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作者： González-Cruz, Claudia A. Ceccarelli, Marco Alimehmeti, Mario Jáuregui-Correa, Juan Carlos Universidad Autónoma de Querétaro Querétaro74010 Mexico Laboratory of Robotics and Mechatronics Department of Industrial Engineering University of Rome Tor Vergata Rome00133 Italy Motion System and Information Control Sora03039 Italy

This paper presents an analysis of feasibility to develop a robust, practical and versatile test-bed for rotordynamic tests with low-cost and user-oriented features. The experience of a particular case of a test-bed design is present for two degrees of freedom (2-DOFs) planetary gearboxes at Laboratory of Robotics and mechatronics (LARM). Different designing steps are discussed, including the structural design, instrumentation, data acquisition system, actuators control, online signal processing and maintenance. The outcomes of this experience are presented as a synthesis of a variety of requirements which need to be considered during the design of experiments for rotordynamics tests for a wide range of machinery and suitable tests repeatability and accuracy of the data acquisition system. An example is reported to show the implementation of the proposed procedure. © 2019, Springer Nature Switzerland AG.

关键词： Design of experiments

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A Two-Stage Learning Framework for Driver Lane Change Intention Inference

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IFAC-PapersOnLine 2020年第5期53卷 638-643页

作者： Yang Xing Bin Tian Chen Lv Dongpu Cao School of Mechanical and Aerospace Engineering Nanyang Technological University 639798 Singapore State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences and School of Artificial Intelligence University of Chinese Academy of Sciences Beijing 100190 China Department of Mechanical and Mechatronics Engineering University of Waterloo ON N2L3G1 Canada

With the rapid development of intelligent vehicles, human drivers are sharing the control authority with the automation functionalities. The mutual understanding between the intelligent vehicle and the human driver is the key to the efficient multi-agent teaming and the collaborative driving system. In this study, a two-stage learning framework for spatial-temporal driver lane change intention inference is developed. The two-stage learning framework contains two separate parts. First, an operational level driving behavior recognition system based on the deep convolutional neural network (CNN) is developed to recognize the driver behaviors, including mirror checking and normal driving. Then, based on the driver behavior features from the CNN, the sequential feature vector will be used for the construction of driver intention inference model based recurrent neural networks (RNN) and long short-term memory (LSTM). The proposed model achieved a state-of-the-art result on the driver lane change intention inference task. Based on the naturalistic driving dataset, the model achieved over 91% accuracy for lane change and lane-keeping intention prediction. The two-stage learning framework can significantly increase the model flexibility and accuracy, which makes it easier to be implemented and updated in intelligent vehicles.

关键词： Driver Behavior Driver Model Deep Learning LSTM Intelligent Vehicle

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An approach to determining MTDC grid smooth operation point 11

An approach to determining MTDC grid smooth operation point

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11th IET International Conference on Advances in Power System control, Operation and Management, APSCOM 2018

作者： Aziz, Saddam Wang, Huaizhi Peng, Jianchun Ruan, Jiaqi Department of Optoelectonics Engineering Shenzhen University Shenzhen China Department of Mechatronics and Control Engineering Shenzhen University Shenzhen China

ISBN: (数字)9781839530043

ISBN: (纸本)9781839530043

A hybrid Multi-Terminal DC MTDC system that encompasses the almost complete range of processes and techniques related to the effective transmission of electricity is an essential feature. However, smoothness is still a core issue regarding transmission of electricity. The proposed method mainly differs with previous centralized approach to encounter smoothness problem, the goal can be mainly achieved with replacing previously used control approaches by distributed approach. By taking the objectives of minimal line loss and smoothness, the proposed OPF formulation is formulated as a multi-objective optimization problem. Numerical tests on 14-bus hybrid-MTDC system show the suitability of the proposed method. The computational output shows that the proposed ADMM algorithm for hybrid-MTDC’s distributed optimization is feasible and affective. © 2018 Institution of engineering and Technology. All rights reserved.

