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2024 4th International Conference on Artificial Intelligence and Industrial Technology Applications, AIITA 2024

作者： Jiang, Dikai Meng, Shuping Xu, Wenbo Wei, Zeyu Li, Chao Wang, Helong Huang, Shuxian Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Innovation Center for Control Actuators Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

Bearingless permanent magnet slice motor has the advantages of easy stator-rotor isolation, no contact, simple structure, and high integration, which is a significant feature in the ultra-pure field of biology, chemistry, medical treatment, semiconductor manufacturing, aerospace, and other applications, as well as high-speed drive field. To realize the control of a bearingless permanent magnet slice motor, the mechanism of torque control, as well as suspension control, is systematically analyzed. On this basis, a simplified control parameter design method for decoupling torque and suspension is proposed, and the parameter tuning rules are given. For the problem of insufficient anti-disturbance performance of the suspension control under the traditional linear active disturbances rejection controller (LADRC), an improved LADRC strategy based on known disturbances is proposed, and an expansion state observer (ESO) with partially known disturbances is designed. The suspension accuracy and robustness of the system are verified by simulating the motor control with a Matlab/Simulink module. Finally, the improved LADRC control is used in a BPMSM prototype. The simulation and experimental results show that the improved LADRC control with the addition of known perturbations effectively improves the suspension control stability and accuracy compared to the traditional LADRC control. © Published under licence by IOP Publishing Ltd.

关键词： Disturbance rejection

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Geometric Programming for Nonlinear Satellite Buffer Networks With Time Delays under L_(1)-Gain Performance

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 554-556页

作者： Yukang Cui Yihui Huang Michael V.Basin Zongze Wu College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China Shenzhen University Shenzhen 518060China Peng Cheng Laboratory Shenzhen 518060China Robotics Institute Ningbo University of TechnologyNingbo 315211China Autonomous University of Nuevo Leon Nuevo Leon 66455Mexico

Dear Editor,This letter concerns the parameter tuning problem for nonlinear satellite buffer networks with communication delays, aiming to optimize their stability properties under L_(1)-gain. We first model the satellite buffer networks by a nonlinear time-delay positive system and propose a novel characterization under which the nonlinear system is asymptotically stable with a prescribed L_(1)-induced performance.

关键词： nonlinear system prescribed

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Gait dynamic stability evaluation on inclined surfaces for inverted or everted feet walking

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Fuss und Sprunggelenk 2024年第4期22卷 254-268页

作者： Raza, Anam Mahmood, Imran Sultana, Tayyaba Sultana, Salma Dehghani-Sanij, Abbas A. Department of Zoology Government College University Faisalabad Pakistan Mechatronics and Control Engineering Department Faisalabad Campus UET Lahore Pakistan Institute of Design Robotics and Optimisation School of Mechanical Engineering University of Leeds United Kingdom

Background: This study investigates gait dynamic stability on inclined surfaces while walking with foot rotational impairments such as everted and inverted feet. Walking stability is assessed during gait transitional periods i.e. weight loading and unloading phases. Methods: Foot rotational impairments (eversion and inversion) are imitated using wedged foot insoles. A total of ten healthy subjects performed five trials for each of the inverted, everted, and normal feet conditions. Experimental data was collected using a twelve-camera motion capture system and a force plate installed on an inclined platform. Lower limb joint kinematics were computed in Visual-3D motion analysis software to evaluate the degree of foot rotational impairments. Gait dynamic stability was assessed by analysing the centre of mass and centre of pressure signals as neuromechanical input and output responses respectively. Both signals were modelled in time and frequency domains and stability margins were quantified by applying Nyquist and Bode (N&B) methods from control engineering theory. Results: Stability margins quantified from N&B methods illustrated the loading phase as stable and the unloading phase as unstable gait transitions. During the loading phase, both rotational impairments illustrated a decrease in stability (p < 0,05) for the ramp ascent walk and an increase in stability (p < 0,05) for the ramp descent walk. However, there was no difference observed for the respective unloading phases. Results from neuromotor outputs (CoP-velocity) illustrated a strong interlimb correlation (p < 0,001) during gait transitional periods, implying a compensatory stability interaction exists between opposite limbs. Further, stabilities quantified from outputs were found greater in magnitudes than the instability quantified from inputs illustrating the robustness of neuromotor balance control. Conclusions: Results support the hypothesis that gait stability gets affected while walking with rotation

关键词： Balance control Foot Gait stability Inclined walk Rotational impairments

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ROS Based Wireless Teleoperation System for Robots 2

ROS Based Wireless Teleoperation System for Robots

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2nd International Conference for Innovation in Technology, INOCON 2023

作者： Gomes, Arthur Nagavekar, Meghang Dsouza, Jeane Marina Manipal Institute of Technology Mechatronics Engineering Manipal Academy of Higher Education Manipal India Manipal Institute of Technology Instrumentation and Control Engineering Manipal Academy of Higher Education Manipal India

