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IEEE-RAS International Conference on Humanoid Robots

作者： Sait Sovukluk Christian Ott M. Mert Ankaralı Automation and Control Institute (ACIN) TU Wien Vienna Austria Department of Electrical and Electronics Engineering Middle East Technical University (METU) Ankara Turkey Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany METU Robotics and AI Technologies Application and Research Center (METU-ROMER) Ankara Turkey

This study demonstrates a cascaded model predictive control (C-MPC) method for input constrained control of underactuated planar bipedal walking with any predefined sta-bilizable trajectory. Our approach aims to increase the trajectory tracking performance of the system and produce realistic and applicable responses while respecting friction constraints and considering impact dynamics. Primarily focusing on zero dynamics with PD (ZD+PD) control, this proposed control method constitutes a second layer controller on top of the well-known trajectory tracking controllers for underactuated bipedal walking systems. We successfully implement this model-based controller and test against large modeling errors, noises, and disturbances, where the conventional ZD+PD control fails to maintain stability.

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ITSC Fault Detection in Induction Motor using a Cosine Filter and a CNN Architecture

ITSC Fault Detection in Induction Motor using a Cosine Filte...

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IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC)

作者： Carlos Morales-Perez Juan Pablo Amezquita-Sanchez Martin Valtierra-Rodriguez Jose Rangel-Magdaleno Jorge Cerezo-Sanchez Ambrosio Leon-Bonilla ENAP-Research Group CA-Sistemas Dinamicos y Control Facultad de Ingenieria Universidad Autonoma de Queretaro (UAQ) Campus San Juan del Rio Queretaro Mexico Electronics Department-Digital Systems Group Instituto Nacional de Astrofisica Optica y Electronica Puebla Mexico Division of Mechatronics Engineering Universidad Tecnologica de Puebla Puebla Mexico

ISBN: (数字)9798331530525

ISBN: (纸本)9798331530532

Detecting faults in rotating electrical machinery is necessary due to current industrial demands. This is because operations of these machines with unattended faults can lead to high electricity consumption, operational inefficiency, and unexpected breakdowns in the worst cases. One of the most common faults in induction motors tends to be stator faults, specifically the inter-turn short circuit (ITSC), which typically do not exhibit apparent symptoms in the early stages. However, these faults can be detected without physical motor intervention, as spectral signatures of faults can be identified through phase current measurements. In this way, only the sensors’ installation in the motor phase is needed to diagnose the motor health correctly. The challenge lies in selecting and designing an appropriate methodology for these purposes. So, this study introduces a technique based on constructing images from current signals, where the fundamental frequency has been suppressed to highlight fault spectral signatures. These generated images are subsequently fed into a convolutional neural network (CNN), which develops a classification stage according to the given features of the fault conditions in previous training stages, allowing the identification of the ITSC fault. Finally, tests were conducted under three mechanical loading conditions and four short-circuit damage conditions in the stator, achieving an accuracy of 98.62 %.

关键词： Training Fault diagnosis Accuracy Induction motors Computer architecture Stators Robustness Real-time systems Circuit faults Convolutional neural networks

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A Comparative Analysis of Pipeline Leakage Detection Using Different Ml Techniques

SSRN

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SSRN 2025年

作者： Rahman, Md Hafizur Shahid, Ashhad Ali Haque, Tansu Sila Gulzar, Muhammad Majid Shafiullah, Md Systems & Control Engineering King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Department of Mechatronics Engineering Rajshahi University of Engineering & Technology Rajshahi Bangladesh KFUPM Dhahran31261 Saudi Arabia

