International Journal of Robotics and Automation Technology最新文献

{"title":"Finite Horizon Memory Control of Networked Systems Using Chain-like Lyapunov Function","authors":"Liming Liu, Yanxiang Wang, Hong-Tao Sun, Yitao Shen, Hao Wang","doi":"10.31875/2409-9694.2023.10.14","DOIUrl":"https://doi.org/10.31875/2409-9694.2023.10.14","url":null,"abstract":"Abstract: This paper proposes a novel finite horizon memory control (FHMC) design framework for networked systems by using input delay approach. A chain-like input delay model is established to characterize the networked control system (NCS) under memory control architecture in order to make full use of historic sampled-data. Based on the proposed chain-like delay model, the corresponding chain-like Lyapunov-Krasovskii function, which records the historic sampling information of NCS, is well constructed for facilitating further analysis and synthesis of the proposed FHMC scheme. Both state feedback controllers and static output feedback controllers are derived by solving LMIs (Linear matrix inequalities). The proposed FHMC scheme is skilled in improving control performance of networked systems. Simulations show the effectiveness of the presented FHMC scheme.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"100 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139146895","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}

{"title":"MRAC with SMC Applied to Lateral Control of a Fixed-Wing MAV","authors":"T. E. Fraire, J.A. Sáenz, C. Sáenz, F. C. Martinez","doi":"10.31875/2409-9694.2023.10.11","DOIUrl":"https://doi.org/10.31875/2409-9694.2023.10.11","url":null,"abstract":"Abstract: This paper presents a PD control law with adaptive gains with the MIT (Massachusetts Institute Technology) rule with different sliding modes; that is, the MIT rule has been designed with is known in the literature with first order sliding mode, second order sliding mode and high order sliding mode (HOSM) to obtain a better gain scheduling taking advantage the sliding modes techniques-the PD control law with adaptive gains that is designed for the lateral dynamics of a fixed-wing MAV. To apply the methodology of the model reference adaptive control (MRAC), sometimes called model reference adaptive system (MRAS), to the adaptive gains of the PD control, a sliding manifold is proposed considering the output of the lateral dynamics and with the output of the reference model.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"194 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139174566","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}

{"title":"Design of Crop Irrigation Decision-Making System Based on ZigBee Technology","authors":"Qiang Sheng, Xinyu Li, Yuxiao Han, Han Li, Man Zhang","doi":"10.31875/2409-9694.2023.10.09","DOIUrl":"https://doi.org/10.31875/2409-9694.2023.10.09","url":null,"abstract":"Abstract: To promote the high-quality development of agriculture, meet the needs of agricultural products grown in greenhouses, and achieve precise monitoring of greenhouse plants, a small greenhouse micro-environment multi-parameter monitoring system was designed and implemented. The system consists of three parts: a monitoring node, a gateway node, and a remote management platform. The monitoring node used the ESP32 microcontroller as the main control chip, combined ZigBee technology, and embedded different sensors to complete the collection and transmission of environmental parameters. In the gateway node, the 4G Data Transfer Unit module was used as the carrier, and the communication protocol was used to realize data communication between the monitoring terminal and the gateway. The remote management platform was based on the PyCharm development platform. It used the PyQt5 graphical user interface (GUI) toolkit to complete the design of the host computer monitoring platform, establish a database, and realize the storage and analysis of environmental parameters. The remote management platform embedded the crop reference evapotranspiration, online calculation model, to provide irrigation decisions for greenhouse crop management and improve the applicability and accuracy of irrigation decisions. After the experimental test platform was built to test the system communication distance, communication reliability, control reliability, and data reliability, the small greenhouse micro-environment multi-parameter monitoring system designed in this paper can operate stably for a long time. Its functions meet the expected requirements and are in line with modern requirements for multi-parameter monitoring of smart greenhouses.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"114 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138607599","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}

{"title":"Research on Force Interaction Devices Specialized for Blind Guidance Robot","authors":"Bin Hong, Meimei Chen, Yihang Guo, Fugeng Li, Changyuan Feng, Zhan Cao, Zhihao Ma, Jing Hou","doi":"10.31875/2409-9694.2023.10.08","DOIUrl":"https://doi.org/10.31875/2409-9694.2023.10.08","url":null,"abstract":"Abstract: As a new type of human-computer interaction, physical human-robot interaction is very common in guide robots and is the mainstream of future development. However, the force interaction device is hard to choose according to actual application requirements. In this paper, we compared the force transmission characteristics of three interaction mediums: rigid rod, spring-damping, and cable. The result shows that the rigid rod will bring a force impact on blind users when the robot’s motion state switches, while the spring-damper can not perform well in its response and stability. In contrast, the cable is more suitable in this area for its fast response and stability, moreover, it does not impose a dramatic impact when imposing an excitation force.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"120 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138607312","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}

