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Soft-switching predictive Type-3 fuzzy control for microgrid energy management

Energy Informatics 2025年第1期8卷 1-33页

作者： Ayadi, Walid Tavoosi, Jafar Sarvenoee, Amirhossein Khosravi Mohammadzadeh, Ardashir Mechatronics and Intelligent System Abu Dhabi Polytechnic Abu Dhabi United Arab Emirates Department of Electrical Engineering Ilam University Ilam*** Iran Department of Electrical Engineering University of Bonab Bonab Iran

Because each mode has distinct optimization requirements, optimizing the economic performance of microgrids (MGs) in grid-connected and islanded modes presents unique issues. This research offers a novel methodology to overcome this difficulty and better use renewable resources while satisfying the growing needs of the energy market. To maximize the MG’s performance, this approach combines fuzzy control, machine learning, and artificial intelligence with soft switching technologies. Two predictive rules are used in the design of the control system to handle the particular requirements of either the grid-connected or islanded mode depending on the MG’s operational condition. The study’s findings demonstrate that, in addition to lowering energy expenses in large commercial buildings, the suggested strategy optimizes the use of renewable energy sources and storage capacity in a range of network scenarios. This method offers more flexibility in response to network changes and greatly improves energy efficiency. © The Author(s) 2025.

关键词： Fuzzy control

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Kirigami-inspired continuum soft arm with embedded sensing for non-destructive inspection and sorting

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Science China Materials 2025年第2期68卷 552-560页

作者： Jinsui Xu Boyi Xu Honghao Yue Yifan Lu Zheping Wang Zongquan Deng Fei Yang State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China Wu Xianming School of Intelligent Engineering South China University of TechnologyGuangzhou 510641China

The sensing capabilities of a soft arm are ofparamount importance to its overall performance as they allow precise control of the soft arm and enhance its interactionwith the surrounding environment. However, the actuationand sensing of a soft arm are not typically integrated into amonolithic structure, which would impede the arm’s movement and restrict its performance and application scope. Toaddress this limitation, this study proposes an innovativemethod for the integrated design of actuator structures andsensing. The proposed method combines the art of kirigamiwith soft robotics technology. In the proposed method, sensorsare embedded in the form of kirigami structures into actuatorsusing laser cutting technology, achieving seamless integrationwith a soft arm. Compared to the traditional amanogawakirigami and fractal-cut kirigami structures, the proposedmiddle-cut kirigami (MCK) structure does not buckle duringstretching and exhibits superior tensile performance. Based onthe MCK structure, an advanced interdigitated capacitivesensor with a high degree of linearity, which can significantlyoutperform traditional kirigami sensors, is developed. Theexperimental results validate the effectiveness of the proposedsoft arm design in actual logistics sorting tasks, demonstratingthat it is capable of accurately sorting objects based on sensorsignals. In addition, the results indicate that the developedcontinuum soft arm and its embedded kirigami sensors havegreat potential in the field of logistics automation *** work provides a promising solution for high-precisionclosed-loop feedback control and environmental interaction ofsoft arms.

关键词： kirigami embedded sensing continuous soft arm non-destructive inspection

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PID Steering Control for Lane Keeping Assist based on IMU Sensor and ROS 2

PID Steering Control for Lane Keeping Assist based on IMU Se...

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2nd IEEE International Conference on Electrical Engineering, Computer and Information Technology, ICEECIT 2024

作者： Siagian, Marco Yosafat Salim, Taufik Ibnu Manurung, Philippians Firmansyah, Rendra Dwi Putrasari, Yanuandri Wahono, Bambang Wardana, Muhammad Khristamto Aditya Anam, Khairul Del Institute Of Technology North Sumatra Indonesia Research Center for Smart Mechatronics National Research and Innovation Agency Bandung Indonesia Faculty Del Institute Of Technology North Sumatra Indonesia Intelligent System and Robotics CDAST UNEJ Jember Indonesia

ISBN: (纸本)9798331504373

This study presents the development and implementation of a PID steering control system for lane-keeping assistance using an IMU sensor and ROS (Robot Operating system). The system leverages the capabilities of the Teensy 4.1 microcontroller and the HWT905-TTL IMU sensor to maintain precise steering adjustments, crucial for autonomous vehicle applications. The PID controller, designed to respond dynamically to real-time feedback, ensures that the motor reaches designated target angles, even under varying test conditions. The control system was tuned experimentally to achieve optimal response times, resulting in a rise time of approximately 2 seconds, a steady-state error within ±1-2 degrees, and a maximum overshoot of 4.09%. Performance metrics such as the Integral of Squared Error (ISE) and the Integral of Time-weighted Squared Error (ITSE) further confirmed system accuracy and stability over time. Results indicate that the proposed control system effectively maintains lane-keeping with minimal error, demonstrating potential for future deployment in real-world autonomous driving scenarios. Future work will focus on enhancing system adaptability through advanced tuning techniques and sensor fusion to improve robustness in dynamic environments. © 2024 IEEE.