For the safe transfer of petroleum products, pipeline leak detection is crucial since leaks present serious dangers, including financial losses, health risks, and environmental harm. In order to detect pipeline breaches, especially pinhole-sized leaks, with high accuracy, this study combines acoustic emission (AE) technology with machine learning (ML) approaches. Three different datasets are used in the study: the GPLA-12 dataset, which uses AE signals to simulate real-world pipeline conditions under various gas pressures, noise levels, and sensor types;a pipeline corrosion dataset, which examines how corrosion affects the formation of leaks;and a Roboflow image dataset, which uses deep learning techniques to enable visual leak detection. By addressing various operational issues, each dataset strengthens the detection system’s resilience. Data standardization, augmentation, and label modifications were all part of the dataset processing. After evaluating a number of machine learning and deep learning classifiers, Naive Bayes was shown to have the best accuracy for AE-based detection. XGBoost fared better on the pipeline corrosion dataset than other methods like Random Forest, KNearest Neighbours (KNN), and Logistic Regression. The YOLOv8 model was used to process the Roboflow image dataset in order to locate visual leaks. The findings show that AE-based sensing, sophisticated image analy- © 2025, The Authors. All rights reserved.

关键词： Health risks

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Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System subject to Parameter Uncertainty

arXiv

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arXiv 2023年

作者： Gabellieri, C. Tognon, M. Sanalitro, D. Franchi, A. Robotics and Mechatronics Group EEMCS Faculty University of Twente Enschede Netherlands Inria Univ Rennes CNRS IRISA Campus de Beaulieu Rennes35042 Cedex France LAAS-CNRS Université de Toulouse CNRS Toulouse France Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy

This work studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, the work sheds light on the impact of the uncertain knowledge of the model parameters available to an established communication-less force-based controller. First, we find the closed-loop equilibrium configurations in the presence of the aforementioned uncertainties, and then we study their stability. Hence, we show the fundamental role played in the robustness of the load attitude control by the internal force induced in the manipulated object by non-vertical cables. Furthermore, we formally study the sensitivity of the attitude error to such parametric variations, and we provide a method to act on the load position error in the presence of the uncertainties. Eventually, we validate the results through an extensive set of numerical tests in a realistic simulation environment including underactuated aerial vehicles and sagging-prone cables, and through hardware experiments. Copyright © 2023, The Authors. All rights reserved.

关键词： Cables

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Effects of process parameters on the replica shape in glass hot embossing 20

Effects of process parameters on the replica shape in glass ...

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20th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2020

作者： Yang, Gao Cheung, Chi Fai Ng, Man Cheung Gong, Feng State Key Laboratory of Ultraprecision Machining Technology Department of Industrial and Systems Engineering Hong Kong Polytechnic University Kowloon Hong Kong School of Mechatronics and Control Engineering Shenzhen University Shenzhen China

ISBN: (纸本)9780995775176

Hot embossing is a promising replication technology for precision manufacture of glass micro optical components. However, the optical performance of thermally imprinted micro optical components is significantly deteriorated due to the warpage formed on their global surfaces. The control of surface roughness and replica thickness are also vital in practical applications. This study attempts to experimentally evaluate the effects of different process parameters (i.e., embossing temperature, embossing force, isothermal pressing time, annealing rate, maintenance force and fast cooling point) on the shape parameters (i.e., curvature radius, surface roughness and thickness) of glass replica. The results provide an important means for minimizing the warpage, reducing surface roughness and controlling replica thickness in hot embossing. In this study, a series of glass hot embossing experiments were conducted by a commercially available precision glass molding machine. The surface topography was measured on both the top and the bottom surfaces of embossed glass replicas. The thickness and diameter of the replicas were also measured. The experimental results were then analyzed for quantifying the effects of different process parameters on the shape parameters. The results of this study provide optimal process parameters for practical hot embossing applications. Copyright © Proceedings of the 20th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2020. All rights reserved.