{"title":"Design and Experiment of a Reconfigurable Bypass Downlink Surface Equipment for Transmitting the Surface Information to Deep Well","authors":"Jiafeng Wu, Zaisheng Hao, Shujun Wang, Anni Wang, Guangze Li, Xiaocan Du, Dongli Qin","doi":"10.31875/2409-9694.2023.10.07","DOIUrl":"https://doi.org/10.31875/2409-9694.2023.10.07","url":null,"abstract":"Abstract: In order to achieve the transmission of the control information from the surface to the downhole in the deep well during drilling, a design method of a new downlink surface equipment for generating negative pulse signals is presented in this paper. The equipment uses adjustable throttle control valve and pressure drop module (PDM) to realize bypass flow control. The PDM uses multistage variable nozzles to reduce drilling fluid pressure and meet drilling requirements under different pressure and flow rates. Design theory of the downlink surface equipment is established, and a specific design instance is given according to actual drilling conditions. Both laboratory and field experimental results verify the correctness of the proposed design method. The research results show that the design equipment can meet the needs of the transmission of the surface information, and the downlink transmission rate can reach at least one-bit data per 8 sec. The maximum pressure drop is realized by the PDM and the pressure drop at the control valve will be reduced according to drilling demand, the fluid velocity in the equipment is reduced as much as possible, the erosion of the drilling fluid to the equipment is reduced, and the service life can be improved effectively.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"31 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139208834","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}

{"title":"Design and Analysis of a High-Precision Horizontal Machine Tools","authors":"T. Chan, Yu-Ping Hong, Jyun-Sian Yang, Jiapeng Yu, Arindam Dutta, Sabbella Veera Venkata Satyanarayana Reddy","doi":"10.31875/2409-9694.2023.10.04","DOIUrl":"https://doi.org/10.31875/2409-9694.2023.10.04","url":null,"abstract":"Abstract: The horizontal machine tool has an automatic exchange table, which can be combined with a flexible manufacturing system for automatic processing and production. Therefore, it requires higher performance stability than other machines. This study analyzes the static and dynamic characteristics of a horizontal machine tool structure. The finite element analysis (FEA) method is generally used to analyze the whole machine structure and improve the deformation and resonance of the horizontal machine tool. In this study, FEA was applied to the design process of the machine tool, including static deformation analysis, modal analysis, transient analysis, and harmonic analysis of the machine. The deformation of the whole machine due to acceleration of gravity and cutting force was analyzed. The modal shapes generated by the first and third modes directly affected the machining process of the machine tool. To further analyze the influence of vibration signal processing on processing quality, transient response analysis was carried out on the effect of axial cutting force during machining. Spectrum analysis of the machine was also carried out. This study is expected to help the structural design of a horizontal machine tool to improve the dynamic characteristics and stability of the horizontal machining system.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125796332","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}

{"title":"Virtual Sensor Design for Replacement the Faulty Physical Sensors","authors":"A. Zhirabok, A. Zuev, V. Filaretov","doi":"10.31875/2409-9694.2023.10.03","DOIUrl":"https://doi.org/10.31875/2409-9694.2023.10.03","url":null,"abstract":"Abstract: The paper considers the problem of virtual sensor design for nonlinear dynamic systems with non-smooth nonlinearities described by continuous-time models for faulty physical sensor replacement. It is assumed that to solve the problem, the system is equipped by diagnostic system allowing detecting and isolating the faulty sensor. For every such a sensor, the virtual sensor generating estimate replacing the faulty sensor is designed. To solve the problem, so-called logic-dynamic approach is used which does not guarantee optimal solution but uses only methods of linear algebra to solve the problem for systems with non-smooth nonlinearities. The virtual sensor can be designed in the identification canonical form or Jordan canonical form. The advantage of the first form is a standard procedure of the virtual sensor design while Jordan form allows obtaining a simpler solution. The relations allowing designing the virtual sensor both in identification and in Jordan canonical form are derived.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122316404","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}

