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arXiv 2020年

作者： Liu, Teng Xing, Yang Chen, Long Cao, Dongpu Wang, Fei-Yue Vehicle Intelligence Pioneers Inc Shandong Qingdao266109 China Qingdao Academy of Intelligent Industries QingdaoShandong266109 China Department of Mechanical and Mechatronics Engineering University of Waterloo N2L 3G1 Canada State Key Laboratory of Management and Control for Complex System Institute of Automation Beijing China

Parallel driving is a novel framework to synthesize the vehicle intelligence and transport automation. This article aims to define the digital quadruplets in parallel driving. In the cyber-physical-social systems (CPSS), based on the ACP method, the names of the digital quadruplets are first given, which are descriptive, predictive, prescriptive and real vehicles. The objectives of the three virtual digital vehicles are interacting, guiding, simulating and improving with the real vehicles. Then, the three virtual components of the digital quadruplets are introduced in detail and their applications are also illustrated. Finally, the real vehicles in parallel driving system and the research process of the digital quadruplets are depicted. The presented digital quadruplets in parallel driving are expected to make the future connected automated driving safety, efficiently and synergistically. Copyright © 2020, The Authors. All rights reserved.

关键词： Vehicles

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UNUSAITS AUV Navigation and Guidance system with Nonlinear Modeling Motion using Ensemble Kalman Filter

UNUSAITS AUV Navigation and Guidance System with Nonlinear M...

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International Conference on Advanced mechatronics, Intelligent Manufacture, and Industrial Automation (ICAMIMIA)

作者： Subchan Teguh Herlambang Hendro Nurhadi Department of Mathematics FMKSD ITS Indonesia Department of Information System UNUSA Indonesia Department of Mechanical Engineering ITS Indonesia Center of Excellence for Mechatronics Industrial Automation (PUI-PT MIA-RC ITS)

ISBN: (数字)9781728130903

ISBN: (纸本)9781728130910

This paper presents the results of the development of navigation and guidance system of Autonomous Underwater Vehicle (AUV). AUV has an equation of motions with 6-DOF for both translational and rotational motions. This study developed trajectory estimation of a nonlinear 6-DOF model. Ensemble Kalman Filter (EnKF) was implemented to nonlinear model as to have a small position error. The application of EnKF was done with two simulations, that is, by generating 200 and 300 ensembles for UNUSAITS AUV. The main contribution of this paper is Navigation and guidance system for nonlinear models of 6-DOF UNUSAITS AUV The simulation results showed that the one by the EnKF method reached an accuracy of 99% with a position error of about 0.01% - 0.35%, whereas, the other by generating 300 ensembles showed higher accuracy with x position error of 0.011 meters, y position error of 0.007 meters, and z position error of 0.015 meters.

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Design of Sliding Mode Control for Linearized Touristant ASV Model

Design of Sliding Mode Control for Linearized Touristant ASV...

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International Conference on Advanced mechatronics, Intelligent Manufacture, and Industrial Automation (ICAMIMIA)

作者： Dieky Adzkiya Hendro Nurhadi Teguh Herlambang Department of Mathematics Institut Teknologi Sepuluh Nopember Indonesia Center of Excellence for Mechatronics Industrial Automation (PUI-PT MIA-RC ITS) Indonesia Department of Mechanical Engineering Institut Teknologi Sepuluh Nopember Indonesia Information System Department University of Nahdlatul Ulama Surabaya (UNUSA) Indonesia

ISBN: (数字)9781728130903

ISBN: (纸本)9781728130910

An Autonomous Surface Vehicle (ASV) is an unmanned vessel that can automatically navigate itself in water and can be controlled from land. It is necessary to control the speed of ASV by designing a controller. In this paper, the study used an ASV Touristant prototype with a length of 4.12 meters, a height of 1.027 meters and a diameter of 1.625 meters. The motion is described by a 3-DOF (surge, sway and yaw) linear model resulting from the linearization of the 3-DOF nonlinear model. The objective of this paper is to compare the performance of the Sliding Mode Control (SMC) over the linearized ASV model in the presence of disturbance and in the disturbance-free case. In the disturbance-free case, the steady state error is approximately 0.2% with a settling time of about 8 seconds. The overshoot from the response of all motions is 0%. In the presence of disturbance, the steady state error is about 0.22% with a settling time of about 9 seconds. The overshoot of the response of all motions is 0%.

