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arXiv 2019年

作者： Khalifa, Ahmed Fanni, Mohamed Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menofia University Egypt Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Egypt Department of Production Engineering and Mechanical Design Mansoura University Egypt

This paper presents an experimental validation of a new quadrotor-based aerial manipulator. A quadrotor is equipped with a 2-DOF robotic arm that is designed with a new topology to enable the end-effector of the whole system to track a 6-DOF trajectory. An identification experiment is carried out to find out the system parameters. The mathematical model of the whole system is presented. A measurement scheme is proposed to get the accurate pose of the vehicle considering the motion of the manipulator below the quadrotor. The system controller is designed and implemented based on PID with a gravity compensation algorithm. System simulation is implemented in the MATLAB/SIMULINK environment with real system parameters, to better emulate a realistic setup. Real-time Experiments are conducted. Both simulation and experimental results show the feasibility and a satisfactory efficiency of the proposed system in achieving the position holding and transferring an object to a specific target position. Copyright © 2019, The Authors. All rights reserved.

关键词： Manipulators

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Quadrotor Manipulation System: Development of a Robust Contact Force Estimation and Impedance Control Scheme Based on DOb and FTRLS

arXiv

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arXiv 2019年

作者： Khalifa, Ahmed Fanni, Mohamed Khalifa, Alaa Cardiff School of technologies Cardiff Metropolitan University Cardiff United Kingdom Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Al Menoufia Egypt Department of Mechatronics and Robotics Engineering Egypt-Japan University of Science and Technology Alexandria Egypt

The research on aerial manipulation systems has been increased rapidly in recent years. These systems are very attractive for a wide range of applications due to their unique features. However, dynamics, control and manipulation tasks of such systems are quite challenging because they are naturally unstable, have very fast dynamics, have strong nonlinearities, are very susceptible to parameters variations due to carrying a payload besides the external disturbances, and have complex inverse kinematics. In addition, the manipulation tasks require estimating (applying) a certain force of (at) the end-effector as well as the accurate positioning of it. Thus, in this article, a robust force estimation and impedance control scheme is proposed to address these issues. The robustness is achieved based on the Disturbance Observer (DOb) technique. Then, a tracking and performance low computational linear controller is used. For teleoperation purpose, the contact force needs to be identified. However, the current developed techniques for force estimation have limitations because they are based on ignoring some dynamics and/or requiring of an indicator of the environment contact. Unlike these techniques, we propose a technique based on linearization capabilities of DOb and a Fast Tracking Recursive Least Squares (FTRLS) algorithm. The complex inverse kinematics problem of such a system is solved by a Jacobin based algorithm. The stability analysis of the proposed scheme is presented. The algorithm is tested to achieve tracking of task space reference trajectories besides the impedance control. The efficiency of the proposed technique is enlightened via numerical simulation. Copyright © 2019, The Authors. All rights reserved.

关键词： Inverse kinematics

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Port-Hamiltonian Approach to Neural Network Training

Port-Hamiltonian Approach to Neural Network Training

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IEEE Annual Conference on Decision and Control

作者： Stefano Massaroli Michael Poli Federico Califano Angela Faragasso Jinkyoo Park Atsushi Yamashita Hajime Asama Department of Precision Engineering The University of Tokyo Tokyo Japan Department of Industrial and Systems Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon South Korea Faculty of Electrical Engineering Mathematics & Computer Science (EWI) Robotics and Mechatronics (RAM) University of Twente Enschede The Netherlands

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Neural networks are discrete entities: subdivided into discrete layers and parametrized by weights which are iteratively optimized via difference equations. Recent work proposes networks with layer outputs which are no longer quantized but are solutions of an ordinary differential equation (ODE);however, these networks are still optimized via discrete methods (e.g. gradient descent). In this paper, we explore a different direction: namely, we propose a novel framework for learning in which the parameters themselves are solutions of ODEs. By viewing the optimization process as the evolution of a port-Hamiltonian system, we can ensure convergence to a minimum of the objective function. Numerical experiments have been performed to show the validity and effectiveness of the proposed methods.

