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Localization-based waiter robot for dynamic environment using Internet of Things

International Journal of Information Technology (Singapore) 2024年 1-20页

作者： Qaisar, Muhammad Waqas Shakeel, Muhammad Mudassir Kędzia, Krzysztof Machado, José Mendes Jan, Ahmed Zubair Innovation Building 701 School of Control Science and Engineering Qianfoshan Campus of Shandong University No.17923 of Jingshi Road Shandong Jinan 250061 China Department of Mechanical Mechatronics and Manufacturing Engineering University of Engineering and Technology Lahore (Faisalabad Campus) Punjab Pakistan Department of Mechanical Engineering Wroclaw University of Science and Technology Wroclaw Poland Department of Mechanical Engineering Minho University Braga Portugal

In response to the growing demand for robotic service providers in the hospitality industry, this work presents a cost-effective IoT-based waiter robot designed to enhance customer experiences and restaurant efficiency. Leveraging an rplidar sensor and encoded DC motors for mapping and navigation, this robot distinguishes itself by its ability to carry heavier loads and navigate to designated tables. Using an herbal lidar map in the Robot Operating System (ROS), the robot efficiently plans paths and navigates within the restaurant environment. The sensor's 360-degree rotation captures environmental data, generating sequential data points for mapping. Through adaptive Monte Carlo localization in ROS, the robot demonstrates autonomous operation and successful route planning. Initial testing confirms its ability to autonomously locate and reach target tables, marking a promising advancement in service robotics. © The Author(s), under exclusive licence to Bharati Vidyapeeth's Institute of Computer Applications and Management 2024.

关键词： Graph mapping Indoor Localization Mapping and autonomous Robot Operating System (ROS) RP Lidar Server mobile robot

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Lyapunov control Method Based Optimal control of Alpha-Type Stirling Motor 4

Lyapunov Control Method Based Optimal Control of Alpha-Type ...

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4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2022

作者： Azanpa, Mahmut Vural, Berkem Tas, Ali Ihsan Ozden, Ali Burak Iscan, Mehmet Yildiz Technical University Mechatronics Engineering Department Istanbul Turkey Yildiz Technical University Control and Automation Engineering Department Istanbul Turkey

ISBN: (纸本)9781665468350

Nowadays, the optimally developed system design has been important with the improvement of the technology. The mathematical model approach with the proper controller design provides a more efficient system with its outputs, as well. One of the complex structures is the alpha type Stirling motor in which it is used to control two independent pistons for gaining more power and but makes controlling its dynamics difficult due to its complex structure dynamics in terms of heat and mechanics interactions. In addition to these difficulties, it must be required to design optimal control via system dynamics perspectives because of the characteristics of four different phases. Due to these reasons, in this study, nonlinear Lyapunov-based optimal control for alpha type stirling engine was performed by combining ideal thermodynamic and mechanic equations. The suggested controller was tested under the different reference motor velocities by calculating optimal heat energy consumption via the control rule. After designing two cascade controllers, both mechanical and heat system controls were achieved to optimize heat energy consumption for different motor velocities. It was proved that the proposed method attained high performance for reference tracking of alpha Stirling motor velocities by interacting heat-mechanical system dynamics modeling via Lyapunov control theory. © 2022 IEEE.

关键词： control theory

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Real Time Discrete control Algorithm for Gimbal System Design in Mini Unmanned Aerial Vehicles 4

Real Time Discrete Control Algorithm for Gimbal System Desig...

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4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2022

作者： Tas, Ali Ihsan Iscan, Mehmet Ozden, Ali Burak Cinar, Emre Vural, Berkem Yilmaz, Cuneyt Yildiz Technical University Mechatronics Engineering Department Istanbul Turkey Yildiz Technical University Control and Automation Engineering Department Istanbul Turkey

ISBN: (纸本)9781665468350

Nowadays, gimbal systems have been a very critical role to obtain some important information related to live images photos and target detection in unmanned aerial vehicles. The most basic performance criterion of gimbal systems depends on its stabilization in which the desired reference tracking must be accomplished by designing complex controller structure. For this purpose, a discrete controller design is presented to provide reduced cost, high-performance, 3-axis gimbal systems in real-time operation. Firstly, the mathematical model of the system was obtained and 3D - computer aided design was made in order to calculate the system parameters like inertia, damping factor, etc. After that forward and inverse kinematic equations for the gimbal system were obtained in order to calculate the reference degree in each axis. The discrete controller was derived from energy-based computed torque proportional controller which was based on the Lyapunov Stability Theorem in discrete notation. The reference tracking results at 10 milliseconds sampling time are as follows;0 overshoot for 3 axes with lack of steady-state errors, and the time constants are 0.1575, 0.1610, and 0.27 second which are acceptable for roll, pitch, and yaw axes, respectively. In addition, the discrete-time performance of the proposed controller was compared with a PID controller designed in continuous time, and it was shown that the continuous-time design did not work efficiently as well as discrete time one. © 2022 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Improving Road Safety With Enhanced Vehicle Detection for Night-time Traffic in Mirpur 6

Improving Road Safety With Enhanced Vehicle Detection for Ni...

