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21st International Multi-Conference on systems, Signals and Devices, SSD 2024

作者： El-Fawair, Ansam B. Al-Aubidy, Kasim M. Al-Khawaldeh, Mustafa A. Philadelphia University Intelligent & Embedded Systems Research Group Mechatronics Engineering Department Jordan

ISBN: (纸本)9798350374131

This paper aims to design an intelligent algorithm that tracks the maximum power from the photovoltaic system to drive a separately excited DC motor. Three algorithms were studied, namely: perturbation and observation, Sugino-based fuzzy logic control, and adaptive neural fuzzy inference system (ANFIS). The dynamic performance evaluation of the maximum power point tracking unit as well as the grid photovoltaic DC motor speed control was carried out using Matlab-SIMULINK. The proposed photovoltaic system was found feasible to generate the electricity needed to run the DC motor. The results of the simulation showed that the ANFIS-based controller is more robust than other algorithms in terms of obtaining a higher power rating, lower oscillations and reaching a steady state in a short time. © 2024 IEEE.

关键词： Controllers

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Comparison of PID, Fuzzy Logic, ANFIS and Model Predictive Controllers for Cruise Control System 21

Comparison of PID, Fuzzy Logic, ANFIS and Model Predictive C...

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21st International Multi-Conference on systems, Signals and Devices, SSD 2024

作者： Al-Saoudi, Abdullah Fayez Al-Aubidy, Kasim Mousa Al-Mahasneh, Ahmad Jobran Philadelphia University Intelligent & Embedded Systems Research Group Mechatronics Eng. Dept. Jordan

ISBN: (纸本)9798350374131

Cruise control systems are of great importance in modern cars, not only to save energy but also to enhance driving comfort, avoid road accidents and achieve safety. The speed control system is a multivariable system with high nonlinearity, which makes the use of conventional controllers, such as PID, infeasible under all conditions. This research deals with the design and analysis of an ANFIS-based controller and its comparison with other controllers such as PID, fuzzy logic, and model predictive controllers of the vehicle speed control system. The MATLAB/SIMULINK environment was used to model and simulate the cruise control system to identify the efficiency of the four controllers and show the comparison between them. This work presents the design and performance analysis of an intelligent controller for a vehicle cruise control system, comparing it with PID, ANFIS and model predictive control techniques. Simulation results show that FLC, ANFIS, and MPC controllers have different strengths, with trade-offs between fast response, overshoot, and integral error. The results underscore the importance of selecting the appropriate controller based on specific application requirements, with MPC showing superiority in managing constraints. © 2024 IEEE.

关键词： Controllers

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A Study of Comparing Deep Neural Networks for Classifying Driver Steering Characteristics

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Journal of Institute of Control, Robotics and systems 2023年第11期29卷 901-907页

作者： Ryu, Ho-Ju Kim, Jeong Ku Jung, Seul Intelligent Systems and Emotional Engineering Lab Department of Mechatronics Engineering Chungnam National University Korea Republic of Hyndai MOBIS Korea Republic of

This paper presents comparative studies of deep neural network structures for classifying drivers’ characteristics. The goal is to find a suitable deep neural network (DNN) that can automatically classify the driver's steering characteristics into three classes, ‘strong’, ‘medium’, and ‘weak’. The steering data were collected during real car driving. For supervised learning, training data and validation data were separated. And in performance evaluation, static and driving data were not combined. We compared the performance of various DNNs and found that the best-performing neural network structure was a convolution neural networks (CNN)-based structure. This CNN correctly classified the driver's steering characteristics with an 81.58% accuracy rate on the validation data. © ICROS 2023.

关键词： Deep neural networks

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Energy Management in Microgrids with Renewable Energy Sources and Energy Storage System 20

Energy Management in Microgrids with Renewable Energy Source...

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20th International Multi-Conference on systems, Signals and Devices, SSD 2023

作者： El-Fawair, Ansam B. Al-Aubidy, Kasim M. Al-Khawaldeh, Mustafa A. Philadelphia University Intelligent & Embedded Systems Research Group Mechatronics Engineering Department Jordan

ISBN: (纸本)9798350332568

This paper presents a smart scheme for managing power in a grid-connected and island mode microgrid considering loads priority. The proposed system is developed to manage the energy usage between the hybrid resource and the energy storage system to lower electricity bill. This is achieved by supplying the loads with energy generated from the photovoltaic system and energy storage system besides reducing the energy exchange between the main network and the microgrid. The proposed methodology is based on the difference between the available renewable energy generation, the energy required for active loads, the energy storage system, the state of charge, and the electricity market price. The results show that the proposed controller can achieve lower operating cost and reduce power exchange between the main grid and the micro grid. © 2023 IEEE.