ISBN: (纸本)9798350320923

ROS (robot operating system) is rapidly becoming the operational framework of choice for all robotic control and navigation applications. Consumer and industrial robots are increasingly being integrated with ROS packages. This paper proposes a wireless controller system for teleoperating any ROS compatible robot platform. The controller is itself a microcontroller-based device with a long-range serial transceiver. The microcontroller of choice is the STM32F103C8 and the transceiver is an HC-12 serial communication module. An identical transceiver module is also utilized at the ROS master's end to establish point to point communication for transmission of serialized ROS messages. The system maintains steady connection without loss of bandwidth. The system also ensures that ROS messages from other nodes can be made available to the controller. The controller can be programmed for direct integration with ROS open-source framework and packages without any requirement for middleware. It is efficient, effective and easy to debug. A controller of this description could potentially be applied in areas requiring real time teleoperation of ROS based robotic systems like manipulators, mobile robots and drones. The system is reliable, fast and upgradable as per the user's requirements. © 2023 IEEE.

关键词： controllers

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Non-linear Fractional Order Fuzzy PD Plus I controller for Trajectory Optimization of 6-DOF Modified Puma-560 Robotic Arm

Non-linear Fractional Order Fuzzy PD Plus I Controller for T...

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Congress on control, Robotics, and mechatronics, CRM 2023

作者： Varshney, Himanshu Yadav, Jyoti Chhabra, Himanshu Jharkhand Dhanbad India Department of Instrumentation and Control Engineering Netaji Subhas University of Technology New Delhi India Department of Mechatronics Parul Institute of Technology Parul University Gujrat Vadodara India

ISBN: (纸本)9789819955206

The purpose of this research is to employ non-integer order calculus to enhance the control action of the non-linear fractional order fuzzy PD plus I (FOFPD + I) controller. To operate a non-linear 6-DOF Puma 560 robotic arm, a FOFPD + I controller is developed and implemented. Fractional order fuzzy proportional derivative (FOFPD) and fractional order fuzzy integral (FOFI) controllers are used to create the proposed controller. Because of the non-linear gains, the proposed control approach preserves the linear structure of the fractional order proportional derivative plus integral (FOPD + I) controller while still providing adaptive capabilities. Further, the PID controller is also derived to compare with the FOFPD + I controller. Both, FOFPD + I and PID controller’s parameters are optimized using non-dominated sorting genetic algorithm-II (NSGA-II). The performance and effectiveness of the presented controller are examined in terms of trajectory tracking, tracking error, and robotic arm control efforts. Simulation shows excellent performance of FOFPD + I controller over traditional PID and fuzzy logic controllers. To be precise, on the current optimal solution, suggested controlling strategy is more than 80% efficient than other strategies. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2024.

关键词： controllers

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Dealloying of an amorphous TiCuRu alloy results in a nanostructured electrocatalyst for hydrogen evolution reaction

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Carbon Energy 2023年第8期5卷 87-97页

作者： Jinsen Tian Yuanchao Hu Wenfei Lu Jiahua Zhu Xiaodi Liu Jun Shen Gang Wang Jan Schroers College of Mechatronics and Controlling Engineering Shenzhen UniversityShenzhenChina Shenzhen Key Laboratory of High Performance Nontraditional Manufacturing College of Mechatronics and Control EngineeringShenzhen UniversityShenzhenChina Department of Mechanical Engineering&Materials Science Yale UniversityNew HavenConnecticutUSA Department of Inorganic Materials School of Materials Science and EngineeringTongji UniversityShanghaiChina Laboratory for Microstructures Institute of MaterialsShanghai UniversityShanghaiChina

Development of an electrocatalyst that is cheap and has good properties to replace conventional noble metals is important for H_(2) *** this study,dealloying of an amorphous Ti_(37)Cu_(60)Ru_(3) alloy was performed to prepare a freestanding nanostructured hydrogen evolution reaction(HER)*** effect of dealloying and addition of Ru to TiCu alloys on the microstructure and HER properties under alkaline conditions was investigated.3 at.%Ru addition in Ti_(40)Cu_(60) decreases the overpotential to reach a current density of 10mA cm^(-2) and Tafel slope of the dealloyed samples to 35 and 34mV dec−*** improvement of electrocatalytic properties was attributed to the formation of a nanostructure and the modification of the electronic structure of the ***-principles calculations based on density function theory indicate that Ru decreases the Gibbs free energy of water *** work presents a method to prepare an efficient electrocatalyst via dealloying of amorphous alloys.

关键词： amorphous alloy dealloying first-principles calculations HER TiCuRu

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CoaxHaptics-3RRR: A Novel Mechanically Overdetermined Haptic Interaction Device Based on a Spherical Parallel Mechanism 1

CoaxHaptics-3RRR: A Novel Mechanically Overdetermined Haptic...

