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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Liu, Teng Yang, Chao Hu, Chuanzheng Wang, Hong Li, Li Cao, Dongpu Wang, Fei-Yue State Key Laboratory of Automotive Simulation and Control Jilin University China Vehicle Intelligence Pioneers Inc. Qingdao Shandong266109 China Jiangsu XCMG Construction Machinery Research Institute Ltd. Xuzhou Jiangsu221004 China Mechanical and Mechatronics Engineering Department Waterloo University N2L 3G1 Canada Faculty of Department of Automation Tsinghua University China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781538644522

This paper proposes a learning-based predictive control technique for self-driving hybrid electric vehicle (HEV). This approach is a hierarchical framework. The higher-level is a human-like driver model, which is applied to predict accelerations in the car following situation to replicate a human driver's demonstrations. The lower-level is a reinforcement learning (RL)-based controller, which enforces the battery and fuel consumption constraints to improve energy efficiency of HEV. In addition, we present induced matrix norm (IMN) to handle cases that the training data cannot provide sufficient information on how to operate in current driving situation. Simulation results illustrate that the proposed method can reproduce human driver's driving style and promote fuel economy. © 2018 IEEE.

关键词： Reinforcement learning

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Variable interface dynamic adjustment (VIDA) technique: A novel approach to adjust lagrangian frame and eulerian frame at flattering interface 8th

Variable interface dynamic adjustment (VIDA) technique: A no...

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8th AIAA Theoretical Fluid Mechanics Conference, 2017

作者： Zanj, Amir He, Fangpo Breedveld, Peter C. College of Science and Engineering Advanced Control Systems Research Group Flinders University Adelaide Australia Department of Mechanical engineering Robotics and Mechatronics Group University of Twente Enschede Netherlands

ISBN: (纸本)9781624104978

In the current study to address the incompatibility issue of the Eulerian and Lagrangian frame at FSI problems, a novel physical approach is proposed. According to this approach, the motion of the Lagrangian frame is physically translated to a virtual volumetric flow for the Eulerian frame. As thus, the shared spatial boundary of the two frame at the interface remains unique in spite of the motion of the interface. This capability provides the possibility of dynamic data transactions between the two frames, which guarantees the continuity of these transformation (e. g., the power interactions of the system on the interface). The obtained capability can be a desirable tool in multiple-field dynamic investigations. Also, the proposed method by elimination of mesh regeneration in FSI transient solutions can open a new window in dynamic mesh techniques which leads to reducing the time cost of the solution. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Lagrange multipliers

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An affordable build-your-own computer control system for electropneumatics education

An affordable build-your-own computer control system for ele...

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2017 IEEE International Conference on Innovative Mechanisms for Industry Applications, ICIMIA 2017

作者： Aravind, K. Subramanian, R. Baala Subramanian, V.S. Siva Srivyassram, V. Hayakawa, Yasuhiro Pandian, Shunmugham R. Department of Mechatronics Sri Krishna College of Engineering and Technology Coimbatore India Department of Control Engineering Nara National College of Technology Nara Japan Department of Electronics Engineering Indian Institute of Information Technology Design and Manufacturing-Kancheepuram Chennai India

ISBN: (纸本)9781538618660

Information and Communication Technologies (ICT) are increasingly becoming integral parts of many non-electrical fields of engineering, e.g., Precision Agriculture, Avionics, Bionics, Civionics, and so on. Modern mechanical engineering is nearly synonymous with mechatronics, and more recently Mechaphonics, viz., study of mechanical systems controlled by mobile phone apps, has become popular. Pneumatics, or compressed air, and hydraulics are niche areas of mechanical engineering with many industrial and other applications, and their performance is enhanced by incorporating electronic hardware and computer software. Many of these systems are also good examples of so-called smart products and Internet of Things. In this paper, an affordable build-your-own (BYO) computer control system is designed and developed for hands-on instruction in electro-pneumatics education. Results of implementation of a proof-of-concept prototype system using low-cost components, open source hardware and free open source software, are presented to illustrate the practical utility of the proposed system. © 2017 IEEE.

关键词： Computer control systems

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Design of Output Feedback Nonlinear Model Predictive control for Inverted Pendulum on Cart

Design of Output Feedback Nonlinear Model Predictive Control...

