检索结果-内蒙古大学图书馆

Electromechanical Hand Prototype for the Simulation of the Opening and Closing Movement

IOP Conference Series: Materials Science and Engineering 2021年第1期1154卷

作者： C L Sandoval-Rodriguez E Y Veslin-Díaz B E Tarazona-Romero J G Ascanio-Villabona C G Cárdenas-Arias C A Angulo-Julio Energy Systems Automation and Control Research Group (GISEAC) Design and materials research group (DIMAT) Electromechanical Engineering Faculty of Natural Sciences and Engineering Unidades Tecnologicas de Santander (UTS) Road No 9-82 students 680005 Bucaramanga Colombia Doctoral Program in Electronic and Communications Department of Communications Engineering University of the Basque Country UPV/EHU 48013 Bilbao Spain Doctoral Program in Energy Efficiency and Sustainability in Engineering and Architecture Department of Machines and Thermal Engines University of the Basque Country (UPV / EHU) Engineer Torres Quevedo Square 1 48013 Bilbao BI Spain Doctoral Program in Engineering of Materials and Sustainable Processes University of the Basque Country UPV/EHU 48013 Bilbao Spain

This work aims to describe the construction of a low-cost functional prototype of an electromechanical hand with opening and closing capacity. The device, built on an ABS filament extruder, is actuated by a MG995 high torque servo motor, controlled by an Arduino-UNO R3 board, from the processing of electromyographic signals carried out by: MyoWare Muscle Sensor. The realization and functional evaluation of the device is developed in six phases: The first is to select the thermo-deformable materials, the second is to select the electronic components; the third phase is the design of the electromechanical hand prosthesis, the fourth phase was the construction of the mechanical parts; the fifth phase is the development of the control program on the electronic card; and the sixth phase of the project consists of validating the developed prototype by observing its opening and closing through the oscilloscope. Due to the low cost of development and ease of reproducibility (because it is built under the open-source philosophy), this work is expected to make a contribution to the disabled community, especially the one with limited resources.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Development of A Station for The Measurement of Environmental Conditions in The Unidades Tecnologicas De Santander (UTS), Using Telemetry and Database Management with Raspberry Pi

引用

IOP Conference Series: Materials Science and Engineering 2021年第1期1154卷

作者： A Quintero Ruiz C L Sandoval-Rodriguez A D Rincon-Quintero B E Tarazona-Romero C G Cárdenas-Arias J G Ascanio-Villabona Energy Systems Automation and Control Research Group (GISEAC) Design and materials research group (DIMAT) Electromechanical Engineering Faculty of Natural Sciences and Engineering Unidades Tecnologicas de Santander (UTS) Road No 9-82 students 680005 Bucaramanga Colombia Doctoral Program in Electronic and Communications Department of Communications Engineering University of the Basque Country UPV/EHU 48013 Bilbao Spain Doctoral Program in Energy Efficiency and Sustainability in Engineering and Architecture Department of Machines and Thermal Engines University of the Basque Country (UPV / EHU) Engineer Torres Quevedo Square 1 48013 Bilbao BI Spain Doctoral Program in Engineering of Materials and Sustainable Processes University of the Basque Country UPV/EHU 48013 Bilbao Spain

This article focuses on the development of an electronic remote data acquisition system which will have the following sensors adapted: thermometer, hygrometer and barometer. From the measurements of these will be obtained data of temperature, relative humidity, atmospheric pressure, which will be stored in the form of records in a data recorder using Raspberry Pi and through wireless communication the data will be transmitted when the software requires it to a module Central of visualization, which according to some parameters will automatically update the histories according to the defined times, or at the request of the user. It will be implemented following a process of research, planning, execution and validation. It implies the necessary information for the implementation, in the planning process the different systems to be used will be divided into 3 groups, measurement and registration system, communication system and a control system composed of the software, and then the acquisition will proceed of the equipment and accessories necessary to execute the assembly. In the execution process, the physical implementation of all the systems will be carried out and the programming of the data acquisition, communication and data storage systems will be developed.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design of Output Feedback Nonlinear Model Predictive control for Inverted Pendulum on Cart

Design of Output Feedback Nonlinear Model Predictive Control...