关键词： Surface roughness

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Design of workpiece size measurement system using camera

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Journal of Institute of control, Robotics and Systems 2019年第9期25卷 818-826页

作者： Seo, Jun-Yeong Kim, Gab-Soon Department of Intelligent Mechatronics Engineering/ERI Gyeongsang National University Korea Republic of Department of Control and Instrumentation Engineering/ERI Gyeongsang National University Korea Republic of

In this paper, the workpiece size measurement system is designed to measure the size (width and height) of a workpiece using the measurement system with a camera. The system consists of a body, a vertical camera movement mechanism, a horizontal camera focus adjustment mechanism, a horizontal illumination device, a vertical illumination device, an infrared sensor, and a control device. To improve the measurement accuracy, camera calibration and image rotation calibration were performed, and image processing was performed using a subpixel algorithm. As a result of measuring the width and height of the block gauges as a reference object using the workpiece size measurement system, the width measurement accuracy was ±0.0041 mm and the height measurement accuracy was ±0.0043 mm. Therefore, it is considered that the designed workpiece size measurement system can measure a workpiece with accuracy less than ± 0.01. © ICROS 2019.

关键词： Cameras

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Forward Calculation Model for Utilization of Energy and Mass in Laser-Directed Energy Deposition

SSRN

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SSRN 2022年

作者： Ren, Ke Di, Yuelan Wang, Gang Wang, Liping Wang, Haidou Rong, Yiming School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Department of Equipment Support and Remanufacturing Army Academy of Armored Forces Beijing100072 China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Department of Mechanical Engineering Tsinghua University Beijing100084 China

Precise control of energy and mass utilization is essential for the process design and optimization of powder-based laser-directed energy deposition (L-DED). However, fully comprehending the actual changes in the energy and the mass, which have complex nonlinear relationships with all inputs, is still challenging. In powder-based L-DED, the energy absorptivity is closely related to the powder catchment efficiency, owing to the effects of the laser incidence angle and the material properties. In this study, a forward calculation model was established for the utilization of energy and mass in powder-based L-DED without data regression of experimental measurements. Interactions between the laser, powders, and substrate were analyzed in detail in terms of three major effects: energy absorption of the substrate, powder catchment, and deposition shape variation. A secondary correction of the incidence angle was included in the geometric change of the deposited passes, and the boundary shift of the molten pool, which resulted from the melting point differences of the dissimilar deposited and substrate materials, was considered. The model prediction results matched the multipass deposition experimental results well. The average prediction error validated that the catchment efficiency did not exceed 5.2%. The scanning speed and the powder feed rate showed the largest effects on the energy absorptivity, which varied in the range of approximately 40%–65%. The developed model presents good universality and can be fundamental for understanding the forming mechanism, optimizing the process, and predicting the deposition quality of powder-based L-DED. © 2022, The Authors. All rights reserved.

关键词： Catchments

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High Geometric Fidelity Through Closed-Loop control of the Weld Pool Size in Gas Metal Arc Welding Based Direct Energy Deposition

SSRN

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SSRN 2023年

作者： Scheck, Maxim Richter, Andreas Beitler, Stephan Gehling, Tobias Treutler, Kai Wesling, Volker Rembe, Christian Bohn, Christian Department of Control Engineering and Mechatronics Institute for Electrical Information Technology Clausthal University of Technology Leibnizstraße 28 Clausthal-Zellerfeld39678 Germany Department of Applied Metrology Institute for Electrical Information Technology Clausthal University of Technology Leibnizstraße 28 Clausthal-Zellerfeld39678 Germany Department of Welding Technology Institute of Welding and Machining Clausthal University of Technology Clausthal-Zellerfeld Agricolastraße 2 39678 Germany

Arc based direct energy deposition combines the flexibility of additive manufacturing with high build rates and low investment costs. However, high geometric fidelity of manufactured components is not possible with state-of-the-art methods. Strongly varying and geometry-dependent boundary conditions, e.g. heat dissipation and the interpass temperature, are quasi-random influences with a strong impact on the geometric fidelity and the manufactured microstructure. Without adapting to these variations, geometric errors are more likely to occur and accumulate from layer to layer. Due to the large number of influencing variables in the arc-based manufacturing process, this problem cannot be solved by the definition of simple setpoints. However, closed-loop control offers the opportunity to flexibly counteract any deviations that occur by adjusting the process parameters in real time. The developed control solution uses the weld pool properties, the interpass temperature and the welding parameters as feedback variables. The non-linear system behaviour varies with the interpass temperature and is described by a Hammerstein model structure. The controller takes into account both the process noise as well as the parameter uncertainties. To the best of our knowledge, this solution provides a level of robustness, steady-state accuracy and geometric fidelity that has not been achieved by previous approaches reported in the literature. We demonstrate the production of thin-walled components with a high geometric accuracy for a fast 3D printing process and investigate the influence of the welding process variables on the microstructure. © 2023, The Authors. All rights reserved.

