检索结果-内蒙古大学图书馆

RSI/ISM International Conference on Robotics and mechatronics (ICROM)

作者： Omid Zebardast Hadi Moradi Farshid Najafi Department of mechatronics engineering University of Tehran Iran Control and Intelligent Processing Center School of Electrical & Computer Engineering University of Tehran Tehran Iran Department of Mechanical Engineering University of Tehran Tehran Iran

In this paper, the design and implementation of a novel passive safe joint is reported. This safe joint is designed for applications, such as an air hockey playing robot playing against a human, in which the force applied by the linkage should be kept below a certain threshold. The proposed mechanism benefits from the compliance of two ramps controlled by the nonlinear behavior of a spring. The passivity of the design, the small footprint, the low cost of production, and the ability to rotate 360 degrees are the main advantages of this design. The mechanism has been designed, evaluated, implemented and tested showing its effectiveness. Finally it has been incorporated in an air hockey robot showing its capability in action.

关键词： Robots Educational institutions Indexes Force

来源：评论

学校读者我要写书评

暂无评论

ANFIS inverse control of dissolved oxygen in an activated sludge process

ANFIS inverse control of dissolved oxygen in an activated sl...

引用

International Colloquium on Signal Processing & Its Applications, CSPA

作者： Muhammad Sani Gaya N. A. Wahab Y. M. Sam Sharatul Izah Samsuddin Department of Control & Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia Department of Industrial Electronics Universiti Teknikal Malaysia Melaka Durian Malacca Malaysia

The activated sludge process is the main versatile technology currently in use for wastewater treatment system. Dissolved oxygen (DO) is the key element in the process due to its significance influence upon the bacteria responsible for decomposing the organic pollutants in the wastewater. However, the non-linear nature of DO couple with the time-varying oxygen transfer rate makes the DO control quite complex. This paper presents an adaptive neuro fuzzy inference system (ANFIS) inverse control of dissolved oxygen in an activated sludge process. The performance of the proposed technique is illustrated with tracking of dissolved oxygen reference trajectory and for comparison PI controller is used. The simulation results revealed the effectiveness and the accuracy of the proposed controller in tracking the DO set point. The controller is valuable for an activated sludge process.

关键词： Process control Sludge treatment Signal processing Wastewater treatment Microorganisms Wastewater Robustness

来源：评论

学校读者我要写书评

暂无评论

Application of optimization technique for PID controller tuning in position tracking of pneumatic actuator system

Application of optimization technique for PID controller tun...

引用

International Colloquium on Signal Processing & Its Applications, CSPA

作者： N.H Sunar M.F. Rahmat Z. H. Ismail A. M. Faudzi Sy Najib Sy Salim Sharatul Izah Samsudin Department of Mechatronics and Control Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Department of Control Instrument and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Melaka Malaysia Department of Industrial Electronics Faculty of Electronics and Computer Engineering Universiti Teknikal Malaysia Melaka Melaka Malaysia

In this paper, two optimization techniques of Particle Swarm Optimization (PSO) and Firefly Algorithm (FA) is used to obtain the optimal PID control parameters. To represent the model of the system, system identification with ARX model structure is developed. The results are determined by analysis the step response characteristic of the system. It was observed that the performances of PID controller with PSO optimized parameters perform well in position tracking of the pneumatic actuator system.

关键词： Tuning Zinc Optimization Signal processing algorithms PD control Pneumatic actuators

来源：评论

学校读者我要写书评

暂无评论

Discrete Objective-based control for Self-Optimizing Systems

Discrete Objective-based Control for Self-Optimizing Systems

引用

American control Conference

作者： Martin Kruger Andria Remirez Jan Henning Kessler Ansgar Trachtler Heinz Nixdorf Institute Control Engineering and Mechatronics University of Paderborn 33102 Paderborn Germany Rice University Department of Mechanical Engineering and Materials Science 77005 Houston Texas USA

ISBN: (纸本)9781479901777

In this contribution we present a new, objective-based controller which works on the basis of a Pareto set, that is the solution of a multiobjective optimization problem. The controller can be used for self-optimizing systems to adapt the system behavior in terms of the desired objectives in spite of unknown disturbances over time. New system configurations are computed, that fit best to the current situation. The objective-based control is realized by means of a discrete controller which operates in a large sample time due to objective evaluation. Parametric reduced models are used to shorten the simulation time during controller design. An active suspension system of a railbound vehicle serves as an application example. The controller is tested with different linear models of the suspension system and is finally applied to a Hardware-in-the-Loop test rig.

