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检索条件"机构=Mechatronics and Robotics Engineering"

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On solving non-standard ℋ−/ℋ2/∞ fault detection problems

On solving non-standard ℋ−/ℋ2/∞ fault detection problems

引用

IEEE Conference on Decision and Control

作者： Keith Glover Andras Varga Department of Engineering University of Cambridge Cambridge UK German AeroSpace Center DLR-Oberpfaffenhofen Institute of Robotics and Mechatronics Wessling Germany

We discuss solvability issues of ℋ − /ℋ 2/∞ optimal fault detection problems in the most general setting. A solution approach is presented which successively reduces the initial problem to simpler ones. The last computational step generally may involve the solution of a non-standard ℋ − /ℋ 2/∞ optimization problem for which we discuss possible solution approaches. Using an appropriate definition of the ℋ − -index, we provide a complete solution of this problem in the case of ℋ 2 -norm. Furthermore, we discuss the solvability issues in the case of ℋ ∞ -norm.

关键词： Fault detection Optimization Noise Vectors Generators Stability analysis Detectors

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Servo System of 6 DOF Electro-hydraulic Shaking Table

Servo System of 6 DOF Electro-hydraulic Shaking Table

引用

2011 3rd International Asia Conference on Informatics in Control, Automation and robotics (CAR 2011 LNEE 132)

作者： Liyi Yin Zhengmao Ye Gang Shen Junwei Han State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of Technology School of Mechanical and Electrical Engineering China University of Mining and Technology

Electro-hydraulic shaking table(EHST) is a useful experimental apparatus to real-time replicate the desired acceleration vibration signal for evaluating the performance of the tested specimen structural systems. A three axis six degree-of-freedom(DOF) EHST system with eight hydraulic actuators is presented in the paper. A decouple control method is employed to lower the acceleration couple among the six DOF. The procedure of the decouple controller is programmed in MATLAB/Simulink, and then compiled to a realtime PC with Microsoft Visual *** for implementation. The experimental results demonstrate that a better tracking performance with the improved servo controller is achieved in experiments by using actual EHST.

关键词： Electro-hydraulic shaking table,decouple control,identification

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DNA words based on an enhanced algorithm of multi-objective particle swarm optimization in a continuous search space

DNA words based on an enhanced algorithm of multi-objective ...

引用

International Conference on Electrical, Control and Computer engineering (INECCE)

作者： Krishna Veni Selvan Mohd Saufee Muhammad Sharifah Masniah Wan Masra Zuwairie Ibrahim Kian Sheng Lim Department of Electronics Engineering Faculty of Engineering Universiti Malaysia Sarawak Kota Samarahan Sarawak Malaysia Center of Artificial Intelligence and Robotics (CAIRO) Department of Mechatronics and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

In this paper, particle swarm optimization algorithm in a continuous search space is implemented to generate a set of DNA words. A single swarm with 20 particles is used to find the best solution (gbest). Here, each particle has a number of sub-particles which is referred as the number of sequences to be designed. Overall, the particle which has the optimum fitness value is considered as the best solution. Fitness value of a particle is computed from the average value of all the applied objective functions. The solution obtained from this algorithm is found to be better as compared with other approaches. Furthermore, it has a fast convergence towards the optimum fitness value.

关键词： DNA Algorithm design and analysis Convergence Particle swarm optimization Optimization Genetic algorithms Temperature

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An improved binary particle swarm optimization algorithm for DNA encoding enhancement

An improved binary particle swarm optimization algorithm for...

引用

IEEE Swarm Intelligence Symposium, SIS

作者： Mohd Saufee Muhammad Krishna Veni Selvan Sharifah Masniah Wan Masra Zuwairie Ibrahim Amar Faiz Zainal Abidin Department of Electronics Engineering Faculty of Engineering Universiti Malaysia Sarawak Kota Samarahan Sarawak Malaysia Center of Artificial Intelligence and Robotics (CAIRO) Department of Mechatronics and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

The accuracy of DNA computing highly depends on the DNA strands used in solving complex computations. As such, many approaches are proposed to design DNA oligonucleotides that are stable and unique. In this paper, an improved binary particle swarm optimization (IBPSO) algorithm is proposed and implemented. Four objective functions which are H-measure, similarity, hairpin and continuity are employed to define the uniqueness of designed sequences. The DNA words are constrained within a predefined range of GC-content and melting temperature. The performances and the ability of the algorithm to enhance the characteristics of generated DNA code words are analyzed. The results obtained show that this algorithm executes better sequences and did perform better compared to other optimization techniques. Moreover, it converges faster than the previously suggested binary particle swarm optimization algorithm.

