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2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)最新文献

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A high precision magnetic based linear displacement sensor 一种高精度磁基线性位移传感器
2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA) Pub Date : 2017-11-01 DOI: 10.1109/ICCIAUTOM.2017.8258690
P. Karimaghaee, A. Amidi, E. Roshandel
{"title":"A high precision magnetic based linear displacement sensor","authors":"P. Karimaghaee, A. Amidi, E. Roshandel","doi":"10.1109/ICCIAUTOM.2017.8258690","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258690","url":null,"abstract":"The fast industrial developments result in newly created devices in a wide range of applications. Sensors families are one of the most important instruments in industries which provide various useful facilities in controlling and monitoring applications. Precise displacement sensors are needed in any moving applications. The measurement of the linear displacement in the electromechanical systems is a special issue in industries. Linear displacement measuring not only is needed to provide a suitable control system in various systems but also it is necessary to protect some devices in industrial applications such as turbine and generator shafts. In this paper, a low-cost, robust, non-contact, and high precision linear displacement sensor is proposed. The mechanical structure and electrical circuit are two special parts of the sensor. A load cell works as a transducer which converts the mechanical tension to voltage data set. An industrial setup of the sensor is provided and tested to demonstrate the system accuracy and effectiveness in the linear displacement measurement.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125130907","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: 2
Wave-based control of suspended cable driven parallel manipulators 悬索驱动并联机器人的波浪控制
2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA) Pub Date : 2017-11-01 DOI: 10.1109/ICCIAUTOM.2017.8258673
S. A. Khalilpour, H. Taghirad, Hossein Habibi
{"title":"Wave-based control of suspended cable driven parallel manipulators","authors":"S. A. Khalilpour, H. Taghirad, Hossein Habibi","doi":"10.1109/ICCIAUTOM.2017.8258673","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258673","url":null,"abstract":"This paper provides a conceptual framework through wave-based strategy to control suspended cable driven parallel manipulators. Since these manipulators usually take up large workspaces, the inclusion and investigation of the effects of cable mass and flexibility on the robot performance is inevitable. Due to modeling complexity, researchers have not paid enough effort on studying the sagging effect on designing controllers. In a large suspended cable robot, stiffness decreases significantly, causing the motion of end effector to undergo unwanted vibration. In this paper, wave based control (WBC), as a newly developed method for mechanical flexible systems is proposed and applied to cable driven parallel manipulators to perform position control and active vibration damping at the same time. The control approach assumes actuator motion as launching a mechanical wave into the flexible system which is absorbed on its return to the actuator, while the launching and absorbing proceed simultaneously. This simple, intuitive idea lets controllers to act rapid and almost vibration free repositioning of the system, using only sensors collocated at the actuator system interface. To accomplish this, the mathematical model of the robot which takes the mass and flexibility of the cable into account is developed first. Then the control method is adapted and presented to prevent or minimize any undesirable sway in the system.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134312980","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: 8
Fractional order adaptive fuzzy terminal sliding mode controller design for a knee joint orthosis with nonlinear disturbance observer 带有非线性干扰观测器的膝关节矫形器分数阶自适应模糊终端滑模控制器设计
2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA) Pub Date : 2017-11-01 DOI: 10.1109/ICCIAUTOM.2017.8258652
H. Delavari, Roya Jokar
{"title":"Fractional order adaptive fuzzy terminal sliding mode controller design for a knee joint orthosis with nonlinear disturbance observer","authors":"H. Delavari, Roya Jokar","doi":"10.1109/ICCIAUTOM.2017.8258652","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258652","url":null,"abstract":"Rehabilitation and assistive robots have drawn a large amount of interest, related to the increase of the elderly and the increase in diseases such as stroke and spinal cord injuries as well as the high cost of rehabilitation. In this paper, a new fractional order adaptive fuzzy terminal sliding mode control is proposed for a knee joint orthosis. This robot is used for rehabilitation and assistive purposes. A model integrating the human lower-limb and orthosis based on the Lagrange equations is used. A sliding mode control is designed to overcome the uncertainties and external disturbances. Then an adaptive fuzzy controller is designed to remove the undesirable chattering phenomenon in control signal caused by sliding mode control. Then a nonlinear disturbance observer is combined with fractional order terminal sliding mode control to improve the precision and speed of tracking and to decrease the effect of the uncertainties in muscular torque modeling on the system control. The stability of the closed loop system is proved by Lyapunov theorem. The PSO algorithm is used to determine the coefficients of the adaptive fuzzy fractional order terminal sliding mode control and the coefficients of the fuzzy membership functions. Finally, the performance of the proposed controller is compared with conventional sliding mode control.