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Structural Decomposition Approach to Design of No-Wait Cyclic Schedules for Repeatedly Operating Transport System Dedicated to Supply Loops

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IFAC-PapersOnLine 2020年第2期53卷 10542-10549页

作者： Robert Wójcik Arkadiusz Gola Jarosław Pempera Justyna Patalas-Maliszewska Department of Computer Engineering Faculty of Electronics Wrocław University of Science and Technology Wrocław Poland Institute of Technological Systems of Information Lublin University of Technology Lublin Poland Department of Control Systems and Mechatronics Faculty of Electronics Wrocław University of Science and Technology Wrocław Poland Institute of Mechanical Engineering University of Zielona Góra Zielona Góra Poland

The paper presents a method allowing to construct no-wait cyclical schedules for repetitive transport systems (e.g. the milk-run) servicing cyclic material supply loops in the production system using selected means of transport (e.g. AGVs). The transport means are following established routes and given arrival times. The routes are composed of sectors linking workstations. Transport trolleys may share specific sectors of the route in mutual exclusion mode and must wait in a given sector to enter the next sector of the route when another trolley occupies it. The job-shop repetitive transportation system is a system of cyclic processes with a fixed structure that are executing sequences of operations (routes) using shared resources (sectors). The work aims to find a no-wait cyclic schedule that guarantees the required delivery dates or establish that such a schedule does not exist. It considers cyclic process systems for which each resource can be used by at most two operations, and the deadlock state cannot occur as a result of waiting processes on shared resources. For specified initial operations of cyclic processes and their start times (the initial system state), the problem of determining no-wait cyclical schedules decomposes into subproblems. Each subproblem consists of the verification of necessary and sufficient conditions for the existence of solutions for each of 2-process subsystems composed of one shared resource and two processes using this resource. The method aims of prototyping various variants of process starting times for which the conditions guaranteeing no-wait property of the system hold simultaneously for each of the 2-process subsystems. It allows designing cyclic schedules for complex systems composed of 2-process subsystems that are structurally deadlock-free. The class of cyclical processes considered in this article is broader than the class of cascade-like (chain-like, sequential) process systems analysed so far in the literature. In this

关键词： repetitive delivery systems milk-run routing scheduling vehicle routing problem job-shop type transportation systems resource blocking deadlock problem no-wait cyclic schedule two cyclic processes with a shared resource decomposition of the system structure

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Cutting force and tool wear in cutting Ti-6Al-4V using microstructure-based PCD turning tools

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Procedia CIRP 2020年 95卷 572-577页

作者： Kai Jiang Xiaoyu Wu Jianguo Lei Bin Xu Likuan Zhu Yongxin Cao Kangsen Li Dengji Guo Yonghua Zhao Guangdong Provincial Key Laboratory of Micro/Nano Optomechatronics Engineering College of Mechatronics and Control Engineering Shenzhen University Nan-hai Ave 3688 Shenzhen 518060 Guangdong China Southern University of Science and Technology Department of Mechanical and Energy Engineering Room505 Chuangyuan No.7 No. 1088 Xueyuan Rd. Nanshan Shenzhen Guangdong 518055 China

Titanium and its alloys have been widely applied in surgical, aerospace, and medicine because of its high corrosion resistance, strength, heat resistance, and high compatibility with composite structures. However, due to the small cutting deformation coefficient and severe cold hardening phenomenon of titanium alloy, high stress and temperature can easily occur near the cutting edge during machining, which caused chips to adhere to the surface of tools and accelerated tool wear. In order to reduce cutting force and tool wear, researchers have attempted to fabricate microstructures on the tool by grinding, lithography, etching, and other technologies to improve lubrication condition between tools and chips. However, these processes were limited to certain conditions. In this paper, three-dimensional (3D) laminated microelectrodes were used to fabricate various microstructures on polycrystalline diamond (PCD) turning tools by micro-electrical discharge machining (micro-EDM). Moreover, microstructure-based PCD turning tools were used to perform cutting experiments on titanium alloy. During this process, the cutting force of PCD turning tools were measured by force measuring device, and chips were collected and observed. After that, the friction coefficient and tool wear of PCD tools with different microstructures were measured. The experimental results show that microstructures on the rake face of PCD turning tools can effectively reduce friction coefficient for cutting titanium alloy, thus reducing cutting force and tool wear. The type and size of microstructures also affect cutting force and tool wear: the smaller size of microstructure, the smaller values of cutting force and tool wear.

