Armin Schleinitz, André Sewohl, H. Schlegel, M. Putz
{"title":"Detection of the Force Distribution Close to the Effective Site in Forming Machines for a Force Control","authors":"Armin Schleinitz, André Sewohl, H. Schlegel, M. Putz","doi":"10.1109/ICCMA46720.2019.8988609","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988609","url":null,"abstract":"Ever higher demands are placed on the quality and complexity of formed sheet metal parts, whereby the efficiency of the processes may not be affected. Thus it becomes more difficult to ensure process stability. In order to reduce rejected parts it is necessary to improve forming technologies and processes. Closed loop control of process variables with an influence to the quality of a part is a promising approach. Therefor the reliable metrological acquisition of such a parameter is a basic requirement. Forming force respectively force distribution has an influence on component quality and seems to be a suited value. In this paper, a measurement setup and its implementation in a demonstrator is described. First metrological examinations show occurring effects during eccentric load cases and the derivation of spindle forces via additional load paths in the machine frame. This knowledge will be used for the development of a force control.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"78 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":"121140804","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}
Ahmed E. Al-Tarras, M. Yacoub, M. Asfoor, A. M. Sharaf
{"title":"Experimental Evaluation of Computation Cost of FastSLAM Algorithm for Unmanned Ground Vehicles","authors":"Ahmed E. Al-Tarras, M. Yacoub, M. Asfoor, A. M. Sharaf","doi":"10.1109/ICCMA46720.2019.8988710","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988710","url":null,"abstract":"Two decades ago, FastSLAM algorithm for mobile robots was introduced. Since then, dozens of research work focused on FastSLAM algorithm performance enhancement while keeping reduced computation cost. Since experimental evaluation of computation cost is dependent on the hardware capabilities of the platform, the present work introduces a quantitative theoretical method for predicting the computation cost of the FastSLAM algorithm. The method relies on the big (O) computation complexity which represents the worst case. The method was evaluated experimentally with different number of particles and different number of map features. The computation cost evaluation analysis was broken down into prediction, observation, data association and resampling computation cost evaluation. The proposed method was proven to be helpful in customization of FastSLAM parameters like number of particles and data association optimization for FastSLAM algorithm developers.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"14 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":"122108155","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}
Rida Abbas Shirazi, Iftikhar Ahmad, M. Arsalan, Muwahida Liaquat
{"title":"Integral Backstepping based MPPT controller for photo-voltaic system using SEPIC converter","authors":"Rida Abbas Shirazi, Iftikhar Ahmad, M. Arsalan, Muwahida Liaquat","doi":"10.1109/ICCMA46720.2019.8988614","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988614","url":null,"abstract":"The energy generation of photo-voltaic system varies due to variation in load and atmospheric conditions such as temperature and irradiance. The effectiveness of PV system can be enhanced by designing some controller used to track maximum power point (MPP). The PV systems are nonlinear in nature so nonlinear controllers are more suitable for tracking MPP applications. This study proposes a nonlinear integral backstepping controller (IBS) for the extraction of maximum energy from the PV array using SEPIC converter. The regression plane has been originated to provide peak power voltage as reference for MPPT. The system’s asymptotic stability is demonstrated using the stability criteria of Lyapunov. The simulations of integral backstepping controller are performed in MATLAB/SIMULINK, where the results are compared with PID and Fuzzy Logic-based controller (FLBC) underabrupt/ sudden changes of atmospheric conditions.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"12 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":"126997082","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":"Fractional Order Design of a Digital Controller for a High-Speed Electromagnetic Actuator","authors":"P. Lanusse, M. Tari, Z. Dimitrova, F. Aioun","doi":"10.1109/ICCMA46720.2019.8988696","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988696","url":null,"abstract":"This paper presents the design of a fractional order based controller for a high-speed electromagnetic actuator developed for a camless engine valvetrain. For rapid prototyping and flexibility, the controller is digital and it is particularly shown that it can be designed while taking into account all sampling issues even if a high closed-loop bandwidth is required. Simulations and experimental results shows that the design of the innovative actuator and of its controller provides very good dynamic performance.","PeriodicalId":377212,"journal":{"name":"2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"39 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":"128453781","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":"An Interactive Lane Change Decision Making Model With Deep Reinforcement Learning","authors":"Shenghao Jiang, Jiying Chen, Macheng Shen","doi":"10.1109/ICCMA46720.2019.8988750","DOIUrl":"https://doi.org/10.1109/ICCMA46720.2019.8988750","url":null,"abstract":"By considering lane change maneuver as primarily a Partial Observed Markov Decision Process (POMDP) and motion planning problem, this paper presents an interactive model with a Recurrent Neural Network (RNN) approach to determine the adversarial or cooperative intention probability of following vehicle in target lane. To make proper and efficient lane change decision, Deep Q-value network (DQN) is applied to solve POMDP with expected global maximum reward. Then quintic polynomials-based motion planning algorithm is used to obtain both optimal lateral and longitudinal trajectory for autonomous vehicle to pursuit. Experimental results demonstrate the capability of the proposed model to execute lane change maneuver with comfortable and safety reference trajectory at an appropriate time instance and traffic gap in various highway traffic scenarios.","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":"128994215","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}