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A testing model for the mechatronic system

UPB scientific Bulletin, Series D: Mechanical Engineering 2021年第1期83卷 113-124页

作者： Sima, Liviu Mihai Zapciu, Miron University POLITEHNICA of Bucharest Faculty of Industrial and Robotics Engineering Department of Robots and Production Systems Bucharest Romania University POLITEHNICA of Bucharest Scientific Director of Research Institute SC INCERTRANS SA Bucharest Romania

Mechatronics is a technology that has developed and continues to develop more and more. The mechatronic system considered is the result of the integration of mechanical, electrical / electronic parts, as well as information processing. In order to carry out a systematic design of a mechatronic system, an interdisciplinary discipline of integrated design is required. To organize the design of activities in different disciplines and help designers to achieve multidisciplinary design integration, a design methodology is on a multidisciplinary interface model proposed. According to engineering systems, an extended "V"-model used as a macro-level process in the proposed design methodology. This starts with identifying system-wide requirements and ends with a user-validated system. The hierarchical design model adopted as a micro process level. The article is discussing about the ways to test a mechatronic system. © 2021, Politechnica University of Bucharest. All rights reserved.

关键词： Design

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Physiological Features of Motor Coordination Formation Based on Training with Biological Feedback

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Human Physiology 2022年第4期48卷 355-369页

作者： Illarionova, A.V. Krivoshchekov, S.G. Ilyin, A.A. Kapilevich, L.V. National Research Tomsk State University Tomsk Russian Federation National Research Tomsk Polytechnic University Tomsk Russian Federation Scientific Research Institute of Neurosciences and Medicine Novosibirsk Russian Federation Tomsk State University of Control Systems and Radioelectronics Tomsk Russian Federation

Abstract: The aim of this study was to study the physiological features of the formation of balance and coordination abilities based on training with biofeedback for various parameters. The study involved 60 girls aged 18–20 years, not engaged in sports and included in the main medical group (health group 1). The difference in the results of testing carried out for the selection of participants in the three groups was insignificant. Twenty girls were trained according to a program that included a set of exercises to develop the sensitivity of the vestibular analyzer and proprioceptive sensitivity. Twenty girls were trained on a Stabilan 01-2 computer stabiloanalyzer using feedback for the “projection position of the center of gravity” parameter. The remaining 20 subjects studied on a HUBER apparatus using feedback for the “applied efforts” parameter. Classes were held 3 times a week for a month, 12 workouts in total. Before the start of the training course, as well as after it, the girls underwent comprehensive testing using the methods of electromyography, stabilometry, EEG, and dynamometry on the HUBER apparatus. It was found that training with biofeedback contributes to the accelerated formation of the skill of maintaining balance, allows faster development of proprioceptive sensitivity, the ability to differentiate applied efforts without the participation of a visual analyzer, as well as to improve intermuscular coordination and muscle memory. A characteristic feature of the bioelectrical activity of the lower leg muscles while maintaining static balance after training with biofeedback for the “projection position of the center of gravity” parameter is an activation of the lower leg muscles in the static mode (simultaneous activation of antagonist muscles with commensurate indicators of bioelectrical activity). At the same time, after training with biofeedback according to the “applied efforts in the position of seeking dynamic balance” parameter, the lower leg

关键词： balance biofeedback coordination intermuscular interactions movement regulation muscular-articular feeling

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Algorithms and Scenarios of Online Decision Support System for Selection of the Distribution Laws of positive Random Variables 20th

Algorithms and Scenarios of Online Decision Support System f...

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20th International Conference on Mathematical Modeling and Supercomputer Technologies, MMST 2020

作者： Anna, Ivleva Sergey, Smirnov Samara Federal Research Scientific Center RAS Institute for the Control of Complex Systems RAS Samara443020 Russia

ISBN: (纸本)9783030787585

The problem of making online decision support system for selecting the two-parametric distribution law of a continuous positive random variable with a finite second moment is considered. Algorithms and scenarios of the system operation are given. The main priority is a practical application-oriented approach based on minimal data sets and user’s criteria to select the most appropriate type of distribution law out of a finite set of models. The proposed algorithm for selecting the distribution law of random variables is based on a natural factorization of the space of empirical characteristics – the average and MSD. Differential entropy;graphs of densities, distribution functions, and failure rates;scatter plots and a table of metrics are applied to visually compare the distribution laws. To rank the distribution laws, the following simple and intuitive criteria, focused on solving practical problems, are proposed for a user (engineer, economist, biologist, etc.): maximization of the differential entropy, fitting empirical quantiles, fitting empirical moments of higher orders, availability of analytically defined restoration function, behaviour of the intensity function, and the possibility of decomposition into exponential phases. Online decision support system is being developed in Python using the Dash framework. The following Python libraries are used for calculations: math, numpy, random2, scipy, sympy, and plotly module for graphical visualization. The decision support system can be applied in combination with other existing methods for selecting the distribution law of a random variable. © 2021, Springer Nature Switzerland AG.

关键词： Decision support systems

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A Resonance Based Inductive Wireless Power Transfer System for Charging Autonomous Underwater Vehicle (AUV) Batteries

A Resonance Based Inductive Wireless Power Transfer System f...