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Trajectory Estimation of Autonomous Surface Vehicle using Square Root Ensemble Kalman Filter

Trajectory Estimation of Autonomous Surface Vehicle using Sq...

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International Conference on Advanced mechatronics, Intelligent Manufacture, and Industrial Automation (ICAMIMIA)

作者： Hendro Nurhadi Teguh Herlambang Dieky Adzkiya Department of Mechanical Engineering Institut Teknologi Sepuluh Nopember Indonesia Center of Excellence for Mechatronics Industrial Automation (PUI-PT MIA-RC ITS) Indonesia Information System Department University of Nahdlatul Ulama Surabaya (UNUSA) Indonesia Department of Mathematics Institut Teknologi Sepuluh Nopember Indonesia

ISBN: (数字)9781728130903

ISBN: (纸本)9781728130910

Indonesia is an archipelago and maritime country. Thus, Indonesia has the potential to develop marine tourism. In order to attract tourists to enjoy the sea view, it is necessary to provide a safe transportation with a small risk. One of the vehicles that can be used to support the marine tourism is an unmanned ship or Autonomous Surface Vehicle (ASV). ASV can move without any crew and it can be controlled from distance. This study uses a Touristant ASV with a length of 4.12 meters, a diameter of 1.625 m and a height of 1.027 meters. The contribution of this paper is the estimation of a Touristant ASV trajectory via its nonlinear model under some noises by using Square Root Ensemble Kalman Filter (EnSRKF) method. The noises are wind velocity and sea wave. We have conducted simulations by using 400 and 500 ensembles. The results show that the error in x position is 0.02 meters, a y position is 0.031 meters, and an xy position is 0.015 meter, with an accuracy of above 96%. In the simulation, we use x and y position because the vehicle is always in the surface.

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Expression of Concern: Hybrid auto-regressive neural network model for estimating global solar radiation in Bandar Abbas, Iran

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Environmental Earth Sciences 2020年第13期79卷 1-1页

作者： Shamshirband, Shahaboddin Mohammadi, Kasra Piri, Jamshid Petkovic, Dalibor Karim, Ahmad Department of Computer System and Technology Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia Department of Mechanical and Industrial Engineering University of Massachusetts Amherst USA Department of Water Engineering Soil and Water College University of Zabol Zabol Iran Department for Mechatronics and Control Faculty of Mechanical Engineering University of Niš Niš Serbia

Correction to: Environ

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Navigation and guidance control system of UNUSAITS AUV based on dynamical system using ensemble kalman filter square root

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Journal of Physics: Conference Series 2020年第1期1538卷

作者： T Herlambang Subchan H Nurhadi Information System Department – University of Nahdlatul Ulama Surabaya (UNUSA) Department of Mathematics FMKSD ITS Indonesia Department of Mechanical Engineering Vocational Faculty ITS Indonesia Center of Excellence for Mechatronics Industrial Automation (PUI-PT MIA-RC)

This study presents the development of navigation system of AUV. It is initially in the form of a nonlinear system model to determine the trajectory for the AUV motion control. The non-linear system model of UNUSAITS AUV is then implemented in the Square Root Ensemble Kalman filter (SR-EnKF) to estimate the trajectory of the AUV. The developed EnKF algorithm covers two types of simulations. The contribution from this paper is trajectory or position estimation of nonlinear UNUSAITS AUV system with 6-DOF AUV model. The result of model estimation is presented based on numeric study and simulation. The first simulation is dedicated to generate 400 ensembles, and the second simulation is to generate 400 ensembles. The second simulation shows that the 500 ensembles give more accurate results. A further examination on the accuracy has been performed by accounting for the RMSE of actual condition and the estimation from the simulation, which yields the range of accuracy between 97 % up to 99%.