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6th International Conference on Robotics and Automation in Industry, ICRAI 2024

作者： Younis, Usama Riaz, Faisal Raza, Umar Atali, Gokhan Rabnawaz, Hamid HEC Control Automotive and Robotics Lab Islamabad Pakistan Manchester Metropolitan University Department of Engineering Manchester United Kingdom Mechatronics Engineering Sakarya University of Applied Sciences Sakarya54050 Turkey Selftech Pvt Ltd Pakistan

ISBN: (纸本)9798350355703

This paper presents a study on improving night-time vehicle detection in the Mirpur region through a modified neural network model. Given the challenges of low visibility at night, the research focused on optimizing a deep learning algorithm to enhance detection accuracy. A dataset of 10,000 images covering various vehicle types was collected and annotated to train and test the model. The study found a 7% increase in detection performance compared to the standard model, highlighting the potential for tailored algorithms in specific environmental conditions. The findings suggest significant implications for road safety and autonomous driving systems, particularly in regions with similar night-time driving challenges. The research contributes to the broader field of computer vision by showing the effectiveness of model optimization in real-world conditions. © 2024 IEEE.

关键词： Vehicle safety

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Multi-objective Optimal Operation of Centralized Battery Swap Charging System with Photovoltaic

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Journal of Modern Power Systems and Clean Energy 2022年第1期10卷 149-162页

作者： Yuanzheng Li Yihan Cai Tianyang Zhao Yun Liu Jian Wang Lei Wu Yong Zhao School of Artificial Intelligence and Automation Ministry of Education Key Laboratory of Image Processing and Intelligence ControlHuazhong University of Science and TechnologyWuhanChina School of Electrical and Electronic Engineering Nanyang Technological UniversitySingaporeSingapore College of Mechatronics and Control Engineering Shenzhen UniversityShenzhenChina Department of Electrical&Computer Engineering Stevens Institute of TechnologyHobokenUSA

Electric vehicles(EVs)are widely deployed throughout the world,and photovoltaic(PV)charging stations have emerged for satisfying the charging demands of EV *** paper proposes a multi-objective optimal operation method for the centralized battery swap charging system(CBSCS),in order to enhance the economic efficiency while reducing its adverse effects on power *** proposed method involves a multi-objective optimization scheduling model,which minimizes the total operation cost and smoothes load fluctuations,***,we modify a recently proposed multi-objective optimization algorithm of non-sorting genetic algorithm III(NSGA-III)for solving this scheduling ***,simulation studies verify the effectiveness of the proposed multi-objective operation method.

关键词： Multi-objective optimization electric vehicle battery swap charging system scheduling photovoltaic

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Identification of First Order Plus Dead Time for a pH Neutralization Process Using Open Loop Test 22nd

Identification of First Order Plus Dead Time for a pH Neutra...

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22nd Asia Simulation Conference, AsiaSim 2023

作者： Zainal, Azavitra Wahab, Norhaliza Abdul Yusof, Mohd Ismail Razali, Mashitah Che Control and Mechatronics Engineering Department Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Johor Bahru Malaysia Instrumentation and Control Engineering Section Malaysian Institute of Industrial Technology Universiti Kuala Lumpur Johor Johor Bahru Malaysia Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya Durian Tunggal Melaka Malaysia

ISBN: (纸本)9789819972425

In this paper, a systematic method for determining the mathematical model for the pH neutralization process is proposed by applying system identification techniques to the controller design requirements. The identification is conducted experimentally using an actual pilot plant and analysis is performed using MATLAB toolbox for system identification. The identification is based on the first order plus dead time (FOPDT) method and subsequent application of model estimation and validation tests. In this study, pH is a controlled variable and alkali dosing pump stroke rate is a manipulated variable. The acid dosing pump stroke rate is fixed at 10%. Four open-loop step response experiments were conducted in which the alkali dosing pump stroke rate was set at 30% (Set A), 40% (Set B), 50% (Set C), and 60% (Set D). Based on the best fit performance criteria, Set B, Set C and Set D show approximately the same results. Frequency response analysis was performed using Bode plot and Nyquist diagram to determine the stability. The results show that Set B is more stable than Set C and Set D. The stability criterion is important because the obtained FOPDT model is used for controller design. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Pilot plants

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Design of Compliant Mechanism for Rectilinear Guiding with Non-conventional Optimization of Flexure Hinges 6th

Design of Compliant Mechanism for Rectilinear Guiding with N...