关键词： system behavior Suspension System discrete controller controllers sampling time linear models Hardware-in-the-loop testing Active Suspension Systems reduced model

来源：评论

学校读者我要写书评

暂无评论

Sliding mode type-2 fuzzy control of robotic arm using ellipsoidal membership functions

Sliding mode type-2 fuzzy control of robotic arm using ellip...

引用

Asian control Conference

作者： Mojtaba Ahmadieh Khanesar Erdal Kayacan Okyay Kaynak Wouter Saeys Department of Electrical and Control Engineering Semnan University Semnan Iran Division of Mechatronics Biostatistics and Sensors (MeBioS) Department of Biosystems (BIOSYST) KU Leuven Leuven Belgium Department of Electrical and Electronics Engineering Bogazici University Istanbul Turkey

ISBN: (纸本)9781467357661

Several papers claim that the performance of the type-2 fuzzy logic systems is superior over their type-1 counterparts, especially under noisy conditions. In order to show the effectiveness of the noise reduction capabilities of the type-2 fuzzy logic systems, a novel type-2 fuzzy membership function, ellipsoidal membership function, has recently been proposed. The novel membership function has certain values on both ends of the support and the kernel, and some uncertain values on the other values of the support. The parameters responsible for the width of uncertainty are decoupled from the parameters responsible for the center and the support of the membership function. In this study, a sliding mode control theory based learning algorithm has been proposed to tune the consequent part parameters tuning of the ellipsoidal type-2 fuzzy membership functions. The applicability of the novel membership function with the proposed novel parameter update rules has been shown on the control of a 2DOF robotic arm. The simulation results show that the type-2 fuzzy neural networks working in parallel with conventional PD controllers have the ability of controlling the robotic arm with a high accuracy especially under noisy conditions.

关键词： PD control Robot kinematics Fuzzy neural networks Manipulators Fuzzy control Uncertainty

来源：评论

学校读者我要写书评

暂无评论

The dynamic characteristics of a valve-less micropump

引用

Chinese Physics B 2012年第7期21卷 359-367页

作者：蒋丹李松晶 School of Mechatronics Engineering University of Electronic Science and Technology of China Department of Fluid Control and Automation Harbin Institute of Technology

The aim of this paper is to investigate the dynamic characteristics of a valve-less micropump. A dynamic mathe- matical model of the micropump based on a hydraulic analogue system and a simulation method using AMESim software are developed. By using the finite-element analysis method, the static analysis of the diaphragm is carried out to ob- tain the maximum deflection and volumetric displacement. Dynamic characteristics of the valve-less micropump under different excitation voltages and frequencies are simulated and tested. Because of the discrepancy between simulation results and experimental data at frequencies other than the natural frequency, the revised model for the diaphragm maximum volumetric displacement is presented. Comparison between the simulation results based on the revised model and experimental data shows that the dynamic mathematical model based on the hydraulic analogue system is capable of predicting dynamic characteristics of the valve-less micropump at any excitation voltage and frequency.

关键词： valve-less micropump dynamic characteristics hydraulic analogue model diffuser

来源：评论

学校读者我要写书评

暂无评论

Optimized state feedback regulation of 3DOF helicopter system via extremum seeking

Optimized state feedback regulation of 3DOF helicopter syste...