关键词： Numerical methods

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Experimental investigation of electromyographic activities of upper limb muscles without and with a passive exoskeleton with four degrees of freedoms

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International Journal Bioautomation 2019年第3期23卷 343-354页

作者： Raikova, Rositsa Angelova, Silvija Veneva, Ivanka Christov, Ivaylo Department of Motor Control Institute of Biophysics and Biomedical Engineering Bulgarian Academy of Sciences 105 Acad. G. Bonchev Str. Sofia1113 Bulgaria Department of Mechatronics Institute of Mechanics Bulgarian Academy of Sciences 4 Acad. G. Bonchev Str. Sofia1113 Bulgaria Department of Analysis and Processing of Biomedical Signals and Data Institute of Biophysics and Biomedical Engineering Bulgarian Academy of Sciences 105 Acad. G. Bonchev Str. Sofia1113 Bulgaria

The choice of suitable human surface muscles and of their electromyographic (EMG) signal processing have always been a challenge, especially when technical devices are to be controlled by these signals. Experiments with six healthy volunteers were performed with a NORAXON measuring and processing system. EMG signals from 8 muscles of the upper right arm performing the main motions in the shoulder and elbow joints were registered and processed. Four angles in the joints were also registered. Six motor tasks were performed, without and with an exoskeleton with four degrees of freedom. Since the EMG signal of the muscle pectoralis major was contaminated by noise coming from the electrical activity of the heart, first this signal was filtered using recently developed dynamic filter. Normalization according to maximal isometric tasks was performed after filtration. Rectification and smoothing ensured a suitable signal for proportional control of the exoskeleton. On/off control was simulated by setting different constants for maximal EMG amplitude levels. © 2019 by the authors.

关键词： Muscle

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Public’s acceptance of automated vehicles: the role of initial trust and subjective norm 63rd

Public’s acceptance of automated vehicles: the role of init...

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63rd International Annual Meeting of the Human Factors and Ergonomics Society, HFES 2019

作者： Zhang, Tingru Tan, Haibo Li, Shuling Zhu, Haoyu Tao, Da State Key Laboratory of Nuclear Power Safety Monitoring Technology and Equipment Shenzhen China Institute of Human Factors and Ergonomics College of Mechatronics and Control Engineering Shenzhen University Shenzhen China State Key Laboratory of Automotive Safety and Energy Department of Industrial Engineering Tsinghua University Beijing China

ISBN: (纸本)9781713810407

This study aimed to investigate factors that determine public’s acceptance of automated vehicles (AVs) by proposing and empirically testing an AV acceptance model. The model was developed by incorporating two factors, i.e., trust and subjective norm, into the Technology Acceptance Model. The validity of the model was confirmed with a structure equation modeling analysis based on data collected from 395 survey samples. It was found that trust was the most critical determinant of public’s acceptance of AVs and offered a way for other factors (i.e. perceived usefulness and social norm) to impact AV acceptance. Subjective norm was also identified as an important factor in shaping users’ usage intention, at lease in China, a country dominated by collectivistic culture. Findings from this study provide some guidelines in improving AV products to attract users. © 2019 by Human Factors and Ergonomics Society.

关键词： Acceptance tests

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Flight control design for a highly flexible flutter demonstrator

Flight control design for a highly flexible flutter demonstr...

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AIAA Scitech Forum, 2019

作者： Luspay, Tamás Baár, Tamás Teubl, Dániel Vanek, Bálint Ossmann, Daniel Wüstenhagen, Matthias Pusch, Manuel Kier, Thiemo Waitman, Sérgio Iannelli, Andrea Marcos, Andres Lowenberg, Mark Systems and Control Lab Institute for Computer Science and Control Kende u 13-17 Budapest Hungary DLR German Aerospace Center Institute of Robotics and Mechatronics Wessling82234 Germany Aerospace Engineering Department University of Bristol University Walk BristolBS8 1TR United Kingdom

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

The paper presents the control design approaches for the European research project FLEXOP. The ultimate goal is to develop and apply active flutter suppression and load alleviation techniques on an unmanned flying aircraft demonstrator. Due to the flexible wing of the aircraft new challenges rise for the control design: the traditional rigid body (baseline) control loops have to be augmented with flutter control laws. In our approach, the controllers are designed based on a dynamical model, which is briefly discussed first. Details of the baseline control design, as well as the two different flutter suppression algorithms are discussed in the paper. Hardware-in-the-Loop testing of the controllers are reported before the first test flights of the aircraft. © 2019, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： controllers