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6th IFToMM Asian Mechanisms and Machine Science Conference, Asian MMS 2021

作者： Stojiljković, Dušan Pavlović, Nenad T. Milošević, Miloš Department of Mechatronics and Control Faculty of Mechanical Engineering University of Niš Aleksandra Medvedeva 14 Niš Serbia

ISBN: (纸本)9783030918910

Flexure hinges are essential for the movement of compliant mechanisms. As compliant mechanisms get all their mobility from flexure hinges, and not from the rigid-body segments that connect these joints, much of the science of compliant mechanisms comes down to the analysis of these flexure hinges. The analysis of joints has so far been reduced to the use of different dimensions, materials and shapes of flexure hinges in order to obtain the best output parameters of the compliant mechanism that is designed and modelled. In this paper, by using undercut notch flexure hinges, a new analysis is given, which aims to show another factor that has an impact on the operation of compliant mechanisms. This factor is represented by the position of joints and its influence is shown through improving the accuracy of the coupler point rectilinear path of the Roberts-Chebyshev four-bar linkage. Hence, it will be described that the position of these flexure hinges and their geometry is a vital issue for performing an approximately rectilinear path. Therefore, several designs are investigated through the finite elements method (FEM) simulation. The most important part of the paper is the discussion of the results of structural analysis and position optimization as a tool for obtaining the best results of the initial designed compliant mechanism. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Mechanisms

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Anti-interference model of intelligent control for high-precision regulation of pressure in industrial low pressure area based on neural network

Anti-interference model of intelligent control for high-prec...

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2024 International Conference on Computer Application and Information Security, ICCAIS 2024

作者： Ren, Yan Wang, Yunjiang Department of Information and Control Engineering Shenyang Institute of Science and Technology Liaoning Shenyang110167 China School of Mechatronics Engineering Shenyang Aerospace University Liaoning Shenyang110136 China

ISBN: (纸本)9781510689312

As science and technology progress, the traditional pressure regulation system is being phased out, and researchers today are focusing on the study of higher precision regulation systems as a crucial task. However, there are still problems with pressure regulation in low pressure areas. In this regard, a high-precision regulation model for low-pressure zone pressure based on neural networks is proposed, which applies the neural system to pressure regulation in low-pressure zones to achieve the purpose of high-precision regulation. Neural network is a computing model that imitates the structure and function of the human brain. It can achieve complex nonlinear mapping and intelligent processing by learning large amounts of data. Applying the nervous system to the field of pressure regulation can adaptively learn the load characteristics of the pressure system, thereby improving the accuracy and stability of load prediction. Real-time monitoring and fault diagnosis can also be performed on the operating status of the pressure system, thereby improving the reliability and safety of the system. And optimize and adjust the control strategy of the pressure system, so as to improve the efficiency and energy saving of the system. Based on this, this paper proposes to combine BP algorithm and particle swarm optimization algorithm to obtain PSOB model. stability. And it can adaptively adjust network parameters and control strategies, adapt to different working conditions and environmental disturbances, and improve control flexibility and intelligence. Historical data and real-time data can also be used for learning and updating to improve control accuracy and prediction capabilities. © The Authors.

关键词： Particle swarm optimization (PSO)

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An Overview of the Functions of Smart Grids Associated with Virtual Power Plants Including Cybersecurity Measures 1

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14th IFIP WG 5.5/SOCOLNET Advanced Doctoral Conference on Computing, Electrical and Industrial Systems, DoCEIS 2023

作者： Alvi, Anas Abdullah Romero-Cadaval, Enrique González-Romera, Eva Hassan, Jamil Vinnikov, Dmitri Electrical Electronic and Control Engineering Department University of Extremadura Badajoz06006 Spain Energy Products and Services Badajoz Spain Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn12616 Estonia

ISBN: (数字)9783031360077

ISBN: (纸本)9783031360060

The use of renewable energy is on the rise and is expanding ever so greatly in this modern age of technology. However, it comes with a new set of challenges to properly integrate these renewable energy-based power plants thus forming a virtual power plant safely and reliably into the power grid in which a smart grid plays an effective role. The main focus of this paper is to review the functions a modern-day smart grid plays in the integration of distributed energy resources to the grid to form a virtual power plant including cybersecurity measures. It also addresses a basic example of the detection of a cyber-attack caused into the grid assuming it to be manipulated by a hacker together with a novel solution and later validated by performing simulation. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Virtual Power Plants

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Observer-based control for consensus tracking of non-linear synchronous generators system using sliding mode method and a radial basis function neural network

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The European Physical Journal Special Topics 2024年 1-22页

作者： Sharifi, Alireza Sharafian, Amin Ai, Qian Department of Electrical Engineering Shanghai Jiao Tong University Shanghai China College of Mechatronics and Control Engineering Shenzhen University Shenzhen China

This paper presents a novel neuro-sliding mode observer-based control strategy for addressing disturbances, model uncertainties, and unmodeled dynamics in practical multi-agent systems (MAS). The focus is on achieving consensus tracking in non-linear MAS, specifically in the context of synchronous generators. A distributed protocol based on sliding mode approach is proposed to handle unknown model structures and parameters of follower agents influenced by the dynamics of synchronous generators. To achieve consensus tracking under these conditions, a hybrid radial basis function (RBF) neural network is employed to identify the unmodeled dynamics of the follower agents. The neural network’s update law algorithm is adjusted using the errors from both the observer and the controller. The stability of the proposed method is guaranteed by employing Lyapunov theory, ensuring that the consensus error and the error between the states of the consensus error dynamic and its estimator asymptotically converge to a neighborhood of zero. To validate the theoretical results, Matlab simulations are conducted to assess the effectiveness of the proposed approach, providing evidence of its capability and practical applicability.

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