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2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)最新文献

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System Identification-Based Dynamics Control for X-Y Pedestal Satellite Antenna 基于系统辨识的X-Y座式卫星天线动力学控制
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988738
B. Aykent, Kadir Koca, M. Celik
{"title":"System Identification-Based Dynamics Control for X-Y Pedestal Satellite Antenna","authors":"B. Aykent, Kadir Koca, M. Celik","doi":"10.1109/ICCMA46720.2019.8988738","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988738","url":null,"abstract":"Subspace method-based system identification and six different transfer functions as product of this method have been developed and embedded in the motion control unit of the X-Y pedestal satellite antenna. Fit estimation data of these six transfer functions is changing from 95.46% to 99.99% with a RMSE (root mean square error) degree from 0.00502 to 0.00984, whereas the target RMSE degree value is 0.05.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"100 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":"122230015","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
Design of Exoskeleton for Paraplegics Walking – Humanoid Robotics Approach 截瘫行走外骨骼的设计——仿人机器人方法
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988739
V. Ganesan, E. Gu
{"title":"Design of Exoskeleton for Paraplegics Walking – Humanoid Robotics Approach","authors":"V. Ganesan, E. Gu","doi":"10.1109/ICCMA46720.2019.8988739","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988739","url":null,"abstract":"Paraplegics are a type of Spinal Cord Injury (SCI) disabled persons who need walking support for day-to-day mobility. Stability is a major concern while designing walking support systems. This research is an attempt to design an Exoskeleton with necessary walking stability based on humanoid bipedal robot. A parallel-serial chain of 25 joint axes legs-only exoskeleton named Lower Extremity Exoskeleton Robot (LEE Robot) is modeled and simulated for walking stability using posture adjustment and the law of balance techniques. It includes PD controllers for posture adjustment and walking balance. Zero Moment Point (ZMP) technique is implemented in the simulation to test the Exoskeleton walking stability.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"33 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":"122295933","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
Optimal Fractional Order PID Controller Design for Fractional Order Systems by Stochastic Multi Parameter Divergence Optimization Method with Different Random Distribution Functions 用不同随机分布函数的随机多参数散度优化方法设计分数阶系统的最优分数阶PID控制器
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988599
Abdullah Ateş, Baris Baykant Alagöz, Y. Q. Chen, C. Yeroğlu, S. Hosseinnia
{"title":"Optimal Fractional Order PID Controller Design for Fractional Order Systems by Stochastic Multi Parameter Divergence Optimization Method with Different Random Distribution Functions","authors":"Abdullah Ateş, Baris Baykant Alagöz, Y. Q. Chen, C. Yeroğlu, S. Hosseinnia","doi":"10.1109/ICCMA46720.2019.8988599","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988599","url":null,"abstract":"This paper modifies Stochastic Multi Parameter Divergence Optimization Method (SMDO) by using some types of random distribution functions in order to show effects of different random distribution functions on optimization performance. SMDO is a parameter wise random search algorithm in random walk class. A prominent feature of SMDO method lies in using random number with standard uniform distribution while diverging a parameter of solution point in backward and forward directions to reach an optimal solution. SMDO method benefits from the success of random backward and forward divergences. This study investigates effects of four types of random distribution functions on performance of SMDO algorithm for controller tuning problem. These distributions are Chi-Square Distribution (CSD), Rayleigh Distribution (RD), Log Normal Distribution (LND) and Uniform random (UD) distribution. To illustrate effects of these random distribution functions, SMDO is employed to fractional order PID (FOPID) controller tuning problems for fractional order model (FOM) and results obtained for different distribution functions are demonstrated.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"7 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":"121771846","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
ICCMA 2019 Table of Contents ICCMA 2019目录
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/iccma46720.2019.8988706