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Electrical Electronics and Computing Technologies (ICEECT), International Conference on

作者： Dilruba Ferdous Suman Saha Ranjit Ray Electric Mobility and Tribology Research Group CSIR-Central Mechanical Engineering Research Institute Durgapur India Academy of Scientific and Innovative Research (AcSIR) Ghaziabad India Underwater Robotics & Autonomous Systems Group CSIR-Central Mechanical Engineering Research Institute Durgapur India

ISBN: (数字)9798350378092

ISBN: (纸本)9798350378108

Autonomous underwater vehicle (AUV) has a significant influence on marine applications due to its endurance and effectiveness in performing challenging missions. Since most AUVs employ batteries as prime energy storage, their underwater mission time is limited. Moreover, they need to be hauled out of the water for recharging batteries prior to every mission, which is a time consuming and tedious process. Hence, recharging AUV batteries underwater using a wireless power transfer technology is a feasible and secure option to overcome the aforementioned limitation. In this paper, a resonance based inductive power transfer system for wireless charging of AUVs has been developed. Further, the performance of wireless charging system is validated through simulation in MATLAB/Simulink platform and verified through preliminary experimentation carried out in a 1 kW laboratory scale hardware prototype. The experimental results in saline water environment showcase a power transfer efficiency of 85-86% considering a gap of 3 cm between primary and secondary coils.

关键词： Coils Wireless communication Autonomous underwater vehicles Inductive charging Wireless power transfer Resonance Hardware Batteries MATLAB Integrated circuit modeling

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Universal method of accounting the properties existence constraints it problems of deriving formal concepts from fuzzy object-attributive data 7

Universal method of accounting the properties existence cons...

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7th IEEE International Conference on Information Technology and Nanotechnology, ITNT 2021

作者： Samoilov, Alexandr Smirnov, Sergey Samara Federal Research Scientific Center of RAS Institute for the Control of Complex Systems RAS Laboratory for Analysis and Modeling of Complex Systems Samara Russia

ISBN: (纸本)9781665432177

Object of research is the processing of fuzzy object-attributive data - empirically established 'object-properties' relation - in order to identify formal concepts and construct a lattice that fixes a partial ordered generalization relation on a set of formal concepts. The paper is devoted to implementation of the method of preprocessing the initial fuzzy 'object-properties' relation proposed earlier by the authors, which provides for taking into account the properties existence constraints - a priori subjective attitudes that fix the permissible variants of the intent of formal concepts. The method is suitable for all types of biclustering tasks: to derive distinct and fuzzy concepts from the threshold cross-section of the source data, to derive fuzzy concepts based on the fuzzy closure of the source data. Implementation of the method involves the representation of a fuzzy set of properties for each object in the training sample as a composition of a finite kit of distinct sets, filtering this kit of sets for accounting properties existence constraints and approximation of a fuzzy set of properties of the object of training sample based on the composition of the filtered sets of properties. The effectiveness of the proposed implementation provides by the rational organization of each of these actions and in fact their partial combination. © 2021 IEEE.

关键词： Formal concept analysis

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Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields

arXiv

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arXiv 2024年

作者： Chi, Xuemin Li, Yiming Huang, Jihao Dai, Bolun Liu, Zhitao Calinon, Sylvain State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Idiap Research Institute Martigny1920 Switzerland Lausanne1015 Switzerland Fauna Robotics New YorkNY United States

Generating collision-free motions in dynamic environments is a challenging problem for high-dimensional robotics, particularly under real-time constraints. control Barrier Functions (CBFs), widely utilized in safety-critical control, have shown significant potential for motion generation. However, for high-dimensional robot manipulators, existing QP formulations and CBF-based methods rely on positional information, overlooking higher-order derivatives such as velocities. This limitation may lead to reduced success rates, decreased performance, and inadequate safety constraints. To address this, we construct time-varying CBFs (TVCBFs) that consider velocity conditions for obstacles. Our approach leverages recent developments on distance fields for articulated manipulators, a differentiable representation that enables the mapping of objects’ position and velocity into the robot’s joint space, offering a comprehensive understanding of the system’s interactions. This allows the manipulator to be treated as a point-mass system thus simplifying motion generation tasks. Additionally, we introduce a time-varying control Lyapunov function (TVCLF) to enable whole-body contact motions. Our approach integrates the TVCBF, TVCLF, and manipulator physical constraints within a unified QP framework. We validate our method through simulations and comparisons with state-of-the-art approaches, demonstrating its effectiveness on a 7-axis Franka robot in real-world experiments. © 2024, CC BY.

关键词： Lyapunov functions

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Design of Nonlinear systems with the Integral State controller 3

Design of Nonlinear Systems with the Integral State Controll...