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":"63 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113973946","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
Interactive online learning, E-education platform with multimedia computer technologies and internet-based laboratories 交互式在线学习，多媒体计算机技术的电子教育平台和基于互联网的实验室
2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA) Pub Date : 2017-11-01 DOI: 10.1109/ICCIAUTOM.2017.8258680
M. Farkhadov, Sergey V. Vaskovsky, Lev Nadeinsky
{"title":"Interactive online learning, E-education platform with multimedia computer technologies and internet-based laboratories","authors":"M. Farkhadov, Sergey V. Vaskovsky, Lev Nadeinsky","doi":"10.1109/ICCIAUTOM.2017.8258680","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258680","url":null,"abstract":"In this paper we present an on-line learning system, its architecture and basic functions, as well as the main approaches how to teach remotely. Our learning system provides an effective and natural human-computer interface. This program has been successfully used to teach a programming course, showing a number of advantages and benefits in comparison to the traditional teaching methods. We demonstrate how rewarding it is to create teaching tools that use a variety of modern methods of human-computer interaction, such as speech recognition. Finally, we compare the existing systems of remote teaching.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125862461","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
Adaptive control application on syringe pump pressure control systems in oil and gas industries 自适应控制在油气工业注射泵压力控制系统中的应用
2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA) Pub Date : 2017-11-01 DOI: 10.1109/ICCIAUTOM.2017.8258689
P. Karimaghaee, A. Hosseinzadeh, A. Amidi, E. Roshandel
{"title":"Adaptive control application on syringe pump pressure control systems in oil and gas industries","authors":"P. Karimaghaee, A. Hosseinzadeh, A. Amidi, E. Roshandel","doi":"10.1109/ICCIAUTOM.2017.8258689","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258689","url":null,"abstract":"Syringe pumps have found various applications in the oil, gas, medical, and pharmaceutical industries. A high-precision pressure control approach is required in order to have accurate results in laboratories experiments. In conventional control systems, users need to regulate system controllers because of the various operating points. Adaptive control consists of several techniques which enable engineers to adjust control system parameters in real time automatically. In this paper, an appropriate adaptive controller is designed and implemented to provide meticulous operation of the syringe pump's motor in a wide range of operating points. The drive system of the permanent magnet synchronous motor is designed to control the fluid pressure through the syringe and needle. The experimental results demonstrate the accuracy and effectiveness of the proposed control strategy in comparison to the conventional controllers.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":"214 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116158431","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: 7
Set-point control of LED luminaires for daylight harvesting 用于日光采集的LED灯具的设定点控制
2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA) Pub Date : 2017-11-01 DOI: 10.1109/ICCIAUTOM.2017.8258686
S. Attarchi, M. Moallem
{"title":"Set-point control of LED luminaires for daylight harvesting","authors":"S. Attarchi, M. Moallem","doi":"10.1109/ICCIAUTOM.2017.8258686","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258686","url":null,"abstract":"Modern lighting systems can achieve energy savings through various lighting control strategies such as daylight harvesting and occupancy detection while maintaining desired light levels in the environment. In this paper, a model-based feedback control algorithm is presented to achieve desired illuminance levels with the daylight treated as a disturbance term. The control objective is to improve lighting energy efficiency through feedback control of supplemental lighting; hence maximizing the use of daylight while achieving the desired light levels at the target points.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128868563","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
A modified fruit fly optimization algorithm and its application to control of robot manipulators 一种改进的果蝇优化算法及其在机械臂控制中的应用
2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA) Pub Date : 2017-11-01 DOI: 10.1109/ICCIAUTOM.2017.8258664
