2018 11th International Symposium on Mechatronics and its Applications (ISMA)最新文献_第2页

Combined fuzzy and nonlinear dynamic observer for vehicle longitudinal velocity and side-slip angle 车辆纵速和侧滑角的模糊非线性动态观测器

2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330132

Carine Bardawil, Naseem A. Daher

{"title":"Combined fuzzy and nonlinear dynamic observer for vehicle longitudinal velocity and side-slip angle","authors":"Carine Bardawil, Naseem A. Daher","doi":"10.1109/ISMA.2018.8330132","DOIUrl":"https://doi.org/10.1109/ISMA.2018.8330132","url":null,"abstract":"The knowledge of vehicle's speed at the center of gravity, as well as the vehicle sideslip angle is of high importance. These dynamic variables along with several others play a vital role in active safety systems and advanced chassis control applications. However, they are not readily measured on production automobiles via standard and inexpensive sensors. In this work, the estimation of these critical vehicle states was addressed in a newly proposed scheme that requires no incremental hardware, and is of reduced complexity compared with existing work in literature since the need of large matrices inversion is omitted as well as the need for re-tuning the observer parameters in accordance with the driving situation. A combined fuzzy logic estimator is elaborated for the longitudinal speed and a nonlinear 3 degrees of freedom dynamic model is used in the design of the sideslip observer. The proposed estimation approach is implemented in MATLAB/Simulink ® and the predicted variables are compared to the outputs of CarSim ®. A dual lane change maneuver was conducted at varying longitudinal speeds, the estimator demonstrated accuracy and rapidly traced the true values of the vehicle states.","PeriodicalId":163555,"journal":{"name":"2018 11th International Symposium on Mechatronics and its Applications (ISMA)","volume":"135-136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131695142","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Adaptive sliding mode control of a system with Bouc-Wen model Bouc-Wen模型系统的自适应滑模控制

2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330122

Saba Mansourfar, M. Baradarannia

引用次数: 1

Fast correction of voltage unbalance factor in three-phase power system using neural network 基于神经网络的三相电力系统电压不平衡因素快速校正

2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330136

J. Ghaeb, Dana M. Ragab, I. Al-Naimi

引用次数: 3

Supervisor and control investigation in smart/autonomous vehicles: Environment recognition and objects detection ADAS application case study 智能/自动驾驶车辆的监督和控制调查:环境识别和目标检测ADAS应用案例研究

2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330135

O. Abid, Q. Cabannes, B. Senouci

{"title":"Supervisor and control investigation in smart/autonomous vehicles: Environment recognition and objects detection ADAS application case study","authors":"O. Abid, Q. Cabannes, B. Senouci","doi":"10.1109/ISMA.2018.8330135","DOIUrl":"https://doi.org/10.1109/ISMA.2018.8330135","url":null,"abstract":"Research on autonomous and smart vehicles technology has been growing exponentially in recent years by integrating more and more smart software inside, those intelligent vehicles have several functionalities such as environment recognition, driver drowsiness detection and communication with other cars, etc. Thus, a supervisor is needed to control sensors and actuators, to manage the network and to process data tasks. In most of smart automobiles, embedded RTOS (Real Time Operating System) are used as supervisor to control all data coming from the different sensors, and to meet the real time requirements. In this paper, we investigate the real time software control in smart/autonomous through the design and prototyping of an ADAS (Advanced Driver Assistant System) real time application for vehicle environment recognition and objects detection. On one hand, we port the real time operating system FreeRTOS on the top of Multi/CPU-FPGA platform, and then we point out the advantages of the FreeRTOS to develop a real smart embedded system for environment car detection within a hardware prototype on a top of the FPGA Zynq hardware platform. On the other hand, a deep comparison between FreeRTOS and standard operating embedded Linaro/Linux, is presented. The entry point of our real time ADAS application system is a point cloud coming from LIDAR sensors as an input, and then several steps are defined in the application: data segmentation, objects searching, features extracts and classification. As a first step of validation, our ADAS application detects pedestrians using High-Definition range data.","PeriodicalId":163555,"journal":{"name":"2018 11th International Symposium on Mechatronics and its Applications (ISMA)","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116912972","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A genetic based reinforcement neurocontroller for dual arm planar robot 基于遗传的双臂平面机器人强化神经控制器