关键词： Energy management systems

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Unified Modelling Language Application for Laparoscopic Instrument Design

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International Journal Bioautomation 2024年第3期28卷 117-132页

作者： Ivanova, Veronika Boneva, Ani Vasilev, Plamen Robotized and Mechatronics Intelligent Systems Institute of Robotics Bulgarian Academy of Sciences Sofia Bulgaria Communication Systems and Services Institute of Information and Communication Technologies Bulgarian Academy of Science Sofia Bulgaria Industrial Automation University of Chemical Technologies and Metallurgy Sofia Bulgaria

Laparoscopic surgery is a very popular medical intervention for the diagnosis and treatment of some abdominal problems and diseases. Compared with open surgery, laparoscopic procedures reduce patient trauma and recovery time. Still, at the same time, the surgeon’s dexterity is reduced as a result of the operation specificity and instrument construction. Correct behaviour of every device and instrument during its activities is an important condition for the proper operation of the whole system. The main purpose of this work is to model the operating behaviour of an instrument-organ interaction in an environment which is similar to the real one. The ultimate target of this study is focused on the development of a functionally operating model of a laparoscopic executive instrument for robots with improved engineering characteristics. To achieve the goals, the following main tasks are decided: i) Unified Modelling Language is applied to demonstrate the operating behaviour of a device in real-time. UseCase diagram and 3 Activity diagrams have been developed;ii) an original model of an instrument with 4 degrees of freedom for robot-assisted surgery is designed. In contrast to EndoWrist technology created by Intuitive Surgical Incorporation, USA for DaVinci instruments (with 3 orthogonal rotations), we offered other construction decisions. The designed instrument provides a kinematic structure with a combination of perpendicular and parallel rotations ((Formula presented)) which avoids additional rolls and allows obtaining the optimal working area of this instrument. This study is a continuation of previous work in the surgical robotics area. © (2024), (Institute of Biophysics and Biomedical Engineering). All rights reserved.

关键词： Unified Modeling Language

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Efficient Gaussian Process Grid Map Approximation for Mobile Robot Exploration Using 2D LiDAR

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Transactions of the Korean Institute of Electrical Engineers 2024年第12期73卷 2398-2406页

作者： Ryu, Hyejeong Choi, Jinwoo Dept. of Mechanical & Biomedical Mechatronics Engineering Kangwon National University Korea Republic of Autonomous and Intelligent Maritime Systems Research Division Korea Research Institute of Ships and Ocean Engineering Korea Republic of

An efficient local kernel-based Gaussian Process (GP) grid map approximation method is proposed for mobile robot exploration using 2D Light Detection and Ranging (LiDAR) sensors. While the conventional GP grid map captures structural correlations, its prediction performance is affected by the training data from LiDAR measurements, and the computational burden increases with the number of training and test points. To reduce computational complexity and improve prediction consistency, we construct a local kernel using trained hyperparameters and perform convolution operations with a modified local grid map derived from LiDAR measurements. Experiments using LiDAR measurements obtained from a robot navigating an indoor environment verified that the method efficiently computes the GP grid map and frontier probability, making it suitable for practical frontier-based exploration. Copyright © The Korean Institute of Electrical Engineers.

关键词： Mobile robots

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An intelligent Self-Balancing Robot with Integrated Object Detection Using MobileNetV2 and PID Control

An Intelligent Self-Balancing Robot with Integrated Object D...

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2024 International Conference on intelligent and Innovative Practices in Engineering and Management, IIPEM 2024

作者： Mittal, Rohit Agarwal, Nikunj Shukla, Praveen Kumar Khatri, Narendra Systems Manipal University Jaipur Department of IOT and Intelligent Jaipur India Manipal Academy of Higher Education Department of Mechatronics Manipal India

ISBN: (纸本)9798350390049

This paper presents the design and development of a self-balancing two-wheeled robot capable of detecting hazardous objects in a household environment. The stability issue in two-wheeled robots is addressed using a Proportional Integral Derivative (PID) controller to maintain vertical equilibrium, while object detection is achieved via the MobileNetV2 framework, a convolutional neural network (CNN) architecture. A camera, interfaced with a Raspberry Pi, continuously captures video frames, identifying potentially dangerous objects. Upon detection, both the input frame and the detected object are stored for further analysis. The robot's balance is maintained through the use of an MPU6050 sensor, which provides feedback on the robot's angular inclination. This feedback is processed by the PID controller to adjust the direction and speed of the DC motors, ensuring the robot remains upright. The design phase included mechanical system planning, ensuring stability and efficiency in the robot's operation. The final system integrates both object detection and self-balancing, providing a safe and interactive toy for children. This innovative combination of object detection and self-balancing mechanisms demonstrates the practical application of control theory and computer vision techniques in robotic systems. The system offers insights into the effective integration of PID control and object detection using modern neural network architectures. © 2024 IEEE.

