2019 7th International Conference on Robotics and Mechatronics (ICRoM)最新文献_第10页

Fault diagnosis of Combined Cycle Power Plant Using ELM 基于ELM的联合循环电厂故障诊断

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071851

Hossein Eftekhary Davallo, R. Bahrevar, Ali Chaibakhsh

{"title":"Fault diagnosis of Combined Cycle Power Plant Using ELM","authors":"Hossein Eftekhary Davallo, R. Bahrevar, Ali Chaibakhsh","doi":"10.1109/ICRoM48714.2019.9071851","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071851","url":null,"abstract":"In this study, fault detection and fault diagnosis in the high-pressure tubes of a combined cycle power plant's high pressure steam generator was investigated. Identification and prevention from fault propagation in combined cycle power plants plays the main role in improving the reliability and safety of these systems. In this work, leakage faults detection in the internal, inlet and outlet tubes and their effects on operating parameters of a heat recovery steam generator (HRSG) were studied. In order to determine the system's behaviors, residual generation based on nonlinear autoregressive exogenous networks have been proposed, and appropriate features based on statistical feature generation have been extracted. To achieve more accurate classifying of system's faults, an extreme learning method technique was employed for the training of extracted features. Extreme learning machine method's excellent prediction capabilities are the main advantages of represented method, which could be used for improving the performance and troubleshooting of the power plant's equipment. The performances of the proposed fault diagnosis system were assessed at different leakage fault conditions by performing simulation experiments on an accurate model of power plant. The obtained results show the accuracy and reliability of this method.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126737724","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

Fuzzy control of anticipation and evaluation behaviour in real traffic flow 真实交通流预测与评价行为的模糊控制

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071883

Farzam Tajdari, A. Ghaffari, A. Khodayari, A. Kamali, Nima Zhilakzadeh, N. Ebrahimi

引用次数: 13

Modeling and Control of an Air Levitation Ball and Pipe Laboratory Setup 空气悬浮球及管道实验装置的建模与控制

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071827

Amirreza Tootchi, S. Amirkhani, Ali Chaibakhsh

{"title":"Modeling and Control of an Air Levitation Ball and Pipe Laboratory Setup","authors":"Amirreza Tootchi, S. Amirkhani, Ali Chaibakhsh","doi":"10.1109/ICRoM48714.2019.9071827","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071827","url":null,"abstract":"in this paper, design, fabrication, modeling, and control of a low-cost ball and pipe air levitation laboratory system for educational purposes is investigated. Ball and pipe laboratory setup is a dynamic benchmark system, designed to control the position of the ball on a vertical upward airflow that counteracts the gravitational force exerted on the ball without mechanical support. A blower feeds airflow, and the position of the ball is measurable by using an infrared distance meter. In this paper, the design and construction of a ball and pipe system are initially carried out. Detailed mathematical modeling of the process is included, followed by a system parameters identification process, and then a PID control system is developed by establishing a connection between the Arduino circuit and Simulink® real-time toolbox. The performance of the controller represents small overshoot and fast settling time. The system is intended to be used as a benchmark and educational laboratory setup in control systems theory courses. This device would enhance the understandings and skills of students by providing a proper balance between the theoretical concepts and practical knowledge.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122273027","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

Control of indentation depth in nanomanipulation process to avoid damage of microparticles 纳米操作过程中压痕深度的控制，避免微粒损伤

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071796

H. Khaksar, M. Jahanshahi

引用次数: 1

SVM for Decoding the Human Activity Mode from sEMG Signals 基于表面肌电信号的人类活动模式解码支持向量机

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071845

Hadi Kalani, S. M. Tahamipour-Z., I. Kardan, A. Akbarzadeh, Amirali Ebrahimi, Reza Sede

引用次数: 1

Realization of Nonlinear Adaptive Compliance: Towards Energy Efficiency in Cyclic Tasks 非线性自适应顺应的实现:迈向循环任务的能源效率