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International Conference on control, Automation and Systems

作者： Petchakrit Pinyopawasutthi David Banjerdpongchai Yasuaki Oishi Intelligent Control Automation of Process Systems (iCAPS) Research Unit Department of Electrical Engineering Chulalongkorn University 254 Phayathai Road Pathumwan Bangkok Thailand Department of Mechatronics Nazan University Yamazatocho 18 Showa-ku Nagoya Japan

ISBN: (纸本)9781538670804;9788993215168

This paper presents designing of output feedback nonlinear model predictive control (NMPC) for nonlinear systems. NMPC employs the state feedback and updates the control input at each sampling step. The control design of NMPC is formulated as optimal control which requires the information of states of the process. However, in practice, we can measure only some states of the process. This paper aims to use the state observer to estimate the unknown states and use them as feedback for NMPC. We apply output feedback NMPC to inverted pendulum on cart. Numerical results show the response of output feedback NMPC asymptotically converges to that of state feedback NMPC.

关键词： Optimal control Nonlinear systems Nonlinear model predictive control State observer Inverted pendulum on cart

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Robust Global Localization by Using Global Visual Features and Range Finders Data

Robust Global Localization by Using Global Visual Features a...

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IEEE International Conference on Robotics and Biomimetics

作者： Xuefeng Zhou Zerong Su Dan Huang Hong Zhang Taobo Cheng Junjun Wu Guangdong Key Laboratory of Modern Control Technology Guangdong Institute of Intelligent Manufacturing Guangzhou China School of Electro-mechanical Engineering Guangdong University of Technology Guangzhou China Department of Mechatronics Foshan University Foshan China

ISBN: (纸本)9781728103785;9781728103778

Global localization is a challenging problem of using sensor data to estimate the pose of a robot in an environment when the starting pose is unknowm. The conventional probabilistic algorithms called Monte Carlo Positioning (MCL) is one of the most popular methods to solve this problem. MCL algorithms use a set of weighted particles to approximate the distribution probability of where the robot is located and it requires a wandering motion to converge to a single, high likelihood pose during global localization. Sometimes this wandering motion is not allowed in actual industrial applications. This paper presents a framework which incorporates image-based localization module into a conventional MCL algorithm. The core module in our proposed approach is called Double Re-localization Decision Process (DRDP) by performing two selection of relocation decisions before and after the pose update process with two different sensor sources. A compact global descriptor is used for fast image association and a scan matching using vanilla ICP (Iterative Closest Point) of Point-to-line metric is applied to obtain further pose of the proposal candidate. Several experiments are designed to verify the effectiveness of the our approach in indoor environment.

关键词： Robot sensing systems Visualization Proposals Clustering algorithms Optimization Databases

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Siamese-ResNet: Implementing Loop Closure Detection based on Siamese Network

Siamese-ResNet: Implementing Loop Closure Detection based on...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Qiu, Kai Ai, Yunfeng Tian, Bin Wang, Bin Cao, Dongpu School of Aritificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Cloud Computing Center Chinese Academy of Sciences Dongguan523808 China School of Software Engineering University of Science and Technology of China HeFei230026 China Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada

ISBN: (纸本)9781538644522

Deep learning has made significant breakthroughs in the tasks of image classification, detection, segmentation, etc. However, the application of deep learning in robotics is still scarce. SLAM is a fundamental problem in robotics and loop closure detection is an important part of SLAM. This paper attempts to use supervised learning methods to solve the loop closure detection problem in vision SLAM. We proposed Siamese-ResNet network, which combines Siamese network with ResNet to detect loop closure. To show the effectiveness of Siamese-ResNet, we evaluate Siamese-ResNet and FabMap2.0 on several open published datasets, like TUM SLAM dataset and FabMap SLAM dataset. Compared with FabMap2.0, Siamese-ResNet shows higher accuracy, better robustness and shorter time-consuming. © 2018 IEEE.

关键词： Robotics

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Performance comparison of BLDC motor controllers designed based on trapezoidal commutation and FOC

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AIP Conference Proceedings 2019年第1期2187卷

作者： Agus Nurtriartono Agus Mukhlisin Muhammad Nur Yuniarto Estiko Rijanto ITS Department of Mechanical Engineering Surabaya Indonesia ITS Center of Automotive Control System IPTEK Surabaya Indonesia Research Center for Electrical Power and Mechatronics Indonesian Institute of Sciences LIPI Indonesia

A motor controller is an important component in an electric vehicle. Research and development activities of brushless direct current (BLDC) motor controllers are devoted to getting better performance and higher efficiency. This topic still attracts researchers’ interest all over the world, as can be seen from the amount of new scientific publication. BLDC motors in electric vehicle applications require transient performance improvement during start-up. PUI SKO ITS has been conducting research and development on BLDC motor controllers with trapezoidal commutation and field-oriented control (FOC) types. This paper presents an experimental performance comparison between the two BLDC controllers. Experimental results show that the trapezoidal controller is more responsive than the FOC controller, but the FOC controller has a smoother speed response than the trapezoidal controller. Moreover, the motor controller based on FOC produces smaller torque overshoot and smaller steady-state torque than the motor controller based on the trapezoidal commutation. This result calls for deeper analysis to push the performance of both types of the BLDC controllers to their limits and for further comparison in a possible higher stage of each controller’s performance.

