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European control Conference (ECC)

作者： M. Ramírez-Neria H. Sira-Ramírez A. Luviano-Juárez A. Rodriguez-Angeles Department of Automatic Control CINVESTAV-IPN Mexico Department of Electrical Engineering Mechatronics Section Mexico UPIITA-IPN Mexico

ISBN: (纸本)9781479901890

This article addresses the problem of Linear Active Disturbance Rejection control for a class of nonlinear mechanical input time delayed systems. To solve the problem, it is necessary to obtain a set of predictive lumped disturbance estimations, which is carried out by a purely linear high gain observer of Extended Luenberger type, denoted as a Generalized Proportional Integral (GPI) Observer. This task is performed using an approximation of the predictive disturbance using a truncated Taylor series expansion, where the set of necessary values for the estimation are provided by the observer. Once the (approximate) disturbance canceling is made, the control task is reduced to a simple linear Smith Predictor PD control, using the simplified model of the mechanical system. Some experimental results show the effectiveness of the strategy in a trajectory tracking task for a perturbed flywheel.

关键词： Observers Trajectory Approximation methods Delay effects DC motors Taylor series

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Erratum to: Neural Networks for Normative Knowledge Source of Cultural Algorithm

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International Journal of Computational Intelligence Systems 2014年第5期7卷 1-1页

作者： Ghomsheh, Vahid Seydi Teshnehlab, Mohamad Shoorehdeli, Mahdi Aliyari Khanesar, Mojtaba Ahmadieh Artificial Intelligence Department Islamic Azad University Science and Research Branch Tehran Iran Electrical Engineering Control Department K. N. Toosi University of Tech. Tehran Iran Mechatronics Department K. N. Toosi University of Tech. Tehran Iran Electrical and Control Engineering Department Semnan University Semnan Iran

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Vibration tests of the processing shaft cascading structure in high speed and high precision PCB drilling machine

Vibration tests of the processing shaft cascading structure ...

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2nd International Conference on Computer-Aided Design, Manufacturing, Modeling and Simulation, CDMMS 2012

作者： Gong, Feng Tan, Yanping Li, Jibin Key Laboratory of Advanced Manufacturing Technology for Mold and Die Shenzhen University Shenzhen 518060 China CAE Department Hans CNC Technology Co. Ltd Shenzhen 518057 China College of Mechatronics and Control Engineering Shenzhen University Shenzhen 518060 China

ISBN: (纸本)9783037855409

It is necessary to study the dynamic characteristics of the structure of processing shaft cascade in high speed and high precision PCB drilling machine because of its great impact on the drilling precision. As a basic part, the dynamic characteristics of the structure of cascade depend on the dynamic characteristics of the Z-axis floor. Based on it, firstly, the free mode test is conducted on the Z-axis floor, the same as the modes that it is just set up on the guide rail, the cascade is added and the motor spindle has been added on the Z-axis floor. From the four situations, the modal pa- rameters are gained in the tests. Then the ODS test is carried out and the vibration is analyzed in the real situation. The vibration tests of the cascade comprehensively acquire dynamic characteristics from the Z-axis floor before being assembled to the Z-axis floor which is entirely cascaded on the Z axis. Acknowledge of the impact that the vibrations bring to the drilling precision of the drilling machine provides the direction of improving the structure. © (2013) Trans Tech Publications, Switzerland.

关键词： Floors

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Observer-based postural balance control for humanoid robots

Observer-based postural balance control for humanoid robots

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IEEE International Conference on Robotics and Biomimetics

作者： M. Shahbazi G.A.D. Lopes R. Babuška Department of Mechatronics Engineering University of Tehran Iran Delft Center for Systems and Control Delft University of Technology Delft The Netherlands

ISBN: (纸本)9781479927456

Maintaining postural balance is a fundamental requirement for humanoid robots faced with unknown terrain or external perturbations. In this paper we present an observer-based balancing control strategy that is robust to persistent perturbations on the ground slope which is based on the estimation of the disturbance without the need for an inertial measurement unit. We use the workspace control method in combination with an observer to perform specific maneuvers while maintaining postural balance. We employ a linear observer, a gain-scheduling observer and an extended Kalman filter and compare the results obtained. For the control task considered, while the linear observer falls short in this setting, both the gain-scheduling observer and the extended Kalman filter perform well, which is confirmed by experimental results on a planar biped robot.

关键词： Observers Mathematical model Joints Vectors Foot Robot kinematics

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control of Intelligent Cane Robot Considering Usage of Ordinary Cane

Control of Intelligent Cane Robot Considering Usage of Ordin...

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IEEE International Symposium on Robot and Human Interactive Communication

作者： Shotaro Nakagawa Pei, D. Jian Huang Kosuke Sekiyama Toshio Fukuda Department of Mechanical and Aerospace Engineering Nagoya University Department of Micro-Nano Systems Engineering Nagoya University Department of Control Science and Engineering Huazhong University of Science and Technology Department of Mechatronics Engineering Meijo University

ISBN: (纸本)9781479905089

Intelligent cane is a robot developed for assisting the elderly or handicapped people in walking. As a nursing-care device, the cane robot is designed to assist the elderly or handicapped people not only in indoor environments but also in outdoor environments. Therefore the cane robot is required to be smaller and lighter. In addition, it is preferred that the cane robot is movable in omni-directions so that it can be used in various situations. A concept called "intentional direction (ITD)" was proposed to estimate the user's walking intention by analyzing signals from a 6-axis force/torque sensor fixed to the handle of the aluminum stick. Admittance control method was applied to the motion control of the cane robot. In this paper, a new algorithm based on the usage and purpose of an ordinary cane is proposed. In the proposed algorithm, the cane robot is appropriately stopped to support the elderly more effectively. The effectiveness of the proposed method is verified through the experiments.