关键词： Microcontrollers

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Vehicle Dynamic Model Based Navigation Algorithm Requirement Analysis for Improving High Precision Inertial Navigation system

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Journal of Institute of Control, Robotics and systems 2023年第10期29卷 818-825页

作者： Ko, Bo Sung Kim, Yong Hun Lee, Joo Han Park, So Jin Park, Seung Hyo Song, Jin Woo Department of Intelligent Mechatronics Engineering and Convergence Engineering for Intelligent Drone Sejong University Korea Republic of Naval Combat System PMO Marine Technology Research Institute Agency for Defense Development Korea Republic of

We propose an idea of using VDM (Vehicle Dynamic Model) as a constraint of INS (Inertial Navigation system) for improving the long term navigation performance. In order to suppress long term INS error, a constrained Kalman filter is applied. Before developing the high precision INS with various sensors and techniques, M&S (Modeling & Simulation) step is performed to define and validate the necessary requirements of the development, which here in this research, the requirement of VDM quality is analyzed. M&S is constructed using a 6-DOF submarine dynamic model and a guidance-navigation control model. It is assumed that the navigation sensor is consisted with an inertial measurement unit, EM-Log (Electromagnetic Log), and DM (Depth Module). Monte-Carlo simulation results confirm the effectiveness of the VDM employed by the constrained Kalman filter and requirements for VDM error are also analyzed. © ICROS 2023.

关键词： Inertial navigation systems

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Design and Control for WLR-3P:A Hydraulic Wheel-Legged Robot

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Cyborg and Bionic systems 2023年第1期4卷 243-259页

作者： Xu Li Haoyang Yu Haibo Feng Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System College of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China Intelligent Robot Research Center Zhejiang LaboratoryHangzhou 311100China

The robot used for disaster rescue or field exploration requires the ability of fast moving on flat road and adaptability on complex *** hybrid wheel-legged robot(WLR-3P,prototype of the third-generation hydraulic wheel-legged robot)has the characteristics of fast and efficient mobility on flat surfaces and high environmental adaptability on rough *** this paper,3 design requirements are proposed to improve the mobility and environmental adaptability of the *** meet these 3 requirements,2 design principles for each requirement are put ***,for light weight and low inertia with high stiffness,3-dimensional printing technology and lightweight material are ***,the integrated hydraulically driven unit is used for high power density and fast response ***,the microhydraulic power unit achieves power autonomy,adopting the hoseless design to strengthen the reliability of the hydraulic *** is more,the control system including hierarchical distributed electrical system and control strategy is *** mobility and adaptability of WLR-3P are demonstrated with a series of ***,the robot can achieve a speed of 13.6 km/h and a jumping height of 0.2 m.

关键词： robot Robot terrain

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Buckling-Inspired Triboelectric Sensor for Multifunctional Sensing of Soft Robotics and Wearable Devices

SSRN

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SSRN 2024年

作者： Xu, Jinsui Pan, Xueting Xu, Boyi Yue, Honghao Lu, Yifan Ying, Kai Wang, Zheping Yang, Fei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China

Amidst the rapid development of intelligent robotics and wearable health monitoring devices, there is an urgent demand for flexible sensor systems with high sensitivity and precise feedback. In this paper, a multifunctional triboelectric sensor inspired by the phenomenon of buckling is introduced, which integrates kirigami structures with triboelectric nanogenerator principles to accurately detect one-dimensional (1D) and two-dimensional (2D) deformations. The sensor employs a contact-separating structure, with its friction layers consisting of 2D laser-cut kirigami electrodes, which deform into three-dimensional (3D) structures through tensile or compressive buckling. The tensile buckling sensor (BS) developed is capable of sensing the bending angle of soft grippers, allowing the detection of the size of grasped objects with a high recognition rate of 93.75%. Additionally, in its 1D compressive buckling form, the sensor can be used to recognize various human motion patterns effectively, while the 2D compressive version can be used to measure the expansion of curved surfaces with a sensitivity of 1.3307 V/mm. By combining the unique properties of buckling structures, the innovative triboelectric multifunctional sensor proposed offers a new solution for high-precision motion feedback control with potential application in soft robotics and health monitoring. © 2024, The Authors. All rights reserved.

关键词： Buckling

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Assessment of Trapping Layer Control in Igzo/Al2o3/Ga2o3 Synaptic Transistor for Neuromorphic Computing

SSRN

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SSRN 2023年

作者： Jo, Eun Seo Rim, You Seung Department of Intelligent Mechatronics Engineering and Convergence Engineering for Intelligent Drone Sejong University Seoul05006 Korea Republic of Department of Semiconductor Systems Engineering Institute of Semiconductor and System IC Sejong University Seoul05006 Korea Republic of

We conducted research to create reverse synapse plasticity using metal oxide semiconductor-based field-effect transistors. Specifically, we used IGZO as the channel, AlO3 as the tunneling layer, and Ga2O3 as the trapping layer. We adjusted the thickness of the Ga2O3 trapping layers and examined changes in roughness and density. Through this examination, we confirmed the variations and mechanisms of synaptic behaviors with respect to the properties of Ga2O3. We found that controlling the charge traps as functions of pulse time, input voltage, and initialization is key to approaching optimal device conditions. As a result of our research, we obtained a maximum nonlinearity factor of ν = 0.27 for G of synaptic plasticity. This high degree of linearity, particularly near zero nonlinearity, is significant for neuromorphic research in pattern recognition. © 2023, The Authors. All rights reserved.

