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IEEE International Conference on Robotics and Biomimetics

作者： Yang Zhou Wei Wang Han Zhang Chen Wang Gang Xu Guangming Xie College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Department of Urban Studies and Planning Massachusetts Institute of Technology Cambridge MA USA 76315 Troop of the PLA Guangzhou China State Key Laboratory for turbulence and Complex Systems Peking University Beijing China Institute of Ocean Research Peking University Beijing China

ISBN: (纸本)9781728103785;9781728103778

Underwater wireless communication technology has been restricting the development of undersea resources for decades. We have proposed an effective underwater communication method (electrocommunication) for small underwater robots in our previous studies. In this article, we further study how electrode distance/spacing affects the communication range of electrocommunication between the robotic fish models. The working principle of electrocommunication is simplified by an electric dipole model. Based on the electric dipole model, the maximum theoretical distance of electrocommunication is derived as r=K 3 √(d 2 ) where d 2 is the distance between the receiving electrodes, and K is a constant related to the system and environmental parameters. Extensive experiments were conducted by varying the distance between the transmitting electrodes. The results show that the maximum experimental distance is basically consistent with the theoretical predictions, and that the communication distance is positively correlated with the electrode distance.

关键词： Electrodes Robots Receivers Transmitters Unmanned underwater vehicles Microcontrollers Underwater communication

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The application of XPC target platform for a circular plate vibration control

The application of XPC target platform for a circular plate ...

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12th Conference on Active Noise and Vibration control Methods, MARDiH 2015

作者： Sierżęga, Mariusz Leniowska, Lucyna Department of Mechatronics and Control Engineering University of Rzeszów Poland

ISBN: (纸本)9783038357698

The goal of this work is to describe a control procedure that simplifies the implementation and improves the performance of feedback active control on a planar structure. The article presents a design, development and experimental verification of an active feedback vibration control system of circular plate with the application of XPC Target platform. Vibrations of the plate are measured using MFC sensors. The control input is applied to the plate by a MFC disk, attached to the plate in its center. The plate vibrations were excited by a loudspeaker or by a second MFC actuator placed at a certain distance from the center of the disc. The basic philosophy is the off-line identification of the best model for the controlled process[1] and the subsequent synthesis of the controller. There are many classical strategies that can be used when a mathematical model is available, for instance, poles allocation or optimal control (LQR), used also by the authors [2, 3]. This article proposes an approach to design an effective controller for vibration suppression of a circular plate with the use of the pole placement method. For the considered system a linear discrete model obtained by parametric identification method for the data measured in a separate experiment has been designated. This model was used to develop the 6-th order digital controller which was implemented on xPC Target platform. Before implementation of the chosen control law design on real plant the simulations in Simulink/Matlab were performed. In order to investigate the influence of the implemented controller on the plate vibrations suppression the 3D scanning vibrometer has been used. The obtained simulation and experimental results, corresponding to the developed active vibration control system have been presented, compared and analyzed. © 2016 Trans Tech Publications, Switzerland.

关键词： controllers

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Containment control of Multiagent Systems: A DOBC Approach

Containment Control of Multiagent Systems: A DOBC Approach

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IEEE International Conference on Automation Science and engineering

作者： Bo Xiao Tao Han Qian Tang Tao Jin College of Mechatronics and Control Engineering Hubei Normal University Huangshi China Department of Automation Wuhan University Wuhan China

The containment control problem of multi-agent systems with exogenous disturbances is investigated in this paper, where the disturbances are generated by an exogenous system. Consequently, a disturbance observer-based control (DOBC) approach is used to estimate the exogenous disturbances, and a distributed containment control protocol are proposed via the state feedback control. Moreover, using the tools from the algebraic graph theory and Lyapunov stability theory, sufficient conditions are obtained to guarantee the containment control of multi-agent systems with exogenous disturbances can be achieved by the DOBC approach. Finally, a numerical simulation is presented to illustrate the effectiveness of the theoretical results.

关键词： DOBC sufficient conditions obtained

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Reinforcement Learning-Based Predictive control for Autonomous Electrified Vehicles

Reinforcement Learning-Based Predictive Control for Autonomo...

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IEEE Symposium on Intelligent Vehicle

作者： Teng Liu Chao Yang Chuanzheng Hu Hong Wang Li Li Dongpu Cao Fei-Yue Wang Vehicle Intelligence Pioneers Inc. Qingdao Shandong China Jiangsu XCMG Construction Machinery Research Institute Ltd. Xuzhou Jiangsu China Mechanical and Mechatronics Engineering Department Waterloo University 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 Beijing China

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.

