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Synchronous data collection measuring system using a single-chip computer

IFAC-PapersOnLine 2019年第27期52卷 68-73页

作者： Jiří Czebe Pavel Šuránek Jiří Tůma Stanislav Žiaran Department of Control Systems and Instrumentation Faculty of Mechanical Engineering VSB-TUO Ostrava Czech Republic Department of Control Systems and Instrumentation Faculty of Mechanical Engineering VSB- TUO Ostrava Czech Republic Institute of Applied Mechanics and Mechatronics Faculty of Mechanical Engineering Slovak University of Technology Bratislava Slovakia

Paper deals with synchronous data collection using a single-chip computer. It states an essential description of a measurement system’s feedback, which consists of two lasers and two encoders. Description of the whole measuring chain, with a brief introduction of a measurement unit, follows. The next part focuses on a firmware description of the measurement unit (measuring and communication processed) and communication peripherals and an external LAN module. Enhancement of the whole process using DMA controller and communication techniques with used sensors or modules. Finally, synchronous data collection is presented to ensure the proper functionality of the whole measuring system with the best possible measurement results.

关键词： Embedded Systems Microprocessors Industry automation Data acquisition

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Applications of Game Theory in Vehicular Networks: A Survey

arXiv

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arXiv 2021年

作者： Sun, Zemin Liu, Yanheng Wang, Jian Li, Guofa Anil, Carie Li, Keqiang Guo, Xinyu Sun, Geng Tian, Daxin Cao, Dongpu College of Computer Science and Technology Jilin University Changchun130012 China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China Institute of Human Factors and Ergonomics College of Mechatronics and Control Engineering Shenzhen University Guangdong Shenzhen518060 China School of Computer Science and Engineering VIT-AP Andhra Pradesh Amaravati522237 India College of Engineering Nanjing Agricultural University Nanjing210031 China State Key Laboratory of Automotive Safety and Energy Department of Automotive Engineering Tsinghua University Beijing100084 China Beijing Advanced Innovation Center for Big Data and Brain Computing Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing100191 China Waterloo Cognitive Autonomous Driving Lab University of Waterloo N2L 3G1 Canada

In the Internet of things (IoT) era, vehicles and other intelligent components in an intelligent transportation system (ITS) are connected, forming vehicular networks (VNs) that provide efficient and safe traffic and ubiquitous access to various applications. However, as the number of nodes in an ITS increases, it is challenging to satisfy a varied and large number of service requests with different quality of service (QoS) and security requirements in highly dynamic VNs. Intelligent nodes in VNs can compete or cooperate for limited network resources to achieve the objective for either an individual or a group. Game theory (GT), a theoretical framework designed for strategic interactions among rational decision makers sharing scarce resources, can be used to model and analyze individual or group behaviors of communicating entities in VNs. This paper primarily surveys the recent developments of GT in solving various challenges of VNs. This survey starts with an introduction to the background of VNs. A review of GT models studied in the VNs is then introduced, including the basic concepts, classifications, and applicable vehicular issues. After discussing the requirements of VNs and the motivation of using GT, a comprehensive literature review on GT applications in dealing with the challenges of current VNs is provided. Furthermore, recent contributions of GT to VNs that are integrated with diverse emerging 5G technologies are surveyed. Finally, the lessons learned are given, and several key research challenges and possible solutions of applying GT in VNs are outlined. Copyright © 2021, The Authors. All rights reserved.

关键词： Quality of service

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Design and Modeling of a Biomimetic Wire-driven Soft Robotic Fish

Design and Modeling of a Biomimetic Wire-driven Soft Robotic...

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Chinese Automation Congress (CAC)

作者： Yun Jiang Xiaocheng Liu Hong Chen Weijie Gong Yu Lu Weidong Zhang Department of Automation Shanghai Jiao Tong University Shanghai China College of Mechatronics and Control Engineering Shenzhen University Shenzhen China

This paper introduces a new type of soft robotic fish driven by a biomimetic propulsor. The propulsor is composed of a soft tail made of silica gel and two controlling wires. The soft tail can complete oscillatory motion by controlling the two wires. The barycenter control mechanism enables the soft robotic fish to float and sink. The kinematics model is built based on Lighthill's elongated body theory. The biomimetic wire-driven soft robotic fish is simple in structure and easy to manipulate. The simulation results show that this soft robotic fish well resembles the real fish swimming body curve and validate the performance of the wire-driven design.