关键词： Laminated microelectrode microstructures cutting force friction coefficient tool wear

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Vehicle Dynamic State Estimation： State of the Art Schemes and Perspectives

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IEEE/CAA Journal of Automatica Sinica 2018年第2期5卷 418-431页

作者： Hongyan Guo Dongpu Cao Hong Chen Chen Lv Huaji Wang Siqi Yang State Key Laboratory of Automotive Simulation and Control and the Department of Control Science and Engineering Jilin University (Campus Nanling) Changchun 130025 China the Mechanical and Mechatronics Engineering Department at the University of Waterloo N2L 3GI Canada Department of Automotive Engineering Cranfield University Bedfordshire MK43 0AL UK IEEE

Next-generation vehicle control and future autonomous driving require further advances in vehicle dynamic state estimation. This article provides a concise review, along with the perspectives, of the recent developments in the estimation of vehicle dynamic states. The definitions used in vehicle dynamic state estimation are first introduced, and alternative estimation structures are presented. Then, the sensor configuration schemes used to estimate vehicle velocity, sideslip angle, yaw rate and roll angle are presented. The vehicle models used for vehicle dynamic state estimation are further summarized, and representative estimation approaches are discussed. Future concerns and perspectives for vehicle dynamic state estimation are also discussed.

关键词： Index Terms-Estimation structure extended Kalman filter sensor configuration sideslip angle estimation vehicle dynamicstate estimation vehicle dynamics model.

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Correction to: Random and Short‑Term Excessive Eye Movement in Children with Autism During Face‑to‑Face Conversation

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Journal of autism and developmental disorders 2022年第8期52卷 3711页

作者： Zhong Zhao Jiayi Xing Xiaobin Zhang Xingda Qu Xinyao Hu Jianping Lu Institute of Human Factors and Ergonomics College of Mechatronics and Control Engineering Shenzhen University Shenzhen China. Shenzhen Guangming District Center for Disease Control and Prevention Shenzhen China. Department of Child Psychiatry of Shenzhen Kangning Hospital Shenzhen Mental Health Center Shenzhen China. szlujianping@***.

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controlling the Positioning 3D Rotational Piezoelectric Deflector using ERF: An Experimental Study

Controlling the Positioning 3D Rotational Piezoelectric Defl...

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mechatronics Systems and Materials (MSM)

作者： Sylvester Sedem Djokoto Egidijus Dragašius Vytautas Jūrėnas Arkadiusz Mystkowski Department of Production Engineering Kaunas University of Technology Studentu 56 Kaunas Lithuania Institute of Mechatronics Kaunas University of Technology Studentu 56 Kaunas Lithuania Department of Automatic Control and Robotics Bialystok University of Technology Wiejska 45C Bialystok Poland

The following topics are dealt with: mobile robots; autonomous aerial vehicles; vibrations; neural nets; control engineering computing; finite element analysis; design engineering; learning (artificial intelligence); ... 详细信息

ISBN: (数字)9781728169569

ISBN: (纸本)9781728169576

关键词： Three-dimensional displays Fluids Rotors Electric fields Vibrations Laser beams Mechanical engineering

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A Graph Metric for Model Predictive control of Petri Nets

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IFAC-PapersOnLine 2018年第2期51卷 254-259页

作者： Appel, M. Konigorski, U. Walther, M. Department for control theory and mechatronics University of Technology Darmstadt Germany Corporate Sector Research and Advanced Engineering Robert Bosch GmbH Renningen Germany

There are many systems that may be described by abstract states like the colors of traffic lights or switch positions. Such systems can be modeled as discrete event systems (DES). Petri nets (PN) are a powerful tool to model DES like production systems, biological systems or communication networks. We present a model predictive control (MPC) approach for Petri net models which is inspired by linear-quadratic regulator (LQR) design. Therefore, we solve the system of diophantine Petri net state equations. Using the solution, we derive a metric for DES which is an analogue to the one associated with the quadratic objective in LQR design. This enables us to relate abstract states to each other and to provide a new distance measure that considers the discontinuous state space of DES. Finally, we present an analogue to the classical MPC formulation known for time-driven systems. © 2018

关键词： Discrete event simulation Biological systems Equations of state Model predictive control Petri nets Predictive control systems Diophantine equation Distance measure Driven system Linear quadratic regulator Petri net models Production system State equations Traffic light

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Data-driven adaptive residual generator design using sliding window

Data-driven adaptive residual generator design using sliding...

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第三十八届中国控制会议

作者： Xue Song Hao Luo Shen Yin Okyay Kaynak Harbin Institute of Technology Department of Control Science and Engineering Bogazici University Mechatronics Research and Application Center

In order to ensure the safe and efficient operation of modern industrial systems and to tackle common existing nonlinearity, uncertainty and the operating point change of industrial systems, this paper focuses on observer based residual generator design using adaptive algorithms for LTI systems. The basic idea is to track the changes of the system by updating the key parameters of the residual generator rather than identify the whole system. Thus we can identify the parameter matrixes of the system. In order to improve accuracy under the circumstances where there exist random disturbances in input or output signals,sliding window method is designed for adaptive residual generator. The accuracy and effectiveness of the proposed method can be demonstrated by using a numrical system.