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Data-driven tuning of a hybrid integrator-gain system

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IFAC-PapersOnLine 2017年第1期50卷 10851-10856页

作者： Heertjes M. Irigoyen N. Deenen D. Mechanical Engineering Department Eindhoven University of Technology Netherlands Mechatronics System Design Department ASML Netherlands

In an attempt to surpass Bode's gain-phase relationship, a hybrid integrator-gain system is studied that has significantly less phase lag in its describing function description when compared to a linear integrator. The hybrid integrator is designed to obtain improved low-frequency disturbance rejection properties under double-integrator (PI2D-like) control, but without the unwanted increase of overshoot otherwise resulting from adding an extra linear integrator. Closed-loop stability of the hybrid control design is guaranteed on the basis of a circle-criterion-like argument and checked through (measured) frequency response data. Closed-loop performance is obtained by data-driven optimization using gradients derived from a state-space description of the hybrid integrator, frequency response data from the linear part of the control system, and data obtained from machine-in-the-loop measurement. © 2017

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A hybrid integrator-gain based low-pass filter for nonlinear motion control

A hybrid integrator-gain based low-pass filter for nonlinear...

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IEEE Conference on Control Technology and Applications

作者： S.J.A.M. van den Eijnden Y. Knops M.F. Heertjes Department of Mechanical Engineering Eindhoven University of Technology MB Eindhoven The Netherlands ASML Mechatronics System Development DR Veldhoven The Netherlands

In this paper a hybrid low-pass filter is developed and subsequently embedded in a PID-based control design. The hybrid element switches between gain and integrator mode, depending on the evaluation of specifically designed switching conditions. Given the properties of the hybrid low-pass filter, which are mainly expressed by reduced phase lag as compared to a linear-equivalent low-pass filter, the bandwidth of the PID-based control design can potentially be increased. Based on describing function analysis, this bandwidth increase is obtained while identical robustness properties of the closed-loop system in terms of bounds imposed on the closed-loop sensitivity function are guaranteed. In this sense, the hybrid control design provides more design freedom compared to the equivalent linear control design, which leads to a factor two improvement in low-frequency disturbance suppression of a state-of-the-art scanning stage of an industrial wafer scanner.

关键词： closed-loop system terms bounds imposed

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Design and manufacture of angular variation pyramid pattern in random arrangement 33

Design and manufacture of angular variation pyramid pattern ...

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33rd Annual Meeting of the American Society for Precision engineering, ASPE 2018

作者： Choi, Doo-Sun Moon, Seung Hwan Lee, Je-Ryung Jeong, Ji-Young Jeon, Eun-Chae Choi, Seong-Dae Je, Tae-Jin Department of Nano Manufacturing Technology Korea Institute of Machinery and Materials Daejeon34103 Korea Republic of Department of Mechanical System Engineering Kumoh National Institute of Technology Gumi39177 Korea Republic of Department of Nano Mechatronics University of Science and Technology Daejeon34113 Korea Republic of School of Materials Science and Engineering University of Ulsan Ulsan44610 Korea Republic of

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Performance comparison of BLDC motor controllers designed based on trapezoidal commutation and FOC

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AIP Conference Proceedings 2019年第1期2187卷

作者： Agus Nurtriartono Agus Mukhlisin Muhammad Nur Yuniarto Estiko Rijanto ITS Department of Mechanical Engineering Surabaya Indonesia ITS Center of Automotive Control System IPTEK Surabaya Indonesia Research Center for Electrical Power and Mechatronics Indonesian Institute of Sciences LIPI Indonesia

A motor controller is an important component in an electric vehicle. Research and development activities of brushless direct current (BLDC) motor controllers are devoted to getting better performance and higher efficiency. This topic still attracts researchers’ interest all over the world, as can be seen from the amount of new scientific publication. BLDC motors in electric vehicle applications require transient performance improvement during start-up. PUI SKO ITS has been conducting research and development on BLDC motor controllers with trapezoidal commutation and field-oriented control (FOC) types. This paper presents an experimental performance comparison between the two BLDC controllers. Experimental results show that the trapezoidal controller is more responsive than the FOC controller, but the FOC controller has a smoother speed response than the trapezoidal controller. Moreover, the motor controller based on FOC produces smaller torque overshoot and smaller steady-state torque than the motor controller based on the trapezoidal commutation. This result calls for deeper analysis to push the performance of both types of the BLDC controllers to their limits and for further comparison in a possible higher stage of each controller’s performance.

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