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3rd International Conference on Computation, Automation and Knowledge Management, ICCAKM 2022

作者： Prokopenko, Nikolay Gaiduk, Anatoly Chumakov, Vladislav Institute for Design Problems in Microelectronics of RAS Don State Technical University Zelenograd Rostov-on-Don Russia Southern Federal University Scientific Design Office Robotics and Control Systems Rostov-on-Don Taganrog Russia Don State Technical University Rostov-on-Don Russia

ISBN: (数字)9781665453196

ISBN: (纸本)9781665453196

Modern control systems must be synthesized taking into account the nonlinear characteristics of real control objects to ensure the required quality and accuracy. Many methods for synthesizing nonlinear control systems are currently known. However, the practical application of most of them is difficult, since the initial equations of the nonlinear object must be converted to the special forms. This article considers an analytical method for synthesizing nonlinear control systems for nonlinear objects with differentiable nonlinearities. The control system is synthesized using a quasi-linear model (QLM form). This model is created on the basis of equations in the Cauchy form of the non-linear object. For this purpose, the partial derivatives of nonlinearities are found with respect to their arguments. Then they are integrated over an additional variable. The controller parameters are determined by solving a system of algebraic equations. The state variables of the non-linear object are assumed to be measurable. The integrated state controller provides zero error caused by the constant action, and the transient time is not more than the specified one. The value of the system error is equal to zero on change in the parameters of the system, as long as it is stable. The method can be used to create control systems of many industries with non-linear objects: Aircraft engineering, shipbuilding, automotive industry, agriculture and many others. © 2022 IEEE.

关键词： Automotive industry

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A New Approach to the Determination of Hydroconductivity in Oil Plates and a Device for Its Performance

SSRN

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SSRN 2023年

作者： Rzaev, Abbas Rasulov, Sakit Asadova, Rena Institute of Control Systems of ANAS Laboratory of Intelligent Diagnostics and Control Systems for Oil and Gas Production Facilities Azerbaijan State University of Oil and Industry Department of Industrial Safety and Labor Protection Azerbaijan Institute of Control Systems of ANAS Department of Scientific and Technical Information and Patent Research

In the article, the values of the formation permeability coefficient Kf are determined depending on the down hole pressure during well operation, the thickness of the formation and the viscosity of the oil, and a device that implements the results of this method is developed.A trial selection of the petroleum liquid is carried out, it is subjected to separation from the accompanying water and gas, and the intensity of the infrared radiation falling and passing through the layer of separated oil is measured. The optical density of oil is calculated and the coefficient of permeability at the initial moment of time K0 of the optical density D is determined based on the exponential dependence, the absolute permeability Kfi is determined by the value of the coefficient of dynamic viscosity μn of oil, which characterizes the optical density Dx, after which the hydraulic conductivity of the layer is calculated. The results of the obtained calculations show that the proposed method really reflects the process of filtration in the oil layer. © 2023, The Authors. All rights reserved.

关键词： Density (optical)

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Dynamics of the kinetic energy flux density vector in the lower 200-meter layer of the atmosphere 28

Dynamics of the kinetic energy flux density vector in the lo...

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28th International Symposium on Atmospheric and Ocean Optics: Atmospheric Physics

作者： Krasnenko, N.P. Potekaev, A.I. Shamanaeva, L.G. Institute of Monitoring of Climatic and Ecological Systems of the SB RAS Tomsk Russia Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Scientific Research Tomsk State University Tomsk Russia V.E. Zuev Institute of Atmospheric Optics of the SB RAS Tomsk Russia

ISBN: (纸本)9781510657540

In the report, the diurnal hourly dynamics of the mean and turbulent components of the kinetic energy flux density vector (the Umov vector) retrieved from minisodar measurements of the 3D wind vector and its 3D variance in the lower 200-meter layer of the atmosphere is analyzed. The results of this analysis can be used to elucidate time periods and altitude ranges of the maximal and minimal values of the Umov vector components as well as the prevailing directions of the total kinetic energy transfer, that is, to detect times and altitudes most and least favorable for flights of unmanned aerial vehicles, to estimate the effect of wind on high-rise buildings and bridges, and to predict the wind energy potential of wind turbines. © 2022 SPIE.

关键词： Atmospheric boundary layer

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Fault Detection and Bipartite Time-Varying Formation control for Fuzzy Multi-Agent systems under Switching Topology: Theory and Applications

Fault Detection and Bipartite Time-Varying Formation Control...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Siyang Zhao Jinyong Yu Michael Basin Research Institute of Intelligent Control and Systems Harbin Institute of Technology Heilongjiang China Robotics Institute Ningbo University of Technology and Zhejiang China School of Physical and Mathematical Sciences Autonomous University of Nuevo Leon Nuevo Leon Mexico

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

This paper studies the problem of co-designing fault detection observers and time-varying formation controllers for nonlinear multi-agent systems over a signed switching digraph. A Markov process is employed to describe the digraph and the IT2 T-S fuzzy model is used to model the nonlinearities and parameter uncertainties of the system. Sufficient conditions are proposed guaranteeing that the bipartite time-varying formation tracking error is uniformly ultimately bounded and the fault detection performance is constrained by a dissipative index. Finally, the effectiveness and feasibility of the proposed method are verified by an example of one leader and six followers and a case study of a system of seven robotic arms.

关键词： Fault detection Switches Observers Markov processes Manipulators Formation control Topology

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