关键词： Training Biological neural networks Convergence Mathematical model Optimization Linear programming

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Experiment on the empathic reaction of an animatronic structure determined by a voice command

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IOP Conference Series: Materials Science and engineering 2020年第1期997卷

作者： M Ionescu I Borcosi G Gilca S I Cismaru F Besnea (Petcu) C Resceanu N G Bizdoaca Mechatronics and Robotics Department Faculty of Automation Computers and Electronics University of Craiova Craiova ROMANIA Industrial and Automation Engineering Department Engineering Faculty 'Constantin Brâncuşi' University of Târgu-Jiu Târgu-Jiu ROMANIA

This paper presents an experiment on the affective reaction of a modified biomimical structure Chimpanzee Alive at a series of comands or vocal dialogues. The experimental structure includes and a biomimetic structures Scary Terry Talking Skull which has the possibility, through own development board, to send voice commands to the biomimetic structure Chimpanzee Alive. These voice commands are taken by using a the smartphone with android operating system and which has Arduino BlueControl applications installed. After processing of the voice commands by Arduino BlueControl, the smartphone send control signals by bluettooth, to biomimetic structures controller. This commands the motors of the biomimetic structure (for the movement of the eyebrows, mouth and eyelids), the result being the following expressive states: euphoric, pensiveness, annoyance. After obtain the expressive states, the Chimpanzee Alive structure returns into neutral state by activate a gestures sensor.

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Performance comparison of optimization techniques in EHS system using sliding mode controller

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IOP Conference Series: Materials Science and engineering 2020年第1期834卷

作者： M S Chai R Ghazali S H Chong C C Soon J Too Y M Sam Centre for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia. Control & Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Bahru Malaysia

Electro-Hydraulic Servo (EHS) system is a well-known nonlinear system in various types of industries due to its outstanding characteristics over other actuators. Despite its wide applications in industries, this system also suffering from nonlinearities and parameter uncertainties. Sliding Mode Controller (SMC) has been proven by many researchers to be effective in positioning control of the nonlinear system. However, SMC controller parameters must be tuned in appropriate ways to control the EHS system. In this research, an SMC strategy which combines with an enhanced PSO called Multi-Objective Particle Swarm Optimization (MOPSO) is proposed in positioning control of the EHS system. The conventional PSO is design as well for comparison purpose. The output performance is analysed and verified using different performance indexes such as rise time, settling time, overshoot percentage, and root mean square error. The results show that the MOPSO is better in tuning the controller parameters.

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Design of conveyor utilization monitoring system: a case study of powder coating line in sheet metal fabrication

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IOP Conference Series: Materials Science and engineering 2018年第1期319卷

作者： Hoedi Prasetyo Yohanes Sugiarto Cucuk Nur Rosyidi Master Study Program of Industrial Engineering Faculty of Engineering Universitas Sebelas Maret Surakarta 57126 Indonesia and Mechatronics Department Politeknik ATMI Surakarta Surakarta 57145 Indonesia Mechatronics Department Politeknik ATMI Surakarta Surakarta 57145 Indonesia Master Study Program of Industrial Engineering Faculty of Engineering Universitas Sebelas Maret Surakarta 57126 Indonesia

Conveyor is a very useful equipment to replace manpower in transporting the goods. It highly influences the productivity, production capacity utilization and eventually the production cost. This paper proposes a system to monitor the utilization of conveyor at a low cost through a case study at powder coating process line in a sheet metal fabrication. Preliminary observation was conducted to identify the problems. The monitoring system was then built and executed. The system consists of two sub systems. First is sub system for collecting and transmitting the required data and the second is sub system for displaying the data. The system utilizes sensors, wireless data transfer and windows-based application. The test results showed that the whole system works properly. By this system, the productivity and status of the conveyor can be monitored in real time. This research enriches the development of conveyor monitoring system especially for implementation in small and medium enterprises.

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The effects of parameter variation in open-loop and closed-loop control scheme for an electro-hydraulic actuator system

International Journal of Control and Automation

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International Journal of Control and Automation 2016年第11期9卷 283-294页

作者： Soon, C.C. Ghazali, R. Jaafar, H.I. Hussien, S.Y.S. Sam, Y.M. Rahmat, M.F. Centre for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Durian Tunggal Hang Tuah Jaya Melaka76100 Malaysia Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor81310 Malaysia