引用

International Conference on control, automation and systems

作者： Petchakrit Pinyopawasutthi David Banjerdpongchai Yasuaki Oishi Intelligent Control Automation of Process Systems (iCAPS) Research Unit Department of Electrical Engineering Chulalongkorn University 254 Phayathai Road Pathumwan Bangkok Thailand Department of Mechatronics Nazan University Yamazatocho 18 Showa-ku Nagoya Japan

ISBN: (纸本)9781538670804;9788993215168

This paper presents designing of output feedback nonlinear model predictive control (NMPC) for nonlinear systems. NMPC employs the state feedback and updates the control input at each sampling step. The control design of NMPC is formulated as optimal control which requires the information of states of the process. However, in practice, we can measure only some states of the process. This paper aims to use the state observer to estimate the unknown states and use them as feedback for NMPC. We apply output feedback NMPC to inverted pendulum on cart. Numerical results show the response of output feedback NMPC asymptotically converges to that of state feedback NMPC.

关键词： Optimal control Nonlinear systems Nonlinear model predictive control State observer Inverted pendulum on cart

来源：评论

学校读者我要写书评

暂无评论

Patient specific model based induction of hypnosis using fractional order control

引用

IFAC-PapersOnLine 2017年第1期50卷 15097-15102页

作者： Copot, Dana Muresan, Cristina De Keyser, Robin Ionescu, Clara Ghent University Research Group on Dynamical Systems and Control Technologiepark 914 GhentB9052 Belgium Technical University of Cluj-Napoca Faculty of Automation and Computer Science G. Baritiu 26-28 Cluj Napoca400027 Romania

Optimal and safe control of drug delivery systems with continuous infusion protocol is of key importance to avoid over- or under-dosing of the patient. By implementing close-loops one is able to optimize the amount of drug given to the patient. In this paper a robust control methodology is presented. Emerging tools from fractional calculus have been considered and a fractional order PI controller for drug dosing during hypnosis has been designed. In this paper a robust fractional order control of hypnosis is proposed. The controller has been evaluated on an artificial data set of 24 patients and the results indicate that such a control strategy is robust to uncertainty stemming from the inter- and intra-patient variability. © 2017

关键词： controlled drug delivery Calculations control engineering controllers Robust control Robustness (control systems) Targeted drug delivery Uncertainty analysis Continuous infusions control methodology Drug delivery system Fractional order control hypnosis Patient specific model Personalized healthcare uncertainty

来源：评论

学校读者我要写书评

暂无评论

Nonlinear optimal control for ship propulsion with the use of an induction motor and a drivetrain 5

Nonlinear optimal control for ship propulsion with the use o...

引用

5th International Conference of Engineering Against Failure, ICEAF-V 2018

作者： Rigatos, Gerasimos Busawon, Krishna Serpanos, Dimitrios Siadimas, Vasilios Siano, Pierluigi Abbaszadeh, Masoud Unit of Industrial Automation Industrial Systems Institute Rion Patras26504 Greece Nonlinear Control Group University of Northumbria NewcastleNE1 8ST United Kingdom Industrial Systems Institute RC Athena Rion Patras26504 Greece Department of Electrical and Computer Engineering University of Patras Rion Patras26504 Greece Department of Industrial Engineering University of Salerno Fisciano84084 Italy GE Global Research General Elecric NiskayunaNY12309 United States

A nonlinear optimal (H-infinity) control method is proposed for an electric ship's propulsion system that consists of an induction motor, a drivetrain and a propeller. The control method relies on approximate linearization of the propulsion system's dynamic model using Taylor-series expansion and on the computation of the state-space description's Jacobian matrices. The linearization takes place around a temporary equilibrium which is recomputed at each time-step of the control method. For the approximately linearized model of the ship's propulsion system, an H-infinity (optimal) feedback controller is developed. For the computation of the controller's gains an algebraic Riccati equation is solved at each iteration of the control *** stability properties of the control method are proven through Lyapunov analysis, © The Authors, published by EDP Sciences, 2018.

