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Effect of cavitation bubble collapse on hydraulic oil temperature

Journal of Central South University 2016年第7期23卷 1657-1668页

作者：沈伟张健孙毅张迪嘉姜继海 Department of Mechatronics Engineering University of Shanghai for Science and TechnologyShanghai 200093China Department of Mechatronics Engineering Harbin University of CommerceHarbin 150000China Beijing Institute of Precision Mechatronics and Control Equipment Beijing 100076China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150000China

Cavitation bubble collapse has a great influence on the temperature of hydraulic oil. Herein, cone-type throttle valve experiments are carried out to study the thermodynamic processes of cavitation. First, the processes of growth and collapse are analysed, and the relationships between the hydraulic oil temperature and bubble growth and collapse are deduced. The effect of temperature is then considered on the hydraulic oil viscosity and saturated vapour pressure. Additionally, an improved form of the Rayleigh–Plesset equation is developed. The effect of cavitation on the hydraulic oil temperature is experimentally studied and the effects of cavitation bubble collapse in the hydraulic system are summarised. Using the cone-type throttle valve as an example, a method to suppress cavitation is proposed.

关键词： cavitation bubble collapse hydraulic oil temperature Rayleigh-Plesset equation cone-type throttle valve

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Visual Place Recognition in Long-term and Large-scale Environment based on CNN Feature

Visual Place Recognition in Long-term and Large-scale Enviro...

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IEEE Intelligent Vehicles Symposium

作者： Jianliang Zhu Yunfeng Ai Bin Tian Dongpu Cao Sebastian Scherer School of Artificial Intelligence University of Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Department of Mechanical & Mechatronics Engineering University of Waterloo Robotics Institute Carnegie Mellon University

ISBN: (纸本)9781538644539

With the universal application of camera in intelligent vehicles, visual place recognition has become a major problem in intelligent vehicle localization. The traditional solution is to make visual description of place images using hand-crafted feature for matching places, but this description method is not very good for extreme variability, especially for seasonal transformation. In this paper, we propose a new method based on convolutional neural network (CNN), by putting images into the pre-trained network model to get automatically learned image descriptors, and through some operations of pooling, fusion and binarization to optimize them, then the similarity result of place recognition is presented with the Hamming distance of the place sequence. In the experimental part, we compare our method with some state-of-the-art algorithms, FABMAP, ABLE-M and SeqSLAM, to illustrate its advantages. The experimental results show that our method based on CNN achieves better performance than other methods on the representative public datasets.

关键词： Hamming distance Intelligent vehicles binarization Recognition (Psychology) Visualization network model Cameras images

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A robust adaptive sliding mode controller for robot manipulators 7

A robust adaptive sliding mode controller for robot manipula...

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7th Conference on Artificial Intelligence and Robotics, IRANOPEN 2017

作者： Gorji, Shaghayegh Yazdanpanah, Mohammad Javad Department of Electrical Biomedical and Mechatronics Qazvin Branch Islamic Azad University Qazvin Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781538628621

In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the considered system, since there may exist explicit unknown system parameters and also perturbations, a lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. The design contains two different phases of adaptation. The first one is related to the robot parameters and the other is accounted for perturbation estimating. A continuous controller is presented from the first step of design procedure. We try to prove the stability in the sense of lyapunov and derive adaptive laws and uniform ultimate boundedness in the worst condition. Simulation results for two degrees of freedom rigid robot manipulator effectively demonstrate the capability of mentioned approach. © 2017 IEEE.

关键词： Sliding mode control

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Virtual Reality based Mobile Robot Navigation in Greenhouse Environment

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Advances in Animal Biosciences 2017年第2期8卷 854-859页

作者： M. Saiful Azimi Z.A. Shukri M. Zaharuddin Department of Control and Mechatronics Faculty of Electrical Engineering University of Technology Malaysia Skudai 81310 Skudai Johor Malaysia

The difficulties of transporting heavy mobile robots limit robotic experiments in agriculture. Virtual reality however, offers an alternative to conduct experiments in agriculture. This paper presents an application of virtual reality in a robot navigational experiment using SolidWorks and simulated into MATLAB. Trajectories were initiated using Probabilistic Roadmap and compared based on travel time, distance and tracking error, and the efficiency was calculated. The simulation results showed that the proposed method was able to conduct the navigational experiment inside the virtual environment. U-turn trajectory was chosen as the best trajectory for crop inspection with 82.7% efficiency.

