronika dan Informatika-BRIN Bandung Indonesia

ISBN: (数字)9798350368918

ISBN: (纸本)9798350368925

Optimizing regenerative braking systems in electric vehicles presents a complex challenge requiring precise and adaptable control. This research proposes employing K-Means Clustering to the Interval Type-2 Fuzzy Logic (IT2FL) membership functions, thereby improving overall regenerative braking efficiency and enhancing driving range. This research demonstrates that implementing a K-Means in the IT2FL control system in electric vehicles effectively recovers 35.84% of energy. By incorporating a K-means-based approach, the IT2FL controller further enhances vehicle range by 43 kilometers, achieving a total range of 108 kilometers. In comparison, an IT2FL system without K-means recovered only 26.67% of energy and achieved a total range of 93 kilometers. Notably, the IT2FL controller with K-means enabled the electric vehicle to attain an energy efficiency of 22 kilometers per kilowatt-hour. These findings underscore the significant improvement in maximum range offered by the IT2FL controller with K-means compared to alternative methods.

关键词： Fuzzy logic Energy consumption Electric potential mechatronics Electric vehicles control systems Energy efficiency Optimization

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Fluid pumping by liquid metal droplet utilizing ac electric field

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Physical Review E 2022年第2期105卷 025102-025102页

作者： Chun-Lei Song Ye Tao Wei-Yu Liu Yi-Cheng Chen Rui Xue Tian-Yi Jiang Biao Li Hong-Yuan Jiang Yu-Kun Ren State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Engineering and Applied Sciences and Department of Physics Harvard University Cambridge Massachusetts 02138 USA School of Electronics and Control Engineering Chang'an University Xi'an 710000 China School of Energy Science and Engineering Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

We report a unique phenomenon in which liquid metal droplets (LMDs) under a pure ac electric field pump fluid. Unlike the directional pumping that occurs upon reversing the electric field polarity under a dc signal, this phenomenon allows the direction of fluid motion to be switched by simply shifting the position of the LMD within the cylindrical chamber. The physical mechanism behind this phenomenon has been termed Marangoni flow, caused by nonlinear electrocapillary stress. Under the influence of a localized, asymmetric ac electric field, the polarizable surface of the position-offset LMD produces a net time-averaged interfacial tension gradient that scales with twice the field strength, and thus pumps fluid unidirectionally. However, the traditional linear RC circuit polarization model of the LMD/electrolyte interface fails to capture the correct pump-flow direction when the thickness of the LMD oxide skin is non-negligible compared to the Debye length. Therefore, we developed a physical description by treating the oxide layer as a distributed capacitance with variable thickness and connected with the electric double layer. The flow profile is visualized via microparticle imaging velocimetry, and excellent consistency is found with simulation results obtained from the proposed nonlinear model. Furthermore, we investigate the effects of relevant parameters on fluid pumping and discuss a special phenomenon that does not exist in dc control systems. To our knowledge, no previous work addresses LMDs in this manner and uses a zero-mean ac electric field to achieve stable, adjustable directional pumping of a low-conductivity solution.

关键词： Electrokinetic flows Interfacial flows Surface tension effects Lagrangian particle tracking

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