关键词： Data-driven Adaptive residual generator Sliding window

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Preface

Lecture Notes in Networks and Systems

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Lecture Notes in Networks and Systems 2024年 1076 LNNS卷 v-vii页

作者： Biele, Cezary Kacprzyk, Janusz Kopeć, Wieslaw Możaryn, Jakub Owsiński, Jan W. Romanowski, Andrzej Sikorski, Marcin National Information Processing Institute Warszaw Poland Polish Academy of Sciences Systems Research Institute Warsaw Poland Polish-Japanese Academy of Information Technology Warsaw Poland Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland Institute of Applied Computer Science Faculty of Electrical Electronic Computer and Control Engineering Lódż University of Technology LODZ Poland Department of Applied Informatics in Management Faculty of Management and Economics Gdańsk University of Technology Gdańsk Poland

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Re-adhesion control strategy based on the optimal slip velocity seeking method

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Journal of Modern Transportation 2018年第1期26卷 36-48页

作者： Caglar Uyulan Metin Gokasan Seta Bogosyan Department of Mechatronics Engineering Graduate School of Science Engineering and Technology Istanbul Technical University Control Engineering Department Faculty of Electrical and Electronic Engineering Istanbul Technical University

In the railway industry, re-adhesion control plays an important role in attenuating the slip occurrence due to the low adhesion condition in the wheel-rail inter- action. Braking and traction forces depend on the normal force and adhesion coefficient at the wheel-rail contact area. Due to the restrictions on controlling normal force, the only way to increase the tractive or braking effect is to maximize the adhesion coefficient. Through efficient uti- lization of adhesion, it is also possible to avoid wheel-rail wear and minimize the energy consumption. The adhesion between wheel and rail is a highly nonlinear function of many parameters like environmental conditions, railway vehicle speed and slip velocity. To estimate these unknown parameters accurately is a very hard and competitive challenge. The robust adaptive control strategy presented in this paper is not only able to suppress the wheel slip in time, but also maximize the adhesion utilization perfor- mance after re-adhesion process even if the wheel-rail contact mechanism exhibits significant adhesion uncer- tainties and/or nonlinearities. Using an optimal slip velocity seeking algorithm, the proposed strategy provides a satisfactory slip velocity tracking ability, which was demonstrated able to realize the desired slip velocity without experiencing any instability problem. The control torque of the traction motor was regulated continuously to drive the railway vehicle in the neighborhood of the opti- mal adhesion point and guarantee the best traction capacity after re-adhesion process by making the railway vehicle operate away from the unstable region. The results obtained from the adaptive approach based on the second- order sliding mode observer have been confirmed through theoretical analysis and numerical simulation conducted in MATLAB and Simulink with a full traction model under various wheel-rail conditions.

关键词： Re-adhesion control Traction system dynamicmodel Optimal slip velocity estimation

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Chattering-free fixed-time sliding mode control for bilateral teleoperation under unknown time-varying delay via disturbance and state observers

Advanced Control for Applications: Engineering and Industria...

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Advanced control for Applications: engineering and Industrial Systems 2020年第4期2卷

作者： Abadi, Ali Soltani Sharif Hosseinabadi, Pooyan Alinaghi Mekhilef, Saad Ordys, Andrzej Department of Electrical Engineering Faculty of Engineering Yazd University Yazd Iran Faculty of Engineering University of Malaya Kuala Lumpur Malaysia School of Software and Electrical Engineering Faculty of Science Engineering and Technology Swinburne University of Technology Melbourne Australia Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz University Jeddah Saudi Arabia The Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland

This paper proposes a new chattering-free Fixed-time Observer-Based Sliding Mode control (FOBSMC) scheme for synchronization of two bilateral teleoperations under unknown time-varying delay. The system is subjected to unknown disturbances which are estimated in a fixed time by utilizing the Disturbance Observer-based SMC scheme. The fixed-time State Observer-based SMC is designed to estimate the unmeasured velocity state, while the position state is assumed to be available. Fixed-time stability method is used to provide the system convergence time independently of initial states. A FOBSMC scheme is first designed for master system of bilateral teleoperation under unknown time-varying delay to track the environmental torque by the human operating torque in the presence of time delay in the communication channel, as well as estimating the unknown disturbances and unmeasured states. A FOBSMC scheme is designed to synchronize slave system to master system in the presence of time delay in the communication channel, as well as estimating disturbances and states. The stability analysis is performed for closed-loop system of combined controller-observer by using Lyapunov theory. The efficacy of the proposed method to fulfill a good transparency and stability under time-varying communication delays is tested by performing numerical simulation in Simulink/MATLAB. © 2020 John Wiley & Sons Ltd.

关键词： Time delay

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