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3-Axis Attitude Control of Satellite using Adaptive Direct Fuzzy Controller 基于自适应直接模糊控制器的卫星三轴姿态控制
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657560
Mostafa Rahimi Dizadji, A. Yousefi-Koma, Ziba Gharehnazifam
{"title":"3-Axis Attitude Control of Satellite using Adaptive Direct Fuzzy Controller","authors":"Mostafa Rahimi Dizadji, A. Yousefi-Koma, Ziba Gharehnazifam","doi":"10.1109/ICROM.2018.8657560","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657560","url":null,"abstract":"The research is dedicated to design an adaptive direct fuzzy control system for a typical satellite to attain desired orientation. Satellite dynamic is obtained using Euler formulation. Having kinematics from quaternion description of the attitude control, the combined nonlinear model is provided. Sliding surface used as primary variable of the adaptive law to regulate the output of direct fuzzy controller. In order to evaluate the designed controller performance, different simulations are performed in the presence of disturbance. Comparing the simulation results against that of a typical classic controller shows the significant improvement in the system response.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115340085","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
Modeling and Model-free Fuzzy Control of a Continuum Robotic Arm 连续体机械臂建模与无模型模糊控制
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657596
A. Parvaresh, S. Moosavian
{"title":"Modeling and Model-free Fuzzy Control of a Continuum Robotic Arm","authors":"A. Parvaresh, S. Moosavian","doi":"10.1109/ICROM.2018.8657596","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657596","url":null,"abstract":"Continuum robotic arms have many advantages compared to traditional manipulators, which motivate further researches in this field. Dynamics modeling and controlling these systems are challenging areas due to the complicated nonlinearities and uncertainties. In this paper, a three-dimensional dynamics model of such manipulators is developed through appropriate system identification method that is validated by experimental data, and then it is used to design a PID-fuzzy controller. This is a model-free controller and does not require the exact model of the system for controlling the position of the end-effector. Next, the performance in reaching different positions of the workspace is investigated. Obtained results show the merits of the proposed controller.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125110032","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 Fuzzy Passivation Control Based on Backstepping Method for Electrically Driven Robotic Manipulators 基于反步法的电动机器人自适应模糊钝化控制
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657516
Javad Keighobadi, M. Fateh, H. Chenarani
{"title":"Adaptive Fuzzy Passivation Control Based on Backstepping Method for Electrically Driven Robotic Manipulators","authors":"Javad Keighobadi, M. Fateh, H. Chenarani","doi":"10.1109/ICROM.2018.8657516","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657516","url":null,"abstract":"This paper presents a new passivity-based adaptive fuzzy voltage controller for electrically driven robotic manipulators. Moreover, the backstepping method is utilized to passivate the system step by step. It is worth noting that the integral of joint position is augmented as an additional state variable to upgrade the system performance. The manipulator dynamics and the actuators are regarded as unknown terms in the design mechanism where fuzzy approximators are employed to identify them. The boundedness of all states is verified through the passivity analysis. Simulation results on a 2-DOF robotic manipulator driven by permanent magnet Dc motors show the potential of the proposed voltage controller in tracking the desired trajectory.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125300226","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
Dynamics Modeling and Performance Analysis of RoboWalk 机器人步行动力学建模与性能分析
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657593
Mahdi Nabipour, S. Moosavian
{"title":"Dynamics Modeling and Performance Analysis of RoboWalk","authors":"Mahdi Nabipour, S. Moosavian","doi":"10.1109/ICROM.2018.8657593","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657593","url":null,"abstract":"In this article, after introducing the RoboWalk body weight support assistive device, the forward kinematics of human and the inverse kinematics of the assistive robot are introduced. Then, a method for obtaining an analytical dynamics of the system is presented. This method is based on modeling the human body without modeling its constraints and contact forces. Then, the contact forces are taken into account and mapped into joint space of the robot using the jacobian matrices of interaction points. This method of modeling is then compared and verified by the numerical Recursive Newton Euler Algorithm. Since the numerical method is more efficient and has less computational complexities, it can be used in implementing the control algorithms on the robot. After the model is verified, a control strategy for assisting the user is designed and implemented on the developed model of RoboWalk. The performance of this control strategy is evaluated by comparing the floor reaction force and user joint torques if using Robowalk or not. Finally, the actuator’s specification to fulfill our requirements is discussed.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122963993","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: 13
Real-time mosaicing of images from the quadcopter using Auto-view selection method with noise cancellation capability 利用具有消噪能力的自动视图选择方法对来自四轴飞行器的图像进行实时拼接
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657578
Afshin Shirbandi, F. F. Saberi
{"title":"Real-time mosaicing of images from the quadcopter using Auto-view selection method with noise cancellation capability","authors":"Afshin Shirbandi, F. F. Saberi","doi":"10.1109/ICROM.2018.8657578","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657578","url":null,"abstract":"Due to the vibrations caused by the movement of the quadcopter, mosaicing of received images is not suitable and that likes take several views of one scene, that is why the Bundle Adjustment is used. \"Bundle Adjustment\" method is used to adjust the optical radius of the cameras and elimination of the vibration caused by the motion of the quadcopter. Due to the excess of images, their attachment would not be done in an ordinary way, because of that we use the cylindrical method. On the other hand, resolution of mosaic images is of a paramount importance. To reach the end, an auto-view selection algorithm is proposed in this paper. In the feature extraction stage (feature matching across the images), there is always some kind of noises. In order to eliminate noise, we have proposed the \"Lq\" method, following by the \"Blending\" method to remove differences of brightness between mosaic images. The final goal is to reach an image with a uniform distribution of brightness.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114549542","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