2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330137

S. Banihani, A. Al-Jarrah, S. Mutawe, M. Hayajneh

引用次数: 0

Motion model of fish-like underwater vehicle and its effect on hydrodynamic performance 鱼状水下航行器运动模型及其对水动力性能的影响

2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330134

Gang Xuel, Yanjun Liu, Zhi Chen, Shizhen Li

引用次数: 5

Friction estimation of a linear voice coil motor using robust state space sinusoidal reference tracking 基于鲁棒状态空间正弦参考跟踪的线性音圈电机摩擦估计

2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330125

H. U. Butt, Danial Waleed, R. Dhaouadi

引用次数: 2

Dynamic modeling and numerical simulations of a passive robotic walker using Euler-Lagrange method 基于欧拉-拉格朗日方法的被动步行机器人动力学建模与数值仿真

2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330124

I. Hussain, Mohammad I. Awad, A. Junaid, F. Renda, L. Seneviratne, D. Gan

{"title":"Dynamic modeling and numerical simulations of a passive robotic walker using Euler-Lagrange method","authors":"I. Hussain, Mohammad I. Awad, A. Junaid, F. Renda, L. Seneviratne, D. Gan","doi":"10.1109/ISMA.2018.8330124","DOIUrl":"https://doi.org/10.1109/ISMA.2018.8330124","url":null,"abstract":"The two main important factors to be considered while designing an efficient biped robot are human like gait cycle and energy efficiency. The researchers have sought the solution through passive dynamic walking which can provide highly energy efficient model for biped locomotion exhibiting human like gait under gravity. By adding actuation at some joints, the passive dynamic walking robot can walk stably on level ground. In this paper, we present numerical simulation of a simple robotic dynamic walker using Matlab. We derived the equation of motion using Euler-Lagrange method. We first demonstrate that a simple passive biped walker, vaguely resembling human legs, can walk down a shallow slope without any actuation and control. Later, we extended the passivity property to active dynamic walkers on level ground. Our model is the simplest special case of the passive-dynamic models pioneered by McGeer (1990a). It has two rigid massless legs hinged at the hip, a pointmass at the hip, and point-masses at the feet. After nondimensionalizing the governing equations, the model has only one free design parameter, the ramp slope γ. This model shows stable walking modes similar to more elaborate models, but allows some use of analytic methods to study its dynamics.","PeriodicalId":163555,"journal":{"name":"2018 11th International Symposium on Mechatronics and its Applications (ISMA)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114756505","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Prediction of leakage current peak value 泄漏电流峰值预测

2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330118

Nameer Al Khafaf, A. El-Hag

{"title":"Prediction of leakage current peak value","authors":"Nameer Al Khafaf, A. El-Hag","doi":"10.1109/ISMA.2018.8330118","DOIUrl":"https://doi.org/10.1109/ISMA.2018.8330118","url":null,"abstract":"The characteristics of leakage current (LC) have been widely used to study the relation between the contamination level, the peak value of LC and flashover in outdoor insulator. In this paper, a feed forward nonlinear autoregressive artificial neural network (ANN) model has been trained to predict the LC peak value from the past data history of LC peak time series. The applied voltage, the fog conductivity and the length of each insulator were varied during data collection phase to monitor and record the change in LC peak developing on the insulator surface over different environmental conditions. The ANN was then trained and tested using the collected data under variable conditions. The results have shown that as the average peak of LC changes with time intervals, the contamination accumulation on the insulator surface followed a similar trend and hence the instantaneous peak of the LC is a good measure of contamination accumulation on the insulator surface. The proposed ANN model can be used to predict the future peak value of LC for one full hour and hence can be used to alert the utility's engineer of any critical condition before it happens.","PeriodicalId":163555,"journal":{"name":"2018 11th International Symposium on Mechatronics and its Applications (ISMA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115693645","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Support vector regression based electricity peak load forecasting 基于支持向量回归的电力峰值负荷预测

2018 11th International Symposium on Mechatronics and its Applications (ISMA) Pub Date : 2018-03-01 DOI: 10.1109/ISMA.2018.8330143

Mohammad Azad, S. Uddin, Maen Takruri

引用次数: 15