关键词： DNA Algorithm design and analysis DNA computing Optimization Particle swarm optimization Genetic algorithms

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Study of Thrust Lever Control Loading System in Flight Simulator

Study of Thrust Lever Control Loading System in Flight Simul...

引用

2011 3rd International Asia Conference on Informatics in Control, Automation and robotics (CAR 2011 LNEE 132)

作者： Jinsong Zhao Zhengmao Ye Gang Shen Junwei Han State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology School of Mechanical and Electrical Engineering China University of Mining and Technology

Aiming at computing the force feel to be simulated at real time, thrust lever control loading system's simulation model is set by software called Sim Mechanics after its control mechanism being analyzed. The dynamic characteristics of control systems and model torque are studied based on the simulation model. Then the counter potential, primary element to cause the surplus torque, is pointed out according to the dynamic characteristics of control. To make the loading system not only flow the model torque precisely but also retrain surplus torque effectively, the low frequency of the current loop is designed due to frequency spectrum of counter potential and follow-up component in model torque, while the medium frequency is on basis of the step component in model torque. Finally, the reasonableness of the designed current loop is verified by computer simulation of the torque output by motor and loading torque.

关键词： Flight simulator Control Loading System thrust lever current loop simulation model

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Design of Wearable, Low Power,Single Supply Surface EMG Extractor Unit for Wireless Monitoring

Design of Wearable, Low Power,Single Supply Surface EMG Extr...

引用

2011 2nd International Conference on Nanotechnology and Biosensors（ICNB 2011）

作者： Ananda Sankar Kundu Oishee Mazumder Subhasis Bhaumik School of Mechatronics and Robotics Bengal Engineering and Science UniversityhibpurIndia Department of Aerospace and Applied Mechanics Bengal Engineering and Science UniversityShibpurIndia

Aim of this paper is to design a low power, single supply wearable EMG extractor unit for wireless EMG monitoring. Preamplifier section is designed with instrumentation operational amplifier AD623 located at the site of extraction through Biopotential electrode. Acquisition and processing of multichannel EMG signal is done by ATMEGA 8 processor. Data is transmitted to computer with c#.net platform for signal processing and visualization through RF module. Surface EMG amplitude and torque about elbow joint under yielding isometric contraction measured is used as a parameter to study nature of bicep muscle which also verifies system design. Design features suites its application in gait analysis, orthotic and prosthetic design, ergonomic and rehabilitation processes.

关键词： Surface EMG,Biopotential electrode,Yielding isometric contraction.

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Fatigue crack detection using nonlinear acoustics and laser vibrometry

Fatigue crack detection using nonlinear acoustics and laser ...

引用

18th International Congress on Sound and Vibration 2011, ICSV 2011

作者： Klepka, Andrzej Jenal, Ruztamreen B. Staszewski, Wieslaw J. Uhl, Tadeusz Department of Mechatronics and Robotics AGH University of Science and Technology Al. Mickiewicza 30 30-059 Krako Poland Dynamics Research Group Department of Mechanical Engineering Sheffield University Mappin Street Sheffield S1 3JD United Kingdom

ISBN: (纸本)9781618392596

The paper demonstrates the application of nonlinear acoustics for crack detection. The focus is in non-contact measurements using laser vibrometry. This approach not only eliminates measurement-related nonlinear sources but also optimises measurement location with respect to intensified damage-related nonlinearities. The laser vibrometry was used for modal analysis, strain estimation, crack divergence analysis and estimation of modulation intensity. Velocity measurements was performed simultaneously for x, y and z vibration components. All experiments were carried out for three different vibration modes. These selected vibration modes produced three different crack modes and different crack edge behaviour (closing/opening action, friction, stiffness and thermo-elasticity).