关键词： DC motors

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Survey on Integrated Navigation System Based on Inertial Technology

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Journal of Institute of Control, Robotics and systems 2024年第4期30卷 448-463页

作者： Park, Chan Gook Cha, Jaehyuck Choe, Yeongkwon Lee, Jaehong Lee, Hanyeol Kim, Kwangjin Cho, Seong Yun Song, Jin Woo Department of Aerospace Engineering/Automation and Systems Research Institute Seoul National University Korea Republic of Department of Mechatronics Engineering/Department of Smart Health Science and Technology Kangwon National University Korea Republic of Navigation Business Center Hanwha Aerospace Korea Republic of Department of mechanical automotive engineering Kyungil University Korea Republic of Department of Intelligent Mechatronics Engineering and Convergence Engineering for Intelligent Drone Sejong University Korea Republic of

In this paper, we summarize the results of inertial navigation-based integrated navigation systems that have been researched for over 30 years. First, we introduce the core technologies for operating inertial navigation systems (INS) and discuss the technological advances in pedestrian navigation using small and low-cost inertial sensors for mobile devices. Second, we present the integrated navigation systems with other sensors to overcome the limitations of the INS, which degrades over time. The fundamental principles of, and major research on the inertial-based integrated navigation system with global navigation satellite system, database, or camera/LiDAR are discussed. Finally, the major achievements in recent advances in artificial intelligence-assisted navigation are addressed. © ICROS 2024.

关键词： Inertial navigation systems

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Performance optimization for high speed axial piston pump considering cylinder block tilt

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Chinese Journal of Aeronautics 2023年第9期36卷 437-450页

作者： Haogong XU Junhui ZHANG Shoujun ZHAO Junyuan CHEN Weidi HUANG Xiaochen HUANG Fei LYU Qi SU Bing XU State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China Beijing Institute of Precision Mechatronics and Controls Beijing 100076China Jiangsu Jinling Intelligent Manufacturing Research Institute Co LtdNanjing 210006China

Increasing the rotating speed is considered as an efficient approach to upgrade the power-to-weight ratio in an axial piston pump,but penalized by more leakage and more severe wear resulting from the adverse cylinder block *** studies mainly focused on the bearing characteristic of the valve plate/cylinder block pair,but the spline coupling also plays a key role in the undesired cylinder block tilt,which has been little studied.A theoretical model for the rotating assembly is presented to investigate the effect of the spline coupling length on the cylinder block tilt and the performance of the valve plate/cylinder block pair.A typical high-speed axial piston pump with the displacement of 5.2 mL/r at 10000 r/min was studied by simulation and *** shows that the optimal spline coupling length is one value increased by 2 mm from the original,bringing a remarkable leakage reduction under the high-speed condition by decreasing the cylinder block tilting *** experiment result matches well with the *** influences of the spline coupling on the cylinder block tilt and the leakage were demonstrated.

关键词： Cylinder block tilt High-speed axial piston pump Leakage Spline coupling Wear

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Human-Centric Concept for a Reconfigurable Robotic System Enabling Low-Volume Assembly of Photonic and Quantum Modules

Human-Centric Concept for a Reconfigurable Robotic System En...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Wicht, Andreas Franke, Tobias Hahn, Alina Hakansson, Nils Kurbis, Christian Smol, Robert Hulin, Thomas Eiband, Thomas Lehner, Peter Muhlbauer, Maximilian Nottensteiner, Korbinian Pietschmann, Richard Thaler, Bernhard Thaler, Diana Bosse, Jurgen Berlin12489 Germany Institute of Robotics and Mechatronics Wessling82234 Germany Germany Technical University of Munich Sensor Based Robotic Systems and Intelligent Assistance Systems Garching85748 Germany Robo-Technology GmbH Puchheim82178 Germany

ISBN: (纸本)9798331531614

This paper presents a novel concept for a reconfigurable robotic system specifically designed to meet the demands of hybrid integration for miniaturized photonic and quantum System-in-Packages (SiPs). The proposed solution introduces a distinctive approach to ultra-high-resolution, multi-telerobotic assembly and inspection. By integrating key Industry 5.0 principles, it establishes a human-centric control framework that minimizes both physical and cognitive stress while ensuring the human operator remains in full control at all *** robotic system features eight robots working simultaneously within a compact footprint of just 5×10 cm2. A comprehensive digital twin framework constitutes a central element of the robotic system. It encompasses the robotic workcell, the SiP under assembly, and the components to be integrated, ensuring precise adherence to design specifications. Key functionalities include automated path planning in a multi-robotic environment, collision avoidance in a densely packed workcell, and virtual fixtures to guide teleoperation, enhancing the operator's control and interaction through advanced and intuitive human-machine interfaces (HMI). The proposed system meets the critical demands of ultra-high-resolution assembly for complex, high-value SiPs, providing high flexibility and ease of operation for small-batch manufacturing. © 2025 IEEE.

关键词： System-in-package

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