关键词： greenhouse mobile robot navigation virtual reality.

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Identification of Complex Systems with the use of Interconnected Hammerstein Models

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Procedia engineering 2017年 178卷 384-393页

作者： Bartlomiej Kozdras Grzegorz Mzyk Wroclaw University of Science and Technology Department of Control Engineering and Mechatronics Wybrzeze Wyspianskiego 27 50-370 Wroclaw Poland

In the paper we consider the problem of identification of large-scale interconnected systems. Accurate models of complex nets are needed especially for optimal control in production and transportation systems. The specifics lay in the fact that individual elements cannot be disconnected and excited by arbitrary input processes for identification purposes. Moreover, structural interactions cause correlations between interaction signals. In particular, any output random disturbances can be transferred into the other inputs. It leads to cross-correlation problems, very difficult from the effective modelling point of view. First attempts made in 1980's were limited to static linear blocks, and in practice the results were rather devoted to linear dynamic systems working in steady state. In this paper we generalize the approach for components, which are both dynamic and nonlinear. All blocks are represented by two-channel Hammerstein systems (used e.g. in modelling of real heating processes). The least squares estimate is applied to identify unknown parameters of a system. The parameters of particular elements are obtained in singular value decomposition procedure. The algorithm as a whole is illustrated in simple simulation example.

关键词： Hammerstein system Wiener system system identification least squares instrumental variables

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Black Box Modelling and Simulating the Dynamic Indoor Relative Humidity of a Laboratory Using Autoregressive–moving-average (ARMA) Model

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IOP Conference Series: Materials Science and engineering 2020年第1期884卷

作者： S F M Hussein M K Mohd Fitri Alif A O Al Rabeei A Faruq S M Zulkapli M S Noorazizi S A Zaki S S Abdullah Biologically Inspired System and Technology (Bio-iST) iKohza Department of Electronic Systems Engineering (ESE) Malaysia-Japan International Institute of Technology (MJIIT) UniversitiTeknologi Malaysia (UTM) Kuala Lumpur Jalan Sultan Yahya Petra (Jalan Semarak) 54100 Kuala Lumpur MALAYSIA. Department of Control and Mechatronics Engineering (CMED) School of Electrical Engineering Faculty of Engineering UniversitiTeknologi Malaysia (UTM) Johor Bahru 81310 Johor DarulTakzim MALAYSIA. Department of Electrical Engineering Faculty of Engineering Universitas Muhammadiyah Malang. Jl. Raya Tlogomas 246 65144 Malang INDONESIA. Engineering Department Razak Faculty of Technology and Informatics UniversitiTeknologi Malaysia (UTM) Kuala Lumpur Jalan Sultan Yahya Petra (Jalan Semarak) 54100 Kuala Lumpur MALAYSIA. Wind Engineering for (Urban Artificial Man-made) Environment Laboratory Department of Mechanical Precision Engineering (MPE) Malaysia-Japan International Institute of Technology (MJIIT) UniversitiTeknologi Malaysia (UTM) Kuala Lumpur Jalan Sultan Yahya Petra (Jalan Semarak) 54100 Kuala Lumpur MALAYSIA.

Modelling and simulation of the dynamic indoor relative humidity behaviour of a building is essential to test any proposed thermal comfort controller and strategy in the building. Like other plants, the dynamic indoor relative humidity behaviour of a building can be developed based on the white box model, black box model, and grey box model. This research focuses on the usage of autoregressive–moving-average (ARMA) model, a type of black box model to represent the dynamic indoor relative humidity behaviour of Industrial Instrumentation Laboratory at Malaysia-Japan International Institute of Technology (MJIIT), UniversitiTeknologi Malaysia (UTM) Kuala Lumpur and uses the real recorded data from the laboratory and minimal knowledge regarding the physical characteristics of the humidity behaviour in the laboratory. The performance of the ARMA model developed in this research is compared with the real recorded data from the laboratory. Result obtained shows that the ARMA model is enough for modelling and simulating the dynamic indoor relative humidity behaviour of the laboratory

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Camera focus adjustment of workpiece inspection device

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Journal of Institute of control, Robotics and Systems 2017年第5期23卷 309-316页