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Modelling and simulation of MEMS electromagnetic scanner control

Modelling and simulation of MEMS electromagnetic scanner con...

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2017 International Conference on Mechanical, System and control engineering, ICMSC 2017

作者： Sergiu, Dumitru Daniel, Comeaga Anghel, Constantin Mihail, Morega Alexandru Electronic Equipment for Measurement and Control Lab. National Institute for RandD in Mechatronics Bucharest Romania Mechatronics and Precision Engineering Department University Politehnica of Bucharest Bucharest Romania Laboratory for Processing MEMS National Institute for RandD in Electrical Engineering Bucharest Romania Machines Materials and Electric Devices Department University Politehnica of Bucharest Bucharest Romania

ISBN: (纸本)9781509065295

The article presents the design, modelling and simulation of an electronic control solution for a MEMS electromagnetic scanning system. The electromechanical design is presented and completed with a mathematical model, and a simulation based on Comsol. The simulations allow to extract the equivalent circuit parameters of the actuator which in turn are used to integrate the equivalent circuit with the electronic circuit and simulate in PSPICE. The behavior of the overall circuit is simulated allowing to optimally design the electronic circuit. Current sources with Howland topology made with operational amplifiers are often used for electromagnetically actuators if that requires constant current polarization. Theoretical determination of overall performances for these circuits is generally known. This paper presents a PSPICE simulation for the mains performance of the constant current circuit used for actuators driving. © 2017 IEEE.

关键词： Actuators

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Evaluation of Road Safety Measures Efficiency in Conditions of Uncertainty

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IOP Conference Series. Earth and Environmental Science 2020年第5期459卷

作者： Korchagin, V Klyavin, V Rizayeva, J Chernishov, V Baryshev, N Dvurechenskaya, A Department of Road Traffic Control Lipetsk State Technical University 30 Moskovskaya St. Lipetsk 398055 Russia Department of Mechatronics and International Engineering Orel State University 95 Komsomolskaya St. Orel 302026 Russia Department of Foreign Languages Lipetsk State Technical University 30 Moskovskaya St. Lipetsk 398055 Russia Main Directorate for traffic safety Administration for the Lipetsk Region 35 Internatsionalnaya Street the city of Lipetsk 398050 Russia

Scientific approaches and methods are considered of the social-economic evaluation of the efficiency of a set of measures on improving road safety in conditions of uncertainty. The risk levels for the adopted social-economic indicators were determined with the help of expert evaluation presented as a fuzzy number. In order to make a decision on a set of measures to be implemented, the scenario method, fuzzy linear programming, production rules were used. An integral indicator of the social-economic efficiency of measures is proposed as an objective means of assessment.

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Multirate output feedback based discrete integral sliding mode control for system with uncertainties 17th

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17th International Conference on Asia Simulation, AsiaSim 2017

作者： Ngadengon, Rafidah Sam, Yahaya Md. Hamdan, Rohaiza Jalil, Mohd Hafiz A. Kadir, Herdawatie Abdul Department of Mechatronics and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Parit RajaJohor86400 Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia SkudaiJohor81310 Malaysia

ISBN: (纸本)9789811064623

This paper presents the design approach of Multirate Output Feedback (MROF) based Discrete Integral Sliding Mode control (DISMC) for system with uncertainties. Firstly, the state representing the MROF has to be identified. The discrete integral sliding surface were selected in order to design the controller. The MROF that used output feedback with two different sampling times which are slow and fast rate is then combined with the DISMC to control the uncertain system. The reachability condition and stability are also considered and presented. Through extensive computer simulation, it shows that the proposed controller’s capable to track the reference input even though uncertainties present in the system. The findings demonstrated that the MROF based DISMC provided better system response as compared to the Discrete Linear Quadratic Regulator (DLQR) and discrete Proportional Integral Derivative (PID). © Springer Nature Singapore Pte Ltd. 2017.

关键词： Sliding mode control

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