Formation flight control and path tracking of a multi-quadrotor system in the presence of measurement 存在测量的多四旋翼系统编队飞行控制与路径跟踪
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657620
E. Abbasi, M. Ghayour, M. Danesh, Peyman Amiri, Mohammad Hussein Yoosefian
{"title":"Formation flight control and path tracking of a multi-quadrotor system in the presence of measurement","authors":"E. Abbasi, M. Ghayour, M. Danesh, Peyman Amiri, Mohammad Hussein Yoosefian","doi":"10.1109/ICROM.2018.8657620","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657620","url":null,"abstract":"This paper focuses on formation flight control of a multi-quadrotor system. Path tracking of this system is another subject which is in the spot light. When a fault occurs for leader of the group in the leader-follower structure, mission will be failed. In order to avoid this fault, in this paper virtual structure is used instead. The group uses two control loops for flight controlling. Inner loop which is used to control attitudes of agents, combines feedback linearization controller with PD controller. Outer loop which is designed for position control, uses a combination of consensus protocol with PID controller. There is measurement noise in the system, thereby exact values of the states are not available. In order to compensate these negative factor, Kalman filter is used, thus states values are estimated. Finally, effectiveness of the presented protocol is examined through stability analysis and numerical simulation.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129412949","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
IcRoM 2018 Numbers
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/icrom.2018.8657610
{"title":"IcRoM 2018 Numbers","authors":"","doi":"10.1109/icrom.2018.8657610","DOIUrl":"https://doi.org/10.1109/icrom.2018.8657610","url":null,"abstract":"","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128623057","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
Energy Consumption Analysis for the Limit Cycle Walking Biped Robots 极限环行走双足机器人的能量消耗分析
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657529
Sina Khodabakhsh, B. M. Fard, A. Bagheri
{"title":"Energy Consumption Analysis for the Limit Cycle Walking Biped Robots","authors":"Sina Khodabakhsh, B. M. Fard, A. Bagheri","doi":"10.1109/ICROM.2018.8657529","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657529","url":null,"abstract":"This paper describes an analysis of energy consumption in limit cycle bipedal walking. After modeling and simulating the biped robot, some important parameters of the robot have been chosen to evaluate the efficiency of walking, namely: torso angle of inclination, torso center of mass position, robot total mass, walking step size, walking speed, and actuators’ inertia. The effect of the defined variables on energy consumption has been analyzed. Then, the variables have been classified according to the most effects on the robot energy consumption using Elementary Effects Method. The analysis shows that the most effective parameters for the energy consumption are walking step size, a robot walking speed, actuators’ inertia, torso center of mass position, torso inclination angle and robot mass, respectively.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129088077","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
Time Delay Analysis of Vehicle Handling Variables for Near-Crash Detection of Drowsy Driving Using a Bus Driving Simulator 基于公交车驾驶模拟器的疲劳驾驶近碰撞检测车辆操纵变量时滞分析
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657519
M. Ashouri, A. Nahvi, S. Azadi
{"title":"Time Delay Analysis of Vehicle Handling Variables for Near-Crash Detection of Drowsy Driving Using a Bus Driving Simulator","authors":"M. Ashouri, A. Nahvi, S. Azadi","doi":"10.1109/ICROM.2018.8657519","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657519","url":null,"abstract":"Drowsy driving is accompanied by driver’s micro-sleep and overreaction at high levels of drowsiness. During micro-sleeps, drivers fail to respond to changes of the road curvature and hold the steering wheel stationary. After waking up, drivers are shocked and suddenly apply a corrective steering wheel movement. Such behavior is investigated in this research to detect near-crash events caused by drowsy driving. This paper classifies vehicle handling variables in terms of time lag and frequency content. The input is the steering wheel angle and the output signals include the vehicle yaw rate, yaw angle, and lateral position. Modeling, simulation, and experimental results are presented. 15 professional suburban bus drivers perform the tests on a bus simulator. The results show high-order differential handling variables are better indicators of drowsiness compared with low-order handling variables for two reasons: they have lead time and contain a wider range of frequency content. It is shown that the steering wheel angle and the vehicle yaw rate detect the driver’s overreaction faster than the vehicle yaw angle by 1.1 s; and faster than the lateral position by 2.0 s. It is concluded that the steering wheel angle and the yaw rate provide longer lead time to activate safety systems for avoiding or mitigating collisions.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130582986","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
ROV Propellers Optimization using CAD Design and CFD Modeling and Experimental Validation 基于CAD设计和CFD建模的ROV螺旋桨优化及实验验证
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM) Pub Date : 2018-10-01 DOI: 10.1109/ICROM.2018.8657543
J. Sahili, K. Zaidan
{"title":"ROV Propellers Optimization using CAD Design and CFD Modeling and Experimental Validation","authors":"J. Sahili, K. Zaidan","doi":"10.1109/ICROM.2018.8657543","DOIUrl":"https://doi.org/10.1109/ICROM.2018.8657543","url":null,"abstract":"In intend to optimize the propulsion of Remotely Operated Vehicle (ROV) we conducted a study on a set of parameters that affects the thrust. In our attempt we tried to set and improve optimized designs by an efficient way and avoiding expensive software programs such as OpenProp and Propcad.This paper focuses on the design procedure of ROV propellers, activated by thrusters. Electrical motor used in the thrusters of this study has a maximum power of 500 W, maximum rotational speed of 2500 RPM, and the propeller has a fixed pitch with blades made from aluminum material. The present paper deals with modeling and analyzing the propeller blade performance of an underwater vehicle. A propeller is a complex geometry which requires high end modeling software. Different sections are considered to create single blade. A 3D 3 blades propeller is first modeled in solid works and then analyzed using FLUENT software. Two propellers with special blade design for each one are defined. This study was supported by simulation and confronted by experimental results.","PeriodicalId":383818,"journal":{"name":"2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123830745","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
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