It is well known that the electro-hydraulic actuator (EHA) system is exposed to the disturbances, uncertainties, and parameter variations which are caused by the changes in operating conditions for instance, total moving mass, supply pressure, servo-valve gain, bulk modulus, leakage coefficient, and friction. These problems pose to a great challenge in modelling and controller development for an EHA system. Degradation of the desired performance can be imposed if an improper control strategy is utilized. This paper discusses the fundamental study on the significant effect that leads to degradation of EHA system performance due to variation in the system parameters. A nonlinear EHA system model is developed and implemented in the simulation studies in open-loop and closed-loop control configuration. The finding shows that the servo-valve gain resulted the most influential parameters to the EHA system performance as compared to the total moving mass and supply pressure parameters. In order to overcome these issues, the utilized controller should be robust enough to overcome the entire operating range that against such disturbances, uncertainties, and parameter variations. Therefore, a nonlinear and the intelligent control approach may be necessary to be designed in order to overcome these difficulties. © 2016 SERSC.

关键词： Closed loop control systems

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Design of an automatic production monitoring system on job shop manufacturing

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AIP Conference Proceedings 2018年第1期1931卷

作者： Hoedi Prasetyo Yohanes Sugiarto Cucuk Nur Rosyidi 1Master Study Program of Industrial Engineering Faculty of Engineering Universitas Sebelas Maret Surakarta 57126 Indonesia 2Mechatronics Department Politeknik ATMI Surakarta Surakarta 57145 Indonesia

Every production process requires monitoring system, so the desired efficiency and productivity can be monitored at any time. This system is also needed in the job shop type of manufacturing which is mainly influenced by the manufacturing lead time. Processing time is one of the factors that affect the manufacturing lead time. In a conventional company, the recording of processing time is done manually by the operator on a sheet of paper. This method is prone to errors. This paper aims to overcome this problem by creating a system which is able to record and monitor the processing time automatically. The solution is realized by utilizing electric current sensor, barcode, RFID, wireless network and windows-based application. An automatic monitoring device is attached to the production machine. It is equipped with a touch screen-LCD so that the operator can use it easily. Operator identity is recorded through RFID which is embedded in his ID card. The workpiece data are collected from the database by scanning the barcode listed on its monitoring sheet. A sensor is mounted on the machine to measure the actual machining time. The system’s outputs are actual processing time and machine’s capacity information. This system is connected wirelessly to a workshop planning application belongs to the firm. Test results indicated that all functions of the system can run properly. This system successfully enables supervisors, PPIC or higher level management staffs to monitor the processing time quickly with a better accuracy.

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Preface

Mechanisms and Machine Science

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Mechanisms and Machine Science 2018年 57卷 V-VI页

作者： Doroftei, Ioan Oprisan, Cezar Pisla, Doina Lovasz, Erwin Christian Mechanical Engineering Mechatronics and Robotics Department Mechanical Engineering Faculty “Gheorghe Asachi” Technical University of Iaşi Iaşi Romania Mechanical Systems Engineering Department Machine Building Faculty Research Center for Industrial Robots Simulation Testing Technical University of Cluj-Napoca Cluj-Napoca Romania

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Effect of injection angle,density ratio,and viscosity on droplet formation in a microfluidic T-junction

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Theoretical & Applied Mechanics Letters 2017年第4期7卷 243-251页

作者： Mohammad Yaghoub Abdollahzadeh Jamalabadi Mohammadreza Daqiq Shirazi Ali Kosar Mostafa Safdari Shadloo Department of Mechanical Robotics and Energy Engineering Dongguk University Seou104620 Republic of Korea School of Mechanical Engineering College of Engineering University of Tehran Tehran Iran Mechatronics Engineering Program Faculty of Engineering and Natural Sciences Sabanci University Tuzla Istanbu134956 Turkey CORIA-UMR 6614 Normandie University CNRS-University and INSA of Rouen 76000 Rouen France

The T-junction microchannel device makes available a sharp edge to form micro-droplets from biomaterial solutions. This article investigates the effects of injection angle, flow rate ratio, density ratio,viscosity ratio, contact angle, and slip length in the process of formation of uniform droplets in microfluidic T-junctions. The governing equations were solved by the commercial software. The results show that contact angle, slip length, and injection angles near the perpendicular and parallel conditions have an increasing effect on the diameter of generated droplets, while flow rate, density and viscosity ratios, and other injection angles had a decreasing effect on the diameter.

关键词： Microfluidics Droplet formation Flow rate ratio Density ratio

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