作者： Kim, Han-Sol Whang, Hyun-Seok Kim, Gab-Soon Department of Control and Instrumentation Engineering/ERI Gyeongsang National University Korea Republic of Department of Intelligent Mechatronics Engineering Gyeongsang National University Korea Republic of

In this paper, we designed a camera focus adjustment system for a workpiece inspection system. It is possible to adjust the center line of the camera vertically to the top of the horizontal illuminator and the top of the vertical illuminator, respectively, and to take the same size of object in the picture. The workpiece inspection system consisted of a body, a vertical camera focus adjustment mechanism, a horizontal camera focus adjustment mechanism, a horizontal illumination device, a vertical illumination device, and a control device. To adjust the size of the workpiece, an image of a checker board attached to the horizontal illumination device of the inspection apparatus and the vertical illumination device is acquired, calibration is performed to remove image distortion of the workpiece is measured by image processing. As a result of the characteristic test, each linear motion mechanism can be adjusted until workpiece reaches a predetermined size. Since the workpiece inspection apparatus can acquire images with a predetermined size, it is considered that the accuracy of measuring the size of the workpiece can be improved by image processing. © 2017 ICROS.

关键词： Cameras

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Design and Analysis of a Horizontal Quasi-Zero Stiffness Vibration Isolator by Combining Rolling-Ball and Disk Springs in Parallel

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Journal of Beijing Institute of Technology 2017年第4期26卷 468-476页

作者： Gaofeng Guan Dengfeng Xu Yu Zhu Qiang Li Qiang Yu School of Mechatronics Engineering University of Electronic Science and Technology of China Chengdu 611731 China State Key Lab of Tribology Tsinghua University Beijing 100084 China Department of Mechanical Engineering Tsinghua University Beijing 100084 China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control Tsinghua University Beijing 100084 China School of Information Engineering Wuchang University of Technology Wuhan 430223 China

Combining disk springs having negative stiffness with a rolling-ball in parallel is proposed in this paper. It is used to reduce the system stiffness and the positioning error in a non-ideal *** characteristics of a disk spring are analyzed. The dynamic equation of its motion has been obtained based on Newton＇s second law. After definition of a error margin,the dynamic equation of the motion can be treated as a Duffing oscillator,and the influences of non-dimensional parameters on the stiffness and transmissibility are studied. The natural frequency and transmissibility are achieved in a linearization range,where the ratio of linear to nonlinear items is small *** influence of mass ratio and non-dimensional parameters on natural frequency are analyzed. Finally,a comparison of numerical example demonstrates that the QZS system can realize a lower stiffness within an increased range.

关键词： quasi-zero stiffness （QZS） vibration isolation natural frequency transmissibility

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Visual Place Recognition in Long-term and Large-scale Environment based on CNN Feature

Visual Place Recognition in Long-term and Large-scale Enviro...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Zhu, Jianliang Ai, Yunfeng Tian, Bin Cao, Dongpu Scherer, Sebastian School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 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 Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

ISBN: (纸本)9781538644522

关键词： Hamming distance

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Two-Level Nonlinear Tracking control of a Quadrotor Unmanned Aerial Vehicle

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IFAC-PapersOnLine 2016年第17期49卷 254-259页

作者： KÖKSAL, Nasrettin AN, Hao FDAN, Bani Department of Mechanical and Mechatronics Engineering University of Waterloo Canada Department of Control Science and Engineering Harbin Institute of Technology Harbin China

This study presents a nonlinear tracking control design for a quadrotor unmanned aerial vehicle (UAV) with a two-layer control architecture. In order to facilitate the control design, a decoupled dynamic model is derived for the quadrotor UAV. Backstepping method is employed to stabilize the closed-loop system and to achieve output tracking. The control structure has a high-level layer for producing the guiding state trajectories, and a low-level layer for tracking in both altitude and attitude dynamics. The designed control scheme can well handle the model nonlinearities as well as the drag effects, and can be directly implemented to produce the PWM control signals. Simulation results are provided to verify the efficiency of the proposed control scheme. © 2016

关键词： Aircraft control Aircraft detection Altitude control Antennas Backstepping Closed loop control systems Closed loop systems control nonlinearities Navigation Unmanned aerial vehicles (UAV) Attitude dynamics Back stepping controls Back stepping method control structure Non linear tracking control Quad rotors Quadrotor unmanned aerial vehicles State trajectory

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