关键词： 3D printing

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Stability investigation and control synthesis of RLC ladder circuits modeled as uncertain spatially interconnected systems*

Stability investigation and control synthesis of RLC ladder ...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Bartłomiej Sulikowski Krzysztof Gałkowski Dongdong Zhao Li Xu Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland Institute of Automation Electronic and Electrical Engineering University of Zielona Góra Zielona Góra Poland School of Information Science and Engineering Lanzhou University Lanzhou China Department of Intelligent Mechatronics Akita Prefectural University Akita Japan

ISBN: (纸本)9781665476881

This paper deals with the problem of stability analysis and control scheme synthesis for RLC ladder circuits modeled as two-dimensional $(2D)$ systems, to which class spatially interconnected systems can be associated. This is because in the state-space model more than one indeterminates appear (time - continuous and the coordinates of the node in the structure - discrete). Hence analysis and control synthesis of such systems require developing new results from the systems theory area. As discussed later on due to the finite number of nodes in real systems under consideration, one option (exploited in this paper) for the analysis and synthesis of such systems is embedding temporal and spatial (node to node) dynamics into one 1D, i.e. $n=1$ , model. In this paper, RLC circuits, displayed as a series, i.e. along one spatial (node) indeterminate, constructed with conductances (resistors - R), inductances (L) and capacitors (C), considered are built of electronic elements with values given with some tolerance. This motivates the application of uncertain state-space model with the polytopic type of uncertainty. Then, for such a model, the Linear Matrix Inequalities (LMI) based methodology towards stability analysis and controller design methodology are developed. It actually leads to interesting results from the robust control area. The case study proves the correctness of the proposed methods.

关键词： Analytical models Uncertainty Two dimensional displays RLC circuits Interconnected systems Stability analysis State-space methods

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Intelligent fault tolerance control using long short-term memory for efficient system performance under fault conditions

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Scientific Reports 2025年第1期15卷 1-16页

作者： El-Mahdy, Mostafa H. Ali, Abdelrahman O. Hassan, O.H. El-Gendy, Eman M. Saafan, Mahmoud M. Mechatronics Department Faculty of Engineering Ahram Canadian University Cairo Egypt Mechanical Power Engineering Department Faculty of Engineering Mansoura University Mansoura Egypt Faculty of Engineering Mansoura National University Mansoura Egypt Computers Engineering and Control Systems Department Faculty of Engineering Mansoura University Mansoura Egypt

Fault-Tolerant control (FTC) is a crucial field within control systems engineering that focuses on designing systems capable of maintaining desired performance and stability even in the presence of faults. This study introduces a data-driven fault-tolerant control system that enhances the operation of control systems in the presence of faults. The system is designed on a single Long Short-Term Memory (LSTM), which replaces the units responsible for diagnosis and control reconfiguration. The LSTM-FTC system does not require diagnostic and process models, which is a significant advantage over traditional model-based methods. The factory I/O is interfaced with MATLAB through the implementation of the digital twin idea, which allows for the simulation and validation of the suggested approaches. These approaches are then applied to an assembler case study that included both faultless and multiple faulty sensors. The training process reaches 6553 iterations with Root Mean Square Error (RMSE) equal to at six minutes and 17 s. The results of the simulation demonstrate the effectiveness of the proposed approaches. The accuracy of the system outputs in the faultless and worst-case scenarios are 92.81% and 67.16% respectively. © The Author(s) 2025.

关键词： And long short-term memory network Assembler Passive fault tolerant controllers Robust controller Sensors faults

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