关键词： Transistors

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Compliance Control and Simulation of a Next-Generation Chewing Robot 42

Compliance Control and Simulation of a Next-Generation Chewi...

引用

42nd Chinese Control Conference, CCC 2023

作者： Wang, Xudong Xu, Weiliang Dhupia, Jaspreet Bronlund, John Han, Jianda The University of Auckland Department of Mechanical & Mechatronics Engineering Auckland New Zealand School of Food and Advanced Technology Massey University Palmerston North New Zealand Reddit Institute Palmerston North New Zealand Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin China

ISBN: (纸本)9789887581543

The aim of the development of the chewing robots is to study the biomechanics of chewing process or produce the bolus for further research by in vitro experiments. Some chewing robots are open loop controlled and couldn't behave like a human. However, to make the chewing robots more bin-mimic, force feedback based closed loop control is required. To improve the efficiency of the in-vitro chewing experiments, a next generation chewing robot with cam-follower based multi-chambers was developed previously, which can be used test the effect of different chewing parameters on the chewing performance and food texture changes simultanously. In this paper, modified admittance control based on the force feedback was applied to the chewing robot. At first, to improve food particle size reduction to a distribution which closely matches that produced by human and protect the components of the robot from breakage or impact damage, a spring mass based system, called remote center compliance (RCC), was developed and applied to the robot to control the chewing force. Then, based on the knowledge of human chewing process, power-based algorithm, and modified admittance control method were used as the feedback to adjust the angular velocity of the motor and corresponding chewing velocity of the teeth. The performance of the control model was also simulated, results showed that the model is reliable to control the robot and make it bio-mimic. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Compliance control

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PID Steering Control for Lane Keeping Assist based on IMU Sensor and ROS

PID Steering Control for Lane Keeping Assist based on IMU Se...

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International Conference on Electrical Engineering, Computer and Information Technology (ICEECIT)

作者： Marco Yosafat Siagian Taufik Ibnu Salim Philippians Manurung Rendra Dwi Firmansyah Yanuandri Putrasari Bambang Wahono Muhammad Khristamto Aditya Wardana Khairul Anam Electrical Engineering Del Institute Of Technology Indonesia Research Center for Smart Mechatronics National Research and Innovation Agency Bandung Indonesia Informatics and Electrical Engineering Faculty Del Institute Of Technology Indonesia Intelligent System and Robotics CDAST UNEJ Jember Indonesia

ISBN: (数字)9798331504373

ISBN: (纸本)9798331504380

关键词： Accuracy Sensor fusion Robot sensing systems Motors Robustness Stability analysis Vehicle dynamics Tuning Autonomous vehicles Testing

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Data-driven modeling fast-slow coupling delayed dynamics using noisy data and sparse enhancement 5

Data-driven modeling fast-slow coupling delayed dynamics usi...

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5th International Conference on Industrial Artificial Intelligence, IAI 2023

作者： Tang, Huifang Wu, Yuqiang Dong, Yingming Cheng, Cheng Li, Xiuting Huazhong Agricultural University College of Science Wuhan China Yunnan Mechanical Research and Design Institute of Machinery Research Institute Group Yunnan Key Laboratory of Mechatronics Applied Technology Yunnan China Ministry of Education of China Huazhong University of Science and Technology Autonomous Intelligent Unmanned System Engineering Research Center Wuhan430074 China Huazhong University of Science and Techonology School of Artificial Intelligence and Automation Wuhan430074 China

ISBN: (纸本)9798350325294

In this work, we focus on fast-slow delayed dynamical systems, which are usually described by coupled delayed differential equations with two-time scales. The purpose of this article is to propose a data-driven discovery method to identify the fast-slow delayed differential equations from noisy measurements. The proposed method blends delay dictionary-based sparse identification of nonlinear dynamics (SINDy) framework and a fixed interval sampling strategy. Specifically, we leverage the SINDy methodology to describe the fast-slow delayed differential equations by a few active terms of a large dictionary containing the delay terms and many candidate nonlinear basis functions. To identify the active terms and the corresponding coefficients, a sequential thresholded re-weighted 2 least squares algorithm is used to solve the resulting sparse regression problem to enhance the sparsity. Once a sparse model with fixed delay is selected, the proposed method further estimates the delayed time by calculating the reconstruction error from the sparse model until the one that makes the reconstruction error minimum. We verify the effectiveness of the proposed method with several classical fast-slow coupling delayed systems. The experimental results show that the proposed method can well automate the fast-slow delayed differential equations from noisy data and the delayed terms also can be detected accurately. © 2023 IEEE.

关键词： Dynamical systems

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