关键词： Biomimetics Soft robotics Mobile robots Motion control Underwater vehicles

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Honeycomb-Structured IrOxFoam Platelets as the Building Block of Anode Catalyst Layer in PEM Water Electrolyzer

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Angewandte Chemie 2024年第3期137卷

作者： Zhoubing Xie Prof. Hui Chen Dr. Xiyang Wang Dr. Yimin A. Wu Zizhun Wang Dr. Subhajit Jana Prof. Yongcun Zou Prof. Xiao Zhao Dr. Xiao Liang Prof. Xiaoxin Zou State Key Laboratory of Inorganic Synthesis and Preparative Chemistry College of Chemistry Jilin University Changchun 130012 China Department of Mechanical and Mechatronics Engineering Waterloo Institute for Nanotechnology University of Waterloo Waterloo Ontario N2L 3G1 Canada Electron Microscopy Center Jilin University Changchun 130012 China School of Materials Science and Engineering Key Laboratory of Automobile Materials of MOE State Key Laboratory of Automotive Simulation and Control Electron Microscopy Center Jilin University Changchun 130012 China

Achieving robust long-term durability with high catalytic activity at low iridium loading remains one of great challenges for proton exchange membrane water electrolyzer (PEMWE). Herein, we report the low-temperature synthesis of iridium oxide foam platelets comprising edge-sharing IrO 6 octahedral honeycomb framework, and demonstrate the structural advantages of this material for multilevel tuning of anodic catalyst layer across atomic-to-microscopic scales for PEMWE. The integration of IrO 6 octahedral honeycomb framework, foam-like texture and platelet morphology into a single material system assures the generation and exposure of highly active and stable iridium catalytic sites for the oxygen evolution reaction (OER), while facilitating the reduction of both mass transport loss and electronic resistance of catalyst layer. As a proof of concept, the membrane electrode assembly in single-cell PEMWE based on honeycomb-structured IrO x foam platelets, with a low iridium loading (~0.3 mg Ir /cm 2 ), is demonstrated to exhibit high catalytic activity at ampere-level current densities and to remain stable for more than 2000 hours.

关键词： water splitting water oxidation foam structure iridium PEM electrolyzer

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Action Recognition by Weighted Averaged Hidden Markov Models

Action Recognition by Weighted Averaged Hidden Markov Models

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Aleksandra Postawka Przemysław Śliwiński Department of Computer Engineering Wrocław University of Science and Technology Poland Department of Control Systems and Mechatronics Wrocław University of Science and Technology Poland

In the paper the problem of action recognition with the help of Markov models is considered. We propose an algorithm aiming at reduction of the false positive rate. We state a hypothesis that these errors are caused by learning gesture sequences representing rare movements and not that containing popular ones. Our algorithm translates the sequence of gestures into the corresponding Markov models which are used for a preliminary classification. The obtained evaluation coefficients (numbers of proper classifications) are then used to determine the best weights in a combined model composed of these models. In order to find a compromise between the number of true positives and the number of false positives, the power function of weights is examined.

关键词： Hidden Markov models Mathematical model Markov processes Sensors Biological system modeling Real-time systems Measurement uncertainty

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Filtration of dust particles in underground coal mines

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Powder Technology 2023年 423卷

作者： Hao Jin Shihang Li Hesheng Yu Liang Yuan Fubao Zhou Zhongchao Tan Jiangsu Engineering Research Center for Dust Control and Occupational Protection China University of Mining and Technology Xuzhou 221116 China Department of Mechanical & Mechatronics Engineering University of Waterloo 200 University Avenue West Waterloo N2L 3G1 Canada Jiangsu Key Laboratory of Coal-based Greenhouse Gas Control and Utilization Carbon Neutrality Institute China University of Mining and Technology Xuzhou 221008 China School of Chemical Engineering and Technology China University of Mining and Technology Xuzhou 221116 China Key Laboratory of Industrial Dust Control and Occupational Health Ministry of Education Anhui University of Science and Technology Huainan 232001 China China Academy of Safety Science and Technology Beijing 100012 China

This paper focuses on the filtration of dust particles and loading characteristics in underground coal mines using fibrous surface filters. A new analytical model was developed based on the single particle filtration theory for fibrous surface filters. The model was first validated using data collected in a laboratory setting. Then, the model was simplified using the median particle size of polydisperse particles to reduce the computational cost and to improve the engineering applicability. The maximum relative error is 12% or less. Finally, the simplified model was further validated using data collected with large-scale cartridge filters installed in an underground coal mine. Overall, this study provides a practical tool to predict the filtration efficiencies of fiber surface filters in underground coal mines.

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Comparison of the Effectiveness of Various Structures of Regulators for controlling an Object of the Sixth Order

Comparison of the Effectiveness of Various Structures of Reg...