关键词： Acceleration Hybrid electric vehicles Trajectory Hidden Markov models Predictive control Energy efficiency

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Selective Laser Melting Enabled Additive Manufacturing of Ti-22Al-25Nb Intermetallic: Excellent Combination of Strength and Ductility, and Unique Microstructural Features Associated

SSRN

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SSRN 2018年

作者： Zhou, Y.H. Lib, W.P. Wanga, D.W. Zhang, L. Ohara, K. Shen, J. Ebel, T. Yan, M. School of Materials Science and Engineering Harbin Institute of Technology Harbin150001 China Department of Materials Science and Engineering Shenzhen Key Laboratory for Additive Manufacturing of High-performance Materials Southern University of Science and Technology Shenzhen518055 China College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Japan Synchrotron Radiation Research Institute SPring 8 Hyogo679-5198 Japan German Helmholtz-Zentrum Geesthacht Institute of Materials Research Geesthacht21502 Germany

To realize near net-shaping of hard-to-process intermetallics is an often challenging but critical issue to their wider industrial applications. In this work, we report that an intermetallic Ti-22Al-25Nb has been successfully fabricated by selective laser melting (SLM). The as-printed samples show a high room-temperature ultimate tensile strength ~1090 MPa and excellent ductility ~22.7%;both values are higher than most conventionally fabricated Ti-22Al-25Nb intermetallic. We clarify the mechanical performance achieved by detailed microstructure analysis, including dislocation analysis and phase constitution analysis. High-density dislocation networks significantly contribute to the strength and ductility, which are further enhanced by the favorable phase constitution, including the nano-scale O phase precipitates within the disordered β phase and disappearance of the brittle α2 phase in the microstructure. Phase evolution during SLM has also been clarified using in situ heating, high-temperature synchrotron X-ray diffraction and Scheil simulation, particularly regarding the O phase's formation. It is demonstrated that O phase is formed by shearing primary cubic B2 phase along (110)[111] direction into an orthorhombic structure under high residual stress. Furthermore, a demonstrative part of turbine blade has been fabricated to highlight the importance of SLM in fabricating critical structural part like the hard-to-process intermetallics. © 2018, The Authors. All rights reserved.

关键词： Aluminum alloys

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An Experimental Investigation on the Effect of Nanopowder for Micro-Wire Electro Discharge Machining of Gold Coated Silicon

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Procedia engineering 2017年 184卷 171-177页

作者： S. Jarin T. Saleh M. Rana A.G.A. Muthalif M.Y. Ali Smart Structures Systems and Control Research Laboratory Department of Mechatronics Engineering International Islamic University Malaysia 50728 Kuala Lumpur Malaysia Department of Manufacturing and Materials Engineering International Islamic University Malaysia 50728 Kuala Lumpur Malaysia

Micro Wire Electro Discharge Machining (μ-WEDM) is a type of electro-discharge machining (EDM) process where the wire is used instead of a rigid tool. It is a reliable and precise machining process, which is commonly used to produce various complex structural shapes for a wide range of industrial applications. However, to machine a semiconductor material of high resistivity like silicon (Si) requires more advanced processing to produce larger electrical sparks during the μ-WEDM operation. Current (μ-WEDM) technology is not enough to realize a stable machining environment for Si. In this research, a new type of μ-WEDM process for Si machining was investigated. At first, Si was temporarily coated with gold and then nanopowder mixed dielectric medium was used for the WEDMing process. The main purpose of this work is to investigate the effects of different nanopowder concentrations on two important response factors such as material removal rate (MRR) and spark gap (SG). In this regard, the μ-WEDMing of gold coated silicon was carried out in pure dielectric EDM oil and also in three different concentrations (0.1g/L,1g/L,2g/L) of nanopowder mixed dielectric oil to conduct an initial study with the aim to achieve better machining accuracy and stability. Based on the experimental investigations, the MRR were found to be increased on average minimum ∼ 1% to maximum ∼ 33% respectively for different carbon concentrations, as compared to machining in the pure dielectric medium. The spark gap was also observed to be increased by a significant margin on average of ∼ 2% to up to ∼ 159% than without using any nanopowder concentration, correspondingly.