F. Mehdifar, H. Gholami, H. Kharrati, M. Menhaj
{"title":"A modified fruit fly optimization algorithm and its application to control of robot manipulators","authors":"F. Mehdifar, H. Gholami, H. Kharrati, M. Menhaj","doi":"10.1109/ICCIAUTOM.2017.8258664","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258664","url":null,"abstract":"This paper presents a new Modified Fruit Fly Optimization Algorithm (MFOA) which is used to find the optimal PID controllers parameters applied to control a two-link robotic manipulator. The proposed new distribution law in MFOA for some of the fruit flies improves searching diversity in earlier iterations and increases solution precession in last iterations. In order to apply the PID controllers to the robot manipulator, a nonlinear feedback linearization control technique is employed which can fully linearize and decouple nonlinear robot's dynamics. Simulation results confirm that the MFOA-PID controller can achieve better closed-loop system responses with respect to the original FOA-PID controller.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128570352","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: 4
Iterative calculation of optimal control trajectories for nonlinear systems 非线性系统最优控制轨迹的迭代计算
2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA) Pub Date : 2017-11-01 DOI: 10.1109/ICCIAUTOM.2017.8258708
H. Salehi, B. Tavassoli
{"title":"Iterative calculation of optimal control trajectories for nonlinear systems","authors":"H. Salehi, B. Tavassoli","doi":"10.1109/ICCIAUTOM.2017.8258708","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258708","url":null,"abstract":"In this paper we introduce an algorithm that solves the nonlinear optimal control problem (NLOCP) iteratively by solving a series of linear time varying optimal control problems (LTVOCP). Starting from an initial pair of input/state trajectories, in each step of the algorithm an optimal perturbation of the trajectories that produces the fastest decrease of the cost functional is obtained and the trajectories are improved. Convergence of the algorithm to the optimal set of trajectories is ensured. The results are presented in the framework of Pontryagin's minimum principle (PMP). It is shown via different examples that the proposed algorithm is more efficient and robust compared to some other methods. The proposed algorithm finds the optimal solution in some of the cases in which the other methods fail.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133015203","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
Kinematics and workspace analysis of a novel parallel mechanism with kinematic redundancy 一种具有运动冗余的新型并联机构运动学与工作空间分析
2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA) Pub Date : 2017-11-01 DOI: 10.1109/ICCIAUTOM.2017.8258701
Fatemeh Heiran, Bahman Nouri Rahmat Abadi, S. Taghvaei, R. Vatankhah
{"title":"Kinematics and workspace analysis of a novel parallel mechanism with kinematic redundancy","authors":"Fatemeh Heiran, Bahman Nouri Rahmat Abadi, S. Taghvaei, R. Vatankhah","doi":"10.1109/ICCIAUTOM.2017.8258701","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258701","url":null,"abstract":"This paper introduces a novel kinematically redundant parallel mechanism categorized as 3-PRPR type. The structure of the proposed mechanism is elaborated and its kinematics is studied. The constant orientation and the reachable workspace of the mechanism are studied and it is shown that the workspace of the mentioned mechanism in comparison with the counterpart non-redundant mechanism is increased, considerably. Also, the effect of base radius and end effector's dimension on the both type of mechanisms workspace is studied.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133556426","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: 4
Nested saturation control based on the extended state observer: Twin rotor MIMO system 基于扩展状态观测器的嵌套饱和控制:双转子MIMO系统
2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA) Pub Date : 2017-11-01 DOI: 10.1109/ICCIAUTOM.2017.8258653
Samad Amini, B. Ahi, M. Haeri
{"title":"Nested saturation control based on the extended state observer: Twin rotor MIMO system","authors":"Samad Amini, B. Ahi, M. Haeri","doi":"10.1109/ICCIAUTOM.2017.8258653","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258653","url":null,"abstract":"This paper is concerned with the control of a laboratory setup called the twin rotor MIMO system. A novel nested saturation controller based on well-known extended state observer is proposed. Extended state observer has been utilized to tackle control difficulties due to existence of a high coupling between system channels. Nested saturation control is also utilized to improve closed-loop performance of system considering inevitable input saturation constraint. Besides the complexity of system, the proposed method can be simply designed and implemented. Numerical simulations are utilized to demonstrate the effectiveness of proposed method in comparison with the existing ones.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130544399","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: 2
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