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Networked Model for Cooperative Adaptive Cruise control

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IFAC-PapersOnLine 2019年第20期52卷 151-156页

作者： Philip E. Paré Ehsan Hashemi Raphael Stern Henrik Sandberg Karl Henrik Johansson Division of Decision and Control Systems at KTH Royal Institute of Technology Sweden Department of Mechanical and Mechatronics Engineering at University of Waterloo Canada Department of Informatics at the Technical University of Munich Germany

This paper proposes a cooperative adaptive cruise control model, adding a communication network structure to an existing model that has been shown to capture real commercial adaptive cruise control vehicle behavior. The proposed model is interesting because it only requires minimal information sharing, facilitating the creation of platoons comprised of vehicles from different manufacturers. We prove the stability of the model and discuss string stability. Algorithms for estimating the velocity of the vehicles locally and for estimating the velocities of all the vehicles in the platoon are presented. We simulate vehicle platoon control with the lead vehicle following an experimentally collected trajectory, showing that adding communication can cause a string unstable platoon to become stable.

关键词： Semi-autonomous vehicles Intelligent cruise control Networks Traffic control

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Discrete Fourier Transform based Virtual Constraint control of Powered Ankle-Foot Prosthesis

Discrete Fourier Transform based Virtual Constraint Control ...

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International Conference on Robotics and Artificial Intelligence (ICRAI)

作者： Awais Naeem Mohsin Rizwan Hafiz Farhan Maqbool Muhammad Ahsan Ali Raza Syed Abbas Zilqurnain Naqvi Al-Khwarizmi Institute of Computer Science UET Lahore HCR Lab National Center of Robotics and Automation Lahore Pakistan Department of Mechatronics and Control Engineering National Center of Robotics and Automation Lahore Pakistan Department of Mechatronics and Control Engineering UET Lahore Lahore Pakistan

Active prosthetic devices have been controlled using several methods such as Echo control, EMG signal based Position control and Finite State Machine (FSM) based Impedance/Compliance control. This manuscript proposes Virtual Constraint control of active prosthesis which obviates any need for the classification of EMG signals, identification of the gait phase for state switching and potentially avoids an exhaustive procedure for the tuning of impedance parameters. In this paper, a Discrete Fourier Transform (DFT) based Virtual Constraint control is presented to characterize the ankle-foot joint trajectory as a function of the human-inspired phase variable in a unified manner. An optimization-based algorithm is employed for the robust generation of continuously monotonic and linear phase variable for DFT based Virtual Constraint control. The results are generalized across various walking speeds for a specific user during the level ground walking.

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Corrigendum: Reconfiguring quantum error-correcting codes for real-life errors (2020 J. Phys: D. Appl. Phys. 53 415302)

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Journal of Physics D: Applied Physics 2020年第6期54卷

作者： Muhammad Ahsan Syed Abbas Zilqurnain Naqvi Department of Mechatronics and Control Engineering University of Engineering and Technology Lahore Lahore 54890 Pakistan

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Improved Relative Coupling control with Second-Order Consensus Compensation for Multi-PMSMs

Improved Relative Coupling Control with Second-Order Consens...

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International Conference on Electrical Machines and Systems (ICEMS)

作者： Can Li Can Wang Jianfei Pan Shuangxia Niu Pengfei Fu Lun He College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Department of Electrical Engineering The Hong Kong Polytechnic University Hong Kong

ISBN: (纸本)9781728133997

This paper presents the implementation of improved relative coupling control (IRCC) with PI controller (PIC), velocity coupling compensation(VCC) and second-order consensus compensation (SCC) for speed synchronization control of multiple permanent magnet synchronous motors (PMSMs). Virtual network topology is constructed in SCC, distributed cooperative second order consensus protocol is utilized with leader-followers type for the compensation of PMSM control signal. To verify the validation of the IRCC, compare with traditional relative coupling controller is investigated. The results of simulation are provided to demonstrate the effectiveness of the proposed IRCC on stable synchronization with no load and load situations.

关键词： Permanent magnet motors Synchronization Synchronous motors Couplings DC motors Induction motors Mathematical model

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