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071815

Rezvan Nasiri, Arjang Ahmadi, M. N. Ahmadabadi

{"title":"Realization of Nonlinear Adaptive Compliance: Towards Energy Efficiency in Cyclic Tasks","authors":"Rezvan Nasiri, Arjang Ahmadi, M. N. Ahmadabadi","doi":"10.1109/ICRoM48714.2019.9071815","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071815","url":null,"abstract":"Due to the nonlinearity of dynamical equations in robotic systems, nonlinear compliance has more potential for energy consumption reduction. Moreover, the legged robots require adaptive structures so as to maximize their efficiency w.r.t. the new environments and gaits. Therefore, having nonlinear adaptive compliance is essential in legged robots. In this paper, we take one step towards the realization of nonlinear compliances with adaptable torque-deflection profiles. So as to achieve this goal, we present a mechanism which consists of four linear extension springs. Changing the arrangement of linear springs can adapt the compliance profile to the desired one. In addition, to optimize the arrangement of linear springs in an online manner, an adaptation rule is presented. The proposed adaptation rule adapts the compliance profile such that the actuator's torque and consequently the energy consumption are reduced. The performance of presented adaptation rule for actuator's torque minimization is analyzed by means of simulations. In simulations, we observed that the adaptation rule not only minimizes the energy consumption but also improves the tracking performance of the controller. Finally, to realize nonlinear adaptive compliance, a prototype of the presented mechanism is designed and constructed.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128304900","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

Generating Synthetic Medical Images by Using GAN to Improve CNN Performance in Skin Cancer Classification 利用GAN生成合成医学图像，提高CNN在皮肤癌分类中的性能

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071823

P. Sedigh, Rasoul Sadeghian, M. T. Masouleh

引用次数: 33

Conceptual Design of an Active Body Weight Support System Using a Linear Series Elastic Actuator 采用线性串联弹性作动器的主动车身重量支撑系统的概念设计

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071896

Amirmuhammad Mirzaee, M. Moghadam, A. M. Saba

引用次数: 3

Path optimizing and cell's deformation in manipulation with AFM nano-robot using genetic algorithm 基于遗传算法的AFM纳米机器人操作路径优化与细胞变形

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071890

S. Shahali, Z. Rastegar

{"title":"Path optimizing and cell's deformation in manipulation with AFM nano-robot using genetic algorithm","authors":"S. Shahali, Z. Rastegar","doi":"10.1109/ICRoM48714.2019.9071890","DOIUrl":"https://doi.org/10.1109/ICRoM48714.2019.9071890","url":null,"abstract":"recently, manipulation of biological particles in different mediums with utilizing atomic force microscope (AFM), has become more common. The migration of biological and non-biological micro/Nano particles have been extensively considered for various purposes, such as medicine, Nano-robotics, and assembly of parts. In the field of medicine, due to the high sensitivity of live cells and their vulnerability, in manipulation of single cells for diagnosing and treatment of cancer as well as tissue engineering, it is necessary to determine the path with the least amount of damage and the highest level of safety and precision for biological particles. In this paper for the first time, the optimal path of the particle's motion is determined by considering the mechanical and morphological properties of the cell. The shortest path with the least amount of cell's deformation, considering the mechanical properties of breast cancer cells and applying particle's roughness, is determined by using the equations of 3D manipulation of viscoelastic spherical particles and genetic algorithm. Thereby, there will be no concern for the deformation and vulnerability of biological particles such as cells in manipulation process by AFM micro-robot.","PeriodicalId":191113,"journal":{"name":"2019 7th International Conference on Robotics and Mechatronics (ICRoM)","volume":"221 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132201799","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

Resilient Consensus in Double-Integrator Systems with Switching Networks Facing Smart Attacks 面对智能攻击的交换网络双积分器系统的弹性共识

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI: 10.1109/ICRoM48714.2019.9071915

M. Ahmadzadeh, M. Ahmadi, Mina Babahaji, I. Sharifi

引用次数: 1