{"title":"ICCMA 2019 Table of Contents","authors":"","doi":"10.1109/iccma46720.2019.8988706","DOIUrl":"https://doi.org/10.1109/iccma46720.2019.8988706","url":null,"abstract":"","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"1 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":"115172083","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
Robotic Bin-Picking under Geometric End-Effector Constraints: Bin Placement and Grasp Selection 几何末端执行器约束下的机器人拾取垃圾桶:垃圾桶放置和抓取选择
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988722
Irja Gravdahl, Katrine Seel, E. Grøtli
{"title":"Robotic Bin-Picking under Geometric End-Effector Constraints: Bin Placement and Grasp Selection","authors":"Irja Gravdahl, Katrine Seel, E. Grøtli","doi":"10.1109/ICCMA46720.2019.8988722","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988722","url":null,"abstract":"In this paper we demonstrate how path reachability can be taken into account when selecting among predetermined grasps in a bin-picking application, where grasps are supplied independently of the robot at hand. We do this by creating a map of the workspace to optimally place the bin with regards to the existence of an inverse kinematic solution and a collision-free path, a necessary condition for systems with obstructions in the workspace. Furthermore, we densely re-map this region and based on this map predict whether a grasp is reachable by the robot. Moreover, an algorithm is implemented to weight the grasps in terms of path existence, length and time consumption. The algorithm was tested with grasps generated by the neural network in simulation and the results indicate that faster picking can be achieved when taking path reachability into consideration.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"619 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":"133058327","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
LMI Based Robust PID Controller Design for PWR with Bounded Uncertainty using Interval Approach 区间法基于LMI的有界不确定性压水堆鲁棒PID控制器设计
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988755
S. Banerjee, Jiamei Deng, Vineet Vajpayee, V. Becerra, N. Bausch, S. Shimjith, A. Arul
{"title":"LMI Based Robust PID Controller Design for PWR with Bounded Uncertainty using Interval Approach","authors":"S. Banerjee, Jiamei Deng, Vineet Vajpayee, V. Becerra, N. Bausch, S. Shimjith, A. Arul","doi":"10.1109/ICCMA46720.2019.8988755","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988755","url":null,"abstract":"Pressurized Water Reactors are popular in the nuclear power generation industry due to their self-regulating and self-stabilizing features which in turn help them to perform load-following operation. However, fast power maneuvering is a challenging task due to inherent nonlinearity in a reactor. It leads to changes in the behavior with variation in reactor power. Further, the heat transfers from fuel to coolant and the reactivity changes due to variation in fuel and coolant temperatures introduces uncertainty in the system. Thus, it is essential to design a robust controller for load-following operation. In this paper, the point kinetics model of PWR coupled with the Mann’s thermal-hydraulic model has been considered in addition to power sensor model and actuator model. This model has been identified as an interval system with bounded parametric uncertainties in measurements (fuel and coolant). The work then formulates a methodology to design a single robust PID controller using linear matrix inequalities by varying the weighting matrices. The outcomes have been validated using MATLAB simulations and discreetly exemplified in the result section.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"95 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":"115001924","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
Design and Modelling of a Compact Variable Stiffness Mechanism for Wearable Elbow Exoskeletons 可穿戴肘关节外骨骼紧凑变刚度机构的设计与建模
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988697
Zhongyi Li, S. Bai
{"title":"Design and Modelling of a Compact Variable Stiffness Mechanism for Wearable Elbow Exoskeletons","authors":"Zhongyi Li, S. Bai","doi":"10.1109/ICCMA46720.2019.8988697","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988697","url":null,"abstract":"This paper presents a compact variable stiffness mechanism (VSM) with reconfigurability. The VSM is able to achieve variable stiffness in adjustable ranges, due to its reconfigurable design. The new VSM features with a compact and light weight structure, and can be used as a stand alone module, or integrated in wearable elbow exoskeletons and other transmissions. In the paper, mechanics models are developed for VSM to reveal the stiffness performance and torque-deflection characteristics. A prototype of VSM is constructed and static testing results validate the models. The proposed VSM is finally integrated in a wearable elbow exoskeleton.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"22 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":"126330612","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