{"title":"Data–Driven Wake Steering Control for a Simulated Wind Farm Model","authors":"S. Simani, S. Farsoni, P. Castaldi","doi":"10.31875/2409-9694.2023.10.02","DOIUrl":"https://doi.org/10.31875/2409-9694.2023.10.02","url":null,"abstract":"Abstract: Upstream wind turbines yaw to divert their wakes away from downstream turbines, increasing the power produced. Nevertheless, the majority of wake steering techniques rely on offline lookup tables that translate a set of parameters, including wind speed and direction, to yaw angles for each turbine in a farm. These charts assume that every turbine is working well, however they may not be very accurate if one or more turbines are not producing their rated power due to low wind speed, malfunctions, scheduled maintenance, or emergency maintenance. This study provides an intelligent wake steering technique that, when calculating yaw angles, responds to the actual operating conditions of the turbine. A neural network is trained live to determine yaw angles from operating conditions, including turbine status, using a hybrid model and a learning-based method, i.e. an active control. The proposed control solution does not need to solve optimization problems for each combination of the turbines’ non-optimal working conditions in a farm; instead, the integration of learning strategy in the control design enables the creation of an active control scheme, in contrast to purely model-based approaches that use lookup tables provided by the wind turbine manufacturer or generated offline. The suggested methodology does not necessitate a substantial amount of training samples, unlike purely learning-based approaches like model-free reinforcement learning. In actuality, by taking use of the model during back propagation, the suggested approach learns more from each sample. Based on the flow redirection and induction in the steady state code, results are reported for both normal (nominal) wake steering with all turbines operating as well as defective conditions. It is a free tool for optimizing wind farms that The National Renewable Energy Laboratory (USA) offers. These yaw angles are contrasted and checked with those discovered through the resolution of an optimization issue. Active wake steering is made possible by the suggested solution, which employs a hybrid model and learning-based methodology, through sample efficient training and quick online evaluation. Finally, a hardware-in-the-loop test-bed is taken into consideration for assessing and confirming the performance of the suggested solutions in a more practical setting.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126791611","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}

{"title":"Design and Simulation Analysis of Robot-Assisted Plate Internal Fixation Device for Lower Limb Fractures","authors":"Yongqiang Zhou, Yimiao Chen, Chunsheng Sun, Qinhe Zhang","doi":"10.31875/2409-9694.2023.10.01","DOIUrl":"https://doi.org/10.31875/2409-9694.2023.10.01","url":null,"abstract":"Abstract: Internal fixation with steel plates is a common method for the therapy of lower limb fractures. Due to the disadvantages of traditional surgical methods such as high trauma and complications, the application of robots for minimally invasive surgery has become a popular research direction. In this article, we have designed and simulated the overall structure of a steel plate internal fixation device used in conjunction with a robotic arm. Firstly, a finite element model of cortical bone drilling was established based on ABAQUS to obtain the torque and axial force when drilling the cortical bone. Then a virtual prototype of the robot-assisted lower limb bone fracture plate internal fixation device was designed, and the outer shell, drilling mechanism, nail placement mechanism, nail supply mechanism, drive mechanism, and guide sleeve were refined based on the overall mechanical structure of the device, so that the device could continuously perform drilling and nail placement. Afterward, the device was simulated based on ADAMS, and the motion curves of each component were obtained to verify the feasibility of the device’s working principle and to validate the performance of the servo. Finally, the modal analysis of the device was carried out with the finite element software ABAQUS, and the modal parameters of the first six orders were obtained, which were compared with the operating frequencies of the motor and the servo to verify that the device is not easy to resonate during normal operation, and the static strength checks of the key components were carried out, and the stress and deformation clouds and upper limits of flexural values of the components were obtained, which proved that the structure has stability.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130218983","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}

{"title":"Analysing the Elements that Affect People's Behavioural Intention to Adopt Autonomous Vehicles","authors":"Patrice Seuwou","doi":"10.31875/2409-9694.2022.09.12","DOIUrl":"https://doi.org/10.31875/2409-9694.2022.09.12","url":null,"abstract":"Abstract: In order to get fresh insights into how behaviour is accepted at the individual and organisational levels, psychologists and sociologists have been studying the user acceptability of information technology for decades. Several techniques are used in the research's pragmatic approach, which is carried out in the phases that follow. In phase I, a preliminary survey with 408 individuals was used to identify the important variables impacting behavioural intention to use an autonomous vehicle (AV). Experts in the fields of psychology, sociology, and computer science were questioned. Finally, the hypothesis was defined after the model had been built. In phase II, a survey research methodology was used with an additional 482 individuals to empirically validate and improve the conceptual model. A tool for information visualisation was created in phase III to fill the gap between theoretical ideas and real-world business needs. According to the results, every construct in the conceptual model has a significant impact on consumers' behavioural intentions (BI) to embrace AVs. Based on our assessment, the researcher proposes a theoretical AV technology acceptance model (AVTAM) by incorporating these determinants into the Unified Theory of Acceptance and Use of Technology (UTAUT2) model. This model takes into account self-efficacy, perceived safety, trust, anxiety, and legal regulations. The conclusion shows that the adoption of AV technology will be influenced by a number of factors, including the price of the equipment and the legal implications.","PeriodicalId":234563,"journal":{"name":"International Journal of Robotics and Automation Technology","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124876482","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}