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2019 International Multi-Conference on engineering, Computer and Information Sciences, SIBIRCON 2019

作者： Zhmud, Vadim Dimitrov, Lubomir Nosek, Jaroslav Roth, Hubert Novosibirsk State Technical University Dept. of Automation Novosibirsk Russia Technical University of Sofia Sofia Bulgaria Technical University of Liberec Faculty of Mechatronics Computer Science and Interdisciplinary Research Liberec Czech Republic University of Siegen Department of Automatic Control Engineering Siegen Germany Germany

ISBN: (纸本)9781728144016

Object control requires the calculation of a regulator. One of the most effective methods for calculating the regulator is the method of numerical optimization of the regulator. This paper discusses the solution of the problem of controlling a linear object of the sixth order, the parameters of which are such that this high order significantly and negatively affects the possibilities of successfully managing this object. Using the traditional approach to the design problem of the controller (regulator) allows us to formally solve the problem;however, the result of this solution is not satisfactory. The use of additional derivation does not give any noticeable improvement. A solution to this problem is proposed by using pseudo-local feedback, moreover, this connection is supposedly most effective if it covers one of two identical links in the object model. This allows for a smoother attenuation of the frequency response of the object in the region where the action of these two links begins to affect. For pseudo-local communication, an additional PID controller is used, the coefficients of which are also determined by the method of numerical optimization. The optimization result allows us to conclude that the presence of an integral element in this controller is optional. The calculation result of such a composite controller meets the most stringent requirements for the quality of control, since in such a system the speed is increased at least twice, the oscillations, which were about 10% in amplitude, are completely eliminated, the robustness of the system is ensured, which is verified by changing all the controller coefficients by 5% up and down, and also by changing the time constant of the element of the pseudolocal loop by 10% up and down, changes in the transition process of the system in this case remain are acceptable. © 2019 IEEE.

关键词： Feedback

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On Input-to-State Stability of Train Platoon Under Moving Block Signalling

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IFAC-PapersOnLine 2019年第15期52卷 336-339页

作者： Tua A. Tamba Yul Y. Nazaruddin Department of Electrical (Mechatronics) Engineering Parahyangan Catholic University Indonesia Instrumentation & Control Research Group Institut Teknologi Bandung Indonesia National Center for Sustainable Transportation Technology

This paper discusses a formation control approach for managing the safe movement of train platoons in moving block signaling scheme. The considered control objective is that of maintaining a bounded safe distance between adjacent trains which move simultaneously on the same track segment. This paper shows that the convoy can achieve the formation input-to-state stability property by simple feedback control gain on each train in the convoy.

关键词： Train control moving block signalling input-to-state stability

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Experimental implementation of a new non-redundant 6-DOF quadrotor manipulation system

arXiv

引用

arXiv 2019年

作者： Khalifa, Ahmed Fanni, Mohamed Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menofia University Egypt Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Egypt Department of Production Engineering and Mechanical Design Mansoura University Egypt

This paper presents an experimental validation of a new quadrotor-based aerial manipulator. A quadrotor is equipped with a 2-DOF robotic arm that is designed with a new topology to enable the end-effector of the whole system to track a 6-DOF trajectory. An identification experiment is carried out to find out the system parameters. The mathematical model of the whole system is presented. A measurement scheme is proposed to get the accurate pose of the vehicle considering the motion of the manipulator below the quadrotor. The system controller is designed and implemented based on PID with a gravity compensation algorithm. System simulation is implemented in the MATLAB/SIMULINK environment with real system parameters, to better emulate a realistic setup. Real-time Experiments are conducted. Both simulation and experimental results show the feasibility and a satisfactory efficiency of the proposed system in achieving the position holding and transferring an object to a specific target position. Copyright © 2019, The Authors. All rights reserved.

关键词： Manipulators

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An Input-to-State Stable Implementation of Event-Triggered CBTC

An Input-to-State Stable Implementation of Event-Triggered C...

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International Conference on Electric Vehicular Technology (ICEVT)

作者： Tua A. Tamba Yul Y. Nazaruddin Department of Electrical (Mechatronics) Engineering Parahyangan Catholic University Bandung Indonesia Instrumentation & Control Research Group Institut Teknologi Bandung Bandung Indonesia

This paper studies a formation control problem in communication-based train control (CBTC) implementation under an event-triggered control scheduling framework using the formalism of input-to-state stability (ISS) property. The examined control objective that is considered in this paper is that of guaranteeing the boundedness of the resulting inter-train safe distance with respect to variation on some predefined reference distance and speed profiles. Using the fundamental ISS property of event-triggered control scheduling implementation, this paper shows that the resulting event-triggered CBTC system implementation can be guaranteed to be ISS with respect to the reference movement (inter trains safe distance and velocity) profiles provided that the used event-triggered parameter satisfies a particular inequality.

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