引用

Asian control Conference

作者： Rini Akmeliawati Safanah M. Raafat Intelligent Mechatronics System Research Unit International Islamic University Malaysia Kuala Lumpur Malaysia Department of Control & System Engineering University of Technology Baghdad Baghdad Iraq

ISBN: (纸本)9781467357661

In this paper, an optimized state feedback regulation of a 3 degree of freedom (DOF) helicopter is designed via extremum seeking (ES) technique. Multi-parameter ES is applied to optimize the tracking performance via tuning State Vector Feedback with Integration of the control Error (SVFB-ICE). Discrete multivariable version of ES is developed to minimize a cost function that measures the performance of the controller. The cost function is a function of the error between the actual and desired axis positions. The controller parameters are updated online as the optimization takes place. This method significantly decreases the time in obtaining optimal controller parameters. Simulations were conducted for the online optimization under both fixed and varying operating conditions. The results demonstrate the usefulness of using ES for preserving the maximum attainable performance.

关键词： Helicopters Cost function Tuning Gold Vectors control systems

来源：评论

学校读者我要写书评

暂无评论

Methodology for identifying quadrotor parameters, attitude estimation and control

Methodology for identifying quadrotor parameters, attitude e...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： M. Elsamanty A. Khalifa M. Fanni A. Ramadan A. Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Production. Engineering & Mechanical Design Department Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467353199

This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an inertial measurement unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design.

关键词： Rotors Pulse width modulation Propellers Force Drag Angular velocity Assembly

来源：评论

学校读者我要写书评

暂无评论

A sensitivity-based approach for the control of repetitive processes

A sensitivity-based approach for the control of repetitive p...

引用

International Conference on mechatronics (ICM)

作者： Andreas Rauh Luise Senkel Christina Dittrich Harald Aschemann Krzysztof Gałkowski Paweł Dąbkowski Mechatronics University of Rostock Rostock Germany Institute of Physics Nicolaus Copernicus University Torun Poland Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Prague Czech Republic

For a large number of technical processes, it is desirable to design control strategies which allow for tracking desired state or output profiles which are repeated periodically. Such tasks are commonly solved by means of iterative learning control strategies as well as by the concept of repetitive control. Most of these before-mentioned techniques are designed in such a way that the linearity of the underlying system model is exploited. If a dynamic system is nonlinear, techniques for gain scheduling, corresponding to an online adaptation of a quasi-linear system model, are commonly applied. However, such adaptation strategies, depending on state measurements or estimated variables, have to be derived specifically for each problem at hand. Therefore, a sensitivity-based control approach is presented in this paper that can be employed for tracking control of both linear and nonlinear dynamic systems in spite of non-modeled disturbances. This control strategy makes use of a real-time capable sensitivity analysis of dynamic system models and comprises aspects of model-predictive and iterative learning control. The applicability of the corresponding algorithm is demonstrated in simulation and experiment for a distributed heating system.

关键词： Mathematical model Equations Vectors Measurement uncertainty Process control Space heating

来源：评论

学校读者我要写书评

暂无评论

Adaptive Intelligent controller Design for a New Quadrotor Manipulation System

Adaptive Intelligent Controller Design for a New Quadrotor M...

引用

IEEE International Conference on Systems, Man, and Cybernetics

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Department of Production Engineering and Mechanical Design Mansoura University Mansoura Egypt Department of Computer and Automatic Control Tanta University

ISBN: (纸本)9781479906505

This paper presents the design of two controllers namely, Direct Fuzzy Logic controller and Fuzzy Model Reference Learning control applied to a new aerial manipulation system called "Quadrotor-Manipulator System". This system consists of 2-link manipulator connected to the bottom of a quadrotor. The dynamic model of this system is derived taking into account the effect of adding a payload to the manipulator. The performance of the proposed controllers are compared with that of the previously developed controller based on Feedback Linearization technique. All controllers are tested regarding their ability to stabilize the system and track desired trajectories under the effects of picking and placing a payload as well as changing the system operating region. Finally, the system equations of motion and the control laws are simulated using MATLAB/SIMULINK. The simulation results indicate the outstanding performance of the Fuzzy Model Reference Learning control.

关键词： Aerial manipulation Quadrotor-Manipulator 2link manipulator Feedback linearization Demining devices Fuzzy logic control Fuzzy model reference learning control Fuzzy control controllers Equations of motion intelligent controller controller design fuzzy logic controller learning control fuzzy modeling Payload Picking control law

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：