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1st IEEE Conference on Telepresence, Telepresence 2024

作者： Dinc, Huseyin Tugcan Hulin, Thomas Rothammer, Michael Seong, HyeonSeok Willberg, Bertram Pleintinger, Benedikt Ryu, Jee-Hwan Ott, Christian IRiS Lab. Daejeon34141 Korea Republic of Institute of Robotics and Mechatronics Wessling82234 Germany United States Hapticslabs GmbH Dresden01067 Germany Tu Wien Automation and Control Institute Vienna1040 Austria

ISBN: (纸本)9798331528249

This paper presents the CoaxHaptics-3RRR, a novel concept for haptic interaction devices that is based on a 3-RRR spherical parallel mechanism (SPM). The novelty lies in its mechanical overdetermination through a central hollow shaft, which brings two advantages. First, the device can be built with high rigidity with regard to translational degrees of freedom (DoF). Second, it enables a lighter design with less rotational inertia, as the moving links do not need to withstand translational or gravitational forces. In order to fully exploit these advantages, an optimization process has been conducted that simultaneously optimized for workspace, manipulability, inertia, and structural stiffness. The resulting functional demonstrator provides an unlimited workspace around the shaft axis and +/- 55 degrees in the other two rotational DoF, thus covering a large portion of the human wrist's rotational range. Tests confirm the validity and superiority of the concept over existing devices, making it a promising solution for the category of mechanically overdetermined haptic devices. © 2024 IEEE.

关键词： Haptic interfaces

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A Novel Space Vector Modulation Strategy for Three-Level Simplified Neutral Point Clamped Inverter

A Novel Space Vector Modulation Strategy for Three-Level Sim...

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2023 IEEE Energy Conversion Congress and Exposition, ECCE 2023

作者： Zhu, Shuangxi Guo, Xinyue Liu, Menghu Chen, Cai Kang, Yong Chen, Haiyan Jin, Zhaosheng Yang, Lei Huazhong University of Science and Technology School of Electrical and Electronic Engineering Wuhan China Aecc Aero Engine Control System Institute China Beijing Institute of Precision Mechatronics and Controls China

ISBN: (纸本)9798350316445

To improve efficiency of the three-level (3-L) simplified neutral point clamped (SNPC) inverter, a novel space vector modulation (SVM) strategy is proposed in this paper. The proposed SVM strategy is characterized by switching all switches in 2-L inverter stage only under zero voltage, thus achieving zero voltage switching (ZVS). Therefore, the switching loss of 2-L inverter stage can be diminished. 3-L SNPC inverter suffers from unbalanced neutral-point voltage (NPV) as conventional multilevel inverters. By using alternative small vectors, the NPV can be balanced as well. The performance of the proposed SVM strategy is analyzed in terms of switching loss and the ability of NPV control. Finally, the feasibility and superiority of the proposed strategy are verified by simulation and experiment. © 2023 IEEE.

关键词： 3-L SNPC inverter NPV balancing space vector modulation ZVS

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An Iterative-Based Dead-Time Compensation Method for Integrated Interleaved Boost-LLC Converter

An Iterative-Based Dead-Time Compensation Method for Integra...

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2023 IEEE Energy Conversion Congress and Exposition, ECCE 2023

作者： Wen, Jin Guan, Jiajia Wu, Zongheng Xu, Wenzhe Chen, Haiyan Jin, Zhaosheng Yang, Lei Chen, Cai Yong, Kang Huazhong University of Science and Technology School of Electrical and Electronic Engineering Wuhan China Aecc Aero Engine Control System Institute China Beijing Institute of Precision Mechatronics and Controls China

ISBN: (纸本)9798350316445

This paper proposes an iterative-based dead-time compensation method to help integrated interleaved boost-LLC converter (IIBLLC) converter achieve higher frequency. By adjusting switching frequency and compensating dead time, the converter can operate in quasi-resonant mode and the rectification control signal is synchronized with the primary side. In quasi-resonant mode, smaller current RMS results in lower conduction losses and the advantages of realizing ZCS on the secondary side can be preserved. Finally, a 400 W / 850 kHz IIBLLC prototype with 36 - 60 V input and 12 V output is demonstrated, which achieves a peak efficiency of 96.2%. The experimental results show that the LLC operates in quasi-resonant mode, and the efficiency and power density are improved. © 2023 IEEE.

关键词： dead-time compensation integrated converter LLC resonant converter

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Design and Analysis of Non-cooperative Target Space Docking Mechanism 1

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18th Chinese Intelligent Systems Conference, CISC 2022

作者： Deng, Songbo Li, Ke Cai, He Duan, Jiaqi Zhi, Jiankang Wang, Yanbo Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Control Beijing100076 China

ISBN: (数字)9789811962264

ISBN: (纸本)9789811962257

Aiming at the capture and docking requirements of spacecraft during in-orbit service, a new three-claw centring docking mechanism is designed which is compatible with different capture targets. The docking mechanism is driven by 2 independent driving units to realize the opening-closing and lifting-lowering capturing. The active capture mechanism is combined with the passive adapter. The large tolerance and compliant capture docking are realized by means of the capturing hand and elastic damping units distributed uniformly on the circumference of the active capture mechanism. A space microgravity docking physical verification platform based on visual measurement is established. The whole physical verification was carried out in the process of approaching and docking of the docking mechanism. The experimental results show that the docking mechanism could achieve reliable capture and docking with the non-cooperative targets under the condition of maximum attitude tolerance. The damping buffer units in the docking mechanism could effectively reduce the impact in the docking process. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Damping

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