关键词： Linearization

来源：评论

学校读者我要写书评

暂无评论

Condition monitoring for the quadruple water tank system using H-infinity Kalman Filtering 5

Condition monitoring for the quadruple water tank system usi...

引用

5th International Conference of Engineering Against Failure, ICEAF-V 2018

作者： Rigatos, Gerasimos Serpanos, Dimitrios Siadimas, Vasilios Busawon, Krishna Gao, Zhiwei Siano, Pierluigi Abbaszadeh, Masoud Unit of Industrial Automation Industrial Systems Institute Rion Patras26504 Greece Industrial Systems Institute RC Athena Rion Patras26504 Greece Department of Electrical and Computer Engineering University of Patras Rion Patras26504 Greece Nonlinear Control Group University of Northumbria NewcastleNE1 8ST United Kingdom Department of Industrial Engineering University of Salerno Fisciano84084 Italy GE Global Research General Elecric NiskayunaNY12309 United States

The problem of statistical fault diagnosis for the quadruple watertanks system is examined. The solution of the fault diagnosis problem for the dynamic model of the four-water tanks system is a non-trivial case, due to nonlinearities and the system's multivariable structure. In the article's approach, the system's dynamic model undergoes first approximate linearization around a temporary operating point which is recomputed at each sampling period. The linearization procedure relies on Taylor series expansion and on the computation of the Jacobian matrices of the state-space description of the system. The H-infinity Kalman Filter is used as a robust state estimator for the approximately linearized model of the quadruple water tanks system. By comparing the outputs of the H-infinity Kalman Filter against the outputs measured from the real water tanks system the residuals sequence is generated. It is concluded that the sum of the squares of the residuals' vectors, being weighted by the inverse of the associated covariance matrix, stands for a stochastic variable that follows the χ2 distribution. As a consequence, a statistical method for condition monitoring of the quadruple water tanks system is drawn, by using the properties of the χ2 distribution and the related confidence intervals. Actually, normal functioning can be ensured as long as the value of the aforementioned stochastic variable stays within the previously noted confidence intervals. On the other side, one can infer the malfunctioning of the quadruple water tanks system with a high level of certainty (e.g. of the order of 96% to 98%), when these confidence intervals are exceeded. The article's method allows also for fault isolation, that is for identifying the specific component of the quadruple water tanks system that has been subject to fault or cyber-attack. © The Authors, published by EDP Sciences, 2018.

关键词： Water tanks

来源：评论

学校读者我要写书评

暂无评论

Adaptive Observer Design for a Class of Nonlinear Interconnected systems with Uncertain Time Varying Parameters

引用

IFAC-PapersOnLine 2017年第1期50卷 1421-1426页

作者： Mohamed M. Yan X.-G. Mao Z. Jiang B. Instrumentation Control and Embedded Systems Research Group School of Engineering & Digital Arts University of Kent Canterbury CT2 7NT United Kingdom College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 211106 China

In this paper, a class of nonlinear interconnected systems with uncertain time varying parameters is considered, in which both the interconnections and the isolated subsystems are nonlinear. The difference between the unknown time varying parameter and its corresponding nominal value is assumed to be bounded where the nominal value is not required to be known. A dynamical system is proposed and then, the error systems between the original interconnected system and the designed dynamical systems are analysed based on the Lyapunov direct method. A set of conditions is developed such that the augmented systems formed by the error dynamical systems and the designed adaptive laws, are globally uniformly bounded. Specifically, the estimation errors are asymptotically convergent to zero using LaSalle-Yoshizawa Theorem. Case study on a coupled inverted pendulum system is presented to demonstrate the developed methodology, and simulation shows that the proposed approach is effective and practicable. © 2017