关键词： Crack detection

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Zero-phase tracking human interface using EMG signals and EMD

Zero-phase tracking human interface using EMG signals and EM...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： Kazuhide Ura Teruyoshi Sadahiro Masami Iwase Shoshiro Hatakeyama Department of Computers and Systems Engineering Tokyo Denki University Saitama Japan Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

In this study, a delay between the start of electromyogram (EMG) signals and the start of actual human motions which is called Electro Mechanical Delay (EMD) is used in order to eliminate a delay such as a mechanical delay and a communication delay in manipulating systems. The man-machine interface to accomplish zero-phase tracking eliminating some delay is proposed in this paper. This interface consists of the nonlinear ARX (NARX) model which estimates human joint angle from EMG signals, and discrete-time model-following controller so that a controlled object tracks human motions. The effectiveness of proposed interface is discussed from viewpoint of phase differences and errors between a human joint angle and the angle of a controlled 1 DOF manipulator.

关键词： Electromyography Wrist Humans Delay Estimation Muscles Manipulators

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Development of a Dexterous Endoscopic Manipulator Based on Parallel Mechanism

Development of a Dexterous Endoscopic Manipulator Based on P...

引用

2011 IEEE International Conference on Intelligent Computing and Intelligent Systems(ICIS 2011)

作者： Khalil Ibrahim Ahmed Ramadan Mohamed Abdellatif Ahmed Fath El-Bab Ahmed Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and TechnologyE-JUSTNew Borg El-Arab cityAlexandriaEgypt Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and TechnologyE-JUSTNew Borg El-Arab cityAlexandriaEgypt

This paper describes the development of a dexterous endoscopic robot manipulator for laparoscopic *** mechanisms are used to secure *** manipulators are more reliable compared to wire driven mechanisms that is vulnerable to the wire rupture *** problem of limited bending angles could be overcome in our proposed manipulator that is designed to achieve ± 90 o bending *** proposed manipulator is designed to have four degrees of freedom to facilitate its use and learning by *** 4-DOF parallel mechanism consists of four serials chains;two serial chains consisting of 1P4R （one active prismatic joint and four passive revolute joints） and another two serials chains consisting of 1P5R （one active prismatic joint and five passive revolute joints）.Three linear motors are used for *** linear motors are installed on two serials chains and the other motor is installed on the other two serial chains in order to move together with the same motion.A rotary motor is attached to the base to give 360 o rotation of the *** kinematics of the manipulator is graphically modeled and the performance was investigated via computer *** motion capability of the mechanism was achieved by simulation and the workspace is estimated and the results are *** model was experimentally verified through a real scaled-up prototype that ensured the feasibility of our proposed design for real applications.

关键词： Parallel mechanism endoscopy manipulator minimally invasive surgery

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The petri nets and Markov chains approach for the walking robots dynamical stability control

The petri nets and Markov chains approach for the walking ro...

引用

2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011

作者： Vladareanu, Luige Tont, Gabriela Yu, Hongnian Bucur, Danut A. Institute of Solid Mechanics Romanian Academy Robotics and Mechatronics Department C-tin Mille 15 Bucharest 1 010141 Romania University of Oradea Faculty of Electrical Engineering and Information Technology Universitatii 1 Oradea 410087 Romania Faculty of Computing Engineering and Technology Staffordshire University Stafford ST16 0DG United Kingdom

ISBN: (纸本)9780955529375

This paper investigate Zero Movement Point (ZPM) dynamic control of walking robots and develop an open architecture of real time control multiprocessor systems, in view of obtaining new capabilities for walking robots. Considering the complexity of the movement mechanism of a walking robot being a repetitive tilting process with numerous instable movements can lead to its turnover on an uneven terrain. The control system architecture for the dynamic robot walking is presented in correlation with a stochastic model of assessing system probability of unidirectional or bidirectional transition states, applying the non-homogeneous/non-stationary Markov chains. The capability of the time-dependent method for describing a multi-state system and assessing the operational situation of a robotic system is evaluated based on a case study. The rationality and validity of the proposed model are demonstrated via an example of quantitative assessment of states probabilities of an autonomous robot. The results show that the proposed new strategy of the walking robot control systems for slope movement and walking by overtaking or going around obstacles has increased the robot's mobility and stability in real. © 2011 Intl Journal of Adv Mechatr.

关键词： Real time control

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