关键词： Legged locomotion Robot sensing systems Senior citizens Admittance Force Foot

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O-glycan profiling of serum glycan for potential renal cancer biomarkers

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Science China(Life Sciences) 2013年第8期56卷 739-744页

作者： GAO Yi MA Fei ZHANG Wei ZHONG Fan TANG HaiLin XU DanFeng ZHAO Liang Department of Urology Changzheng Hospital of Second Military Medical University State Key Laboratory of Proteomics Beijing Proteome Research CenterBeijing Institute of Radiation Medicine Shanghai Key Laboratory of Functional Materials Chemistry School of Chemistry and Molecular EngineeringEast China University of Science and Technology Department of Automatic Control College of Mechatronics and AutomationNational University of Defense Technology Laboratory of Systems Biology Institutes of Biomedical SciencesFudan University

Serum was obtained from 25 male renal cell carcinoma(RCC) patients and 21 healthy males.O-glycans were released by a-elimination reaction and purified by graphitized carbon cartridge solid phase extraction,then profiled by matrix-assisted laser desorption/ionisation-time of flight mass *** noise removal and peak alignment,1372 peaks were extracted from 200000 data *** peaks were analyzed by calculation of differential sensitivity and *** combination of two feature peaks was chosen as a biomarker and could clearly differentiate RCC and normal samples in our study group.

关键词： mass spectrometry glycan renal cell carcinoma biomarkers

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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Linearized Mathematical Model of Intelligent Pneumatic Actuator System: Position, Force and Viscosity controls

Linearized Mathematical Model of Intelligent Pneumatic Actua...

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Asian control Conference

作者： Ahmad 'Athif Mohd Faudzi Teh Chuan Enn Khairuddin Osman Zool Hilmi Ismail Center for Artificial Intelligence and Robotics (CAIRO) Universiti Teknologi Malaysia Johor Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor

ISBN: (纸本)9781467357661

This paper proposed a linearized model of intelligent pneumatic actuator (IPA) based on the linearization technique known as Taylor series expansion. First, nonlinear mathematical modeling for the IPA system according to fundamental physical derivation is presented. Linearization is then introduced to linearize this nonlinear mathematical model. For the controller design, Neuro-Fuzzy Inference System (ANFIS) is proposed. ANFIS, which combines neural network and fuzzy logic, are adopted and applied to the linear mathematical model to perform position, force and viscosity controls. By training the correct data, membership functions for the fuzzy logic can be obtained through ANFIS toolbox in MATLAB. Closed-loop control for IPA system is conducted and performance the Proportional-Integral (PI) ANFIS controller is analyzed and compared with conventional PI controller. Simulation results show that PI ANFIS controller performed better than conventional PI controller in terms of position, force tracking and viscosity control.

关键词： Intelligent Pneumatic Actuator (IPA) Cylinder Linearization PI ANFIS

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Indoor robot localization by RSSI/IMU sensor fusion

Indoor robot localization by RSSI/IMU sensor fusion

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International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Veerachai Malyavej Warapon Kumkeaw Manop Aorpimai Department of Control Instrumentation and Mechatronics Faculty of Engineering Mahanakorn University of Technology Bangkok Thailand The Electrical Engineering Graduate Program Faculty of Engineering Mahanakorn University of Technology Bangkok Thailand

Localization is the crucial problem for mobile robot navigation. For indoor mobile robot, since a global positioning system (GPS) is incapable, another promising technique to detect the position is the received signal strength indicator (RSSI) from wireless communication. To improve the precision and robustness of mobile unit localization, an inertial measurement unit (IMU) is normally used. In this report, we propose the algorithm for mobile robot localization based on sensor fusion between RSSI from wireless local area network (WLAN) and an IMU. The proposed fusion scheme is based on the extended Kalman filter (EKF). The experiment is conducted by using mobile unit equipped with low-cost IMU and a wireless communication module together with access points to evaluate the performance of our algorithm, and the result is promising.

关键词： Robot sensing systems Noise Mobile communication Wireless communication Mathematical model Sensor fusion Kalman filters

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Study of doubly fed induction generator for wind power application

Study of doubly fed induction generator for wind power appli...

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International Conference on Clean Electrical Power (ICCEP)

作者： P. Stumpf I. Nagy Department of Mechatronics Optics and Engineering Informatics MTA-BME Control Engineering Research Group Budapest University of Technology and Economics Hungary MTA-BME Control Engineering Research Group Department of Automation and Applied Informatics Budapest University of Technology and Economics Hungary

The paper is concerned with the control of doubly fed induction generator applied in wind power technology. Assuming stator flux oriented vector control, the torque and power relations are derived. Using the relations, the slip versus torque and slip versus stator reactive power characteristics are drafted in subsynchronous and in supersynchronous state for investigating the control possibilities of the generator side converter supplying the rotor circuit. The effects of the d and q component of the converter output voltage for the torque, power and speed are studies in qualitative and quantitative way. The active and reactive power flows in stator and rotor side are shown.

关键词： Stators Rotors Reactive power Torque Wind power generation Wind speed Induction generators

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