关键词： Micro-WEDM nano-powder Gold Coating Polished Si wafer Material Removal Rate Spark Gap

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On Dwell Time Minimization for Switched Delay Systems: Time-Scheduled Lyapunov Functions

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IFAC-PapersOnLine 2016年第10期49卷 37-40页

作者： Koru, Ahmet Taha Delibai, Akin Özbay, Hitay Mechatronics Engineering Department Yildiz Technical University stanbul Turkey Control and Automation Engineering Department Yildiz Technical University stanbul Turkey Electrical and Electronics Engineering Department Bilkent University Ankara Turkey

In the present paper, dwell time stability conditions of the switched delay systems are derived using scheduled Lyapunov-Krasovskii functions. The derivative of the Lyapunov functions are guaranteed to be negative semidefinite using free weighting matrices method. After representing the dwell time in terms of linear matrix inequalities, the upper bound of the dwell time is minimized using a bisection algorithm. Some numerical examples are given to illustrate effectiveness of the proposed method, and its performance is compared with the existing approaches. The yielding values of dwell time via the proposed technique show that the novel approach outperforms the previous ones. © 2016

关键词： Lyapunov functions Linear matrix inequalities Numerical methods Time delay Bisection algorithms Dwell time Free weighting matrices Lyapunov Krasovskii function Negative semi definite Switched delay systems Switched system Upper Bound

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Decentralized control approach for an inverter-based microgrid in islanded mode 8

Decentralized control approach for an inverter-based microgr...

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8th IET International Conference on Power Electronics, Machines and Drives, PEMD 2016

作者： Gong, Kuangye Hammer, Bernhard Konigorski, Ulrich Department of Control Engineering and Mechatronics Technische Universität Darmstadt Darmstadt Germany

ISBN: (纸本)9781785611889

Due to the expansion of renewable energy resources synchronous generators (SGs) are being replaced by inverter-based generators (IBGs). This paper presents a distributed control approach for an inverter-based microgrid (MG) in islanded operation. In comparison to the conventional droop control we give the controller a certain dynamic to make the IBG behave like a SG. In order to keep the controller structure relatively simple, we need to capture the main features of the SGs. Therefore, the 3rd-order flux-decay model of SG is used. Although the controllers are fully distributed, i.e., they can work without knowing the states from other buses, their parameters are still determined based on the whole system. This means the controller parameters can be accordingly adjusted in case of changes in the MG, which prevents the controller from suboptimal working in the long term. The parameters are optimized by minimizing the H-inf norm of the closed loop transfer function. Finally, the controller has been tested using the SimPowerSystems toolbox in MATLAB/Simulink. © 2016, Institution of engineering and Technology. All rights reserved.

关键词： Decentralized control

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Localization of an autonomous personnel carrying vehicle in indoor environments 17

Localization of an autonomous personnel carrying vehicle in ...

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2017 International Conference on mechatronics Systems and control engineering, ICMSCE 2017

作者： Altuǧ, Erdinç Gelbal, Şükrü Yaren Keçeci, Emin Faruk Gültekin, Mehmet Kabil Faculty of Mechanical Engineering Istanbul Technical University Gümüşsuyu Istanbul Turkey Mechatronics Graduate Program Istanbul Technical University Gümüşsuyu Istanbul Turkey Department of Mechanical Engineering Abdullah Gül University Kayseri Turkey System Dynamics and Control Graduate Program Istanbul Technical University Gümüşsuyu Istanbul Turkey

ISBN: (纸本)9781450352079

There is an emerging need of intelligent vehicles on indoor environments such as university campuses, airports or shopping malls. These intelligent vehicles can help elderly, disabled, or people with heavy luggage. This paper describes an intelligent vehicle that can be used indoor as well as outdoor areas for this purpose. Finding the exact location for indoor robots is not an easy task, since Global Positioning System (GPS) is not available indoors. In this work onboard sensors such as motor encoder and steering-wheel encoder were used to obtain localization estimates. The errors are determined to be low even when the vehicle travels long distances. © 2017 ACM.

关键词： Vehicles

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An approach to recursive subspace identification

An approach to recursive subspace identification

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IEEE Annual Conference on Decision and control

作者： Andreas Bathelt Dirk Soffker Mohieddine Jelali Laboratory of Control Engineering and Mechatronics Technische Hochschule Köln (University of Applied Science) Cologne Germany Dirk Söffker is with the department of Dynamics and Control University of Duisburg-Essen Duisburg Germany

In this paper, an approach to recursive subspace identification based on the coordinate-free framework of subspace identification is proposed. Herein, the predictor space serves as a natural basis for the formulation of a recursive approach. Compressing the necessary past information, the predictor space of a previous identification will be used for subsequent identifications. Implementational difficulties, which all recursive methods are faced with and hampering an accurate tracking of fast changes of the system, are also addressed.

关键词： Scattering Covariance matrices Markov processes Observability Aerospace electronics mechatronics Conferences

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