关键词： Adaptive Observers Lyapunov Direct Method Nonlinear Interconnected systems Time Varying Parameters

来源：评论

学校读者我要写书评

暂无评论

Distributed Least Squares Solver for Network Linear Equations

arXiv

引用

arXiv 2018年

作者： Yang, Tao George, Jemin Qin, Jiahu Yi, Xinlei Wu, Junfeng State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China U.S. Army Research Laboratory AdelphiMD20783 United States Department of Automation University of Science and Technology of China Hefei230027 China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden College of Control Science and Engineering Zhejiang University Hangzhou310027 China

In this paper, we study the problem of finding the least square solutions of over-determined linear algebraic equations over networks in a distributed manner. Each node has access to one of the linear equations and holds a dynamic state. We first propose a distributed least square solver over connected undirected interaction graphs and establish a necessary and sufficient on the step-size under which the algorithm exponentially converges to the least square solution. Next, we develop a distributed least square solver over strongly connected directed graphs and show that the proposed algorithm exponentially converges to the least square solution provided the step-size is sufficiently small. Moreover, we develop a finite-time least square solver by equipping the proposed algorithms with a finite-time decentralized computation mechanism. The theoretical findings are validated and illustrated by numerical simulation examples. Copyright © 2018, The Authors. All rights reserved.

关键词： Linear equations

来源：评论

学校读者我要写书评

暂无评论

Decentralised Sliding Mode control for Nonlinear Interconnected systems in the Generalised Regular Form

引用

IFAC-PapersOnLine 2017年第1期50卷 8850-8855页

作者： Mu J. Yan X.-G. Zhang Q. Mao Z. Instrumentation Control and Embedded Systems Research Group School of Engineering & Digital Arts University of Kent Canterbury CT2 7NT United Kingdom Institute of Systems Science Northeastern University Shenyang Liaoning 110819 China Colledge of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 211106 China

In this paper, a decentralised control strategy based on sliding mode techniques is proposed for a class of nonlinear interconnected systems in generalised regular form. All the isolated subsystems and interconnections are fully nonlinear. It is not required that the nominal isolated subsystems are either linearizable or partially linearizable. The uncertainties are nonlinear and bounded by known functions. Under mild conditions, sliding mode controllers for each subsystem are designed by only employing local information. Sufficient conditions are developed under which information on the interconnections is employed for decentralised controller design to reduce the effects of the interconnections on the entire systems. The bounds on the uncertainties have more general forms compared with previous work. A simulation example is used to demonstrate the effectiveness of the proposed method. © 2017

关键词： decentralised control generalised regular form Interconnected system sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Verification of monocular and binocular pose estimation algorithms in vision-based UAVs autonomous aerial refueling system

引用

Science China(Technological Sciences) 2016年第11期59卷 1730-1738页

作者： LI Han DUAN HaiBin Bio-inspired Autonomous Flight Systems (BAFS) Research Group Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering Beihang University

With the high focus on autonomous aerial refueling(AAR), it becomes increasingly urgent to design efficient methods or algorithms for solving the AAR problems in complicated aerial environments. A vision-based technology for AAR is developed in this paper, and five monocular and binocular visual algorithms for pose estimation of the unmanned aerial vehicles(UAVs) are adopted and verified in this AAR system. The real-time on-board vision system is also designed for precise navigation in the UAVs docking phase. A series of out-door comparative experiments for different pose estimation algorithms are conducted to verify the feasibility and accuracy of the vision algorithms in AAR.

关键词： unmanned aerial vehicles（UAVs） autonomous aerial refueling（AAR） pose estimation monocular vision binocular vision

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：