Cascade Control of SATCOM on the Move (SOTM) Antennas with Jacobian Operator 基于雅可比算子的移动卫星通信(SOTM)天线级联控制
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988673
M. Celik, Oguz Kaan Hancioglu, S. Bogosyan, Michal Bastl, Jan Najman, R. Grepl
{"title":"Cascade Control of SATCOM on the Move (SOTM) Antennas with Jacobian Operator","authors":"M. Celik, Oguz Kaan Hancioglu, S. Bogosyan, Michal Bastl, Jan Najman, R. Grepl","doi":"10.1109/ICCMA46720.2019.8988673","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988673","url":null,"abstract":"Increasing demand in SATCOM systems has led to the development of Satcom on the Move (SOTM) antennas. Performance, light weight, low cost, and high data rate are the required parameters in the designing of SOTM antenna. The designer has to make a suitable system with respect to these design parameters. With this aim, this paper proposes a 4 axes antenna capable of 3 axes stabilization to compensate for the disturbance. With adding the position controller, the antenna can point and track the satellite on the mobile platforms. Due to the singularity problem in this type of antenna, the 3 axes stabilized antenna system is used in this paper. The kinematic equations and Jacobian operator are derived for calculation of the necessary axis feedback and look angles. The Jacobian operator with MEMS sensor which is a cost-effective solution. Furthermore, we propose PI-based stabilization for the stabilization controller and PID based pointing for the position controller. To verify the proposed algorithms, different disturbances are applied to the system.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"1 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":"130270086","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
Robot Dynamics with URDF & CasADi 机器人动力学与URDF和CasADi
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988702
Lill Maria Gjerde Johannessen, M. H. Arbo, J. Gravdahl
{"title":"Robot Dynamics with URDF & CasADi","authors":"Lill Maria Gjerde Johannessen, M. H. Arbo, J. Gravdahl","doi":"10.1109/ICCMA46720.2019.8988702","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988702","url":null,"abstract":"Fast, accurate evaluation of the dynamics parameters is a key ingredient for accurate control, estimation, and simulation of robots. As these are time-consuming to compute by hand, a software library for generating the rigid body dynamics symbolically can be of great use for robotics researchers. In this paper, we propose a library to efficiently compute and evaluate robot dynamics and its derivatives. Based on a URDF description of the robot’s kinematics, three major rigid body dynamics algorithms are used to retrieve the dynamics symbolically in the CasADi framework. To validate the numerical accuracy, the numerical evaluation of the solutions are compared against three other well-established rigid body dynamics libraries, namely RBDL, KDL, and PyBullet. We conduct a timing comparison between the libraries, and we show that the evaluation times of the symbolic expressions are at most one order of magnitude higher than the evaluation times of the numerical libraries. Last, it is shown that the evaluation times of the dynamics derivatives remain of the same order as the evaluation times of the dynamics expressions.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"70 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120908098","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
Discrete Open Buslaev Chain with Heterogenous Loading 具有异质载荷的离散开Buslaev链
2019 7th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2019-11-01 DOI: 10.1109/ICCMA46720.2019.8988654
M. Yashina, A. Tatashev
{"title":"Discrete Open Buslaev Chain with Heterogenous Loading","authors":"M. Yashina, A. Tatashev","doi":"10.1109/ICCMA46720.2019.8988654","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988654","url":null,"abstract":"We consider a dynamical system called a discrete open chain of circles. There is a cluster of particles in each circle. The clusters move in accordance with given rules. The length of circles is the same, and the lengths of clusters are different. There are common points of neighboring circles. These common points are called nodes. This dynamical system belongs to the class of Buslaev type networks. We study the system behavior. We have obtained results regarding the main characteristic — the spectrum of the average clusters velocities depending on clusters lengths distribution.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"36 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":"125962685","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
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