Mechatronic Systems and Control最新文献_第5页

Bayesian Estimation of Snow-Avalanche Victim Pose: A Method to Assist Human and/or Robot First Responders to Quickly Locate a Buried Victim 雪崩受害者姿势的贝叶斯估计:一种帮助人类和/或机器人快速定位被埋受害者的方法

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-8946

Joseph R. Bourne, K. Leang

引用次数: 0

Modelling and Experimental Study for PVC Gel Actuators PVC凝胶致动器的建模与实验研究

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9100

Zachary Frank, Zakai J Olsen, T. Hwang, K. Kim

{"title":"Modelling and Experimental Study for PVC Gel Actuators","authors":"Zachary Frank, Zakai J Olsen, T. Hwang, K. Kim","doi":"10.1115/dscc2019-9100","DOIUrl":"https://doi.org/10.1115/dscc2019-9100","url":null,"abstract":"\u0000 Plasticized polyvinyl chloride (PVC) gels are a promising material for soft robotic actuators due to their fast response rates and remarkable deformation characteristics. A variety of different actuator types can be made with PVC gels because their deformation via anodophilic creep is highly customizable by alteration of the electrode configuration, applied electric field, surface microstructure, and plasticizer content. This level of customization is not typically possible with other electroactive polymer actuators. Several attempts have been made to model PVC gel anodophilic creep actuation. Most of these have been limited in scope to particular actuator types and are phenomenological models. An accurate predictive model is necessary for the implementation and control of these actuators in the field of soft robotics, and this can be better achieved through the use of a physics-based electromechanical model.\u0000 In this paper the underlying mechanisms for PVC gel actuation are discussed, and simulation results are shown. We present our finite element model which seeks to move towards a more general model for PVC gels derived from first principles. This electromechanical model is based on the Maxwell stress that is developed within the PVC gel along the anode when an electric field is applied. COMSOL Multiphysics modeling software is utilized for the simulation of PVC gel deformation when exposed to an electric potential. In addition, an experimental study of PVC gels was conducted to verify the model for mesh-type contraction actuators, and the simulated results provide context and support for the underlying mechanisms discussed.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"41 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76371308","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

Self-Resonant Energy Harvester With a Passively Tuned Sliding Mass 具有被动调谐滑动质量的自共振能量采集器

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9000

Hongjip Kim, Arthur C. Smith, O. Barry, L. Zuo

{"title":"Self-Resonant Energy Harvester With a Passively Tuned Sliding Mass","authors":"Hongjip Kim, Arthur C. Smith, O. Barry, L. Zuo","doi":"10.1115/dscc2019-9000","DOIUrl":"https://doi.org/10.1115/dscc2019-9000","url":null,"abstract":"\u0000 Passive tuning phenomenon with a sliding mass on a vibrating beam has been observed and studied in the literature. Such a phenomenon can be extended to self-resonant energy harvesting, where the natural frequency can be favorably adjusted to the excitation frequency for enhanced energy harvesting. In this paper, we consider the nonlinear dynamic coupling of a piezoelectric clamped-clamped beam with sliding mass and study experimentally and numerically how these nonlinear interactions affect the performance of the energy harvester. We derive the mathematical model using the extended Hamilton principle. The governing equations of motion are obtained as three coupled nonlinear partial differential equations. The Galerkin method is employed to obtain a reduced order model. Our mathematical formulation is validated via experiments and the results show very good agreement between the simulation and the experiment. Parametric studies are carried out to examine how key parameters affect the performance of the energy harvester. The findings suggest that a passively tuned mechanism with a small sliding mass can increase the power output even when the excitation frequency is far off the original resonance.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"14 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78126911","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

Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments 基于分散无人机群的城市/郊区环境化学源定位

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9099

Jake A. Steiner, Joseph R. Bourne, Xiang He, D. Cropek, K. Leang

引用次数: 4

Auto-Tuning Control of PEM Water Electrolyzer PEM水电解槽的自动调谐控制

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9156

A. Keow, Zheng Chen

{"title":"Auto-Tuning Control of PEM Water Electrolyzer","authors":"A. Keow, Zheng Chen","doi":"10.1115/dscc2019-9156","DOIUrl":"https://doi.org/10.1115/dscc2019-9156","url":null,"abstract":"\u0000 Proton exchange membrane (PEM) electrolyzers with the ability to produce gases at a pressure suitable for direct metal hydride storage are desirable because they do not require the use of compressors and other auxiliary components. Direct storage into metal hydride cylinders is made feasible when the pressure and flow rate of hydrogen is controlled. The nonlinear dynamics of the PEM electrolyzer change with temperature and pressure, both of which change with the hydrogen production rate, and are thus difficult to estimate. Therefore, a model-free, relay-feedback, auto-tuning approach is used to tune a proportional integral (PI) controller. This allows for the determination of the voltage supply to the electrolyzer by tracking the current set-point and correlating it to the hydrogen production rate. A gain scheduling approach is used to record the tuned controller’s parameters at different set-points, minimizing the frequency of tuning the device. A self-assessment test is used to determine situations where the auto-tuner should activate to update the PI parameters, thus, allowing for the system to operate without supervision. The auto-tuning PI control is successfully tested with a PEM electrolyzer setup. Experimental results showed that an auto-tuner can tune the controller parameters and produce favorable transient behaviors, allowing for a degree of adaptability for variations in system set-points.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"5 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88645793","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

Towards Cooperative Transportation of Multiple Mecanum-Wheeled Automated Guided Vehicles 多机轮自动引导车辆协同运输研究

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9141

J. Peng, Yen‐Chen Liu

引用次数: 3

Data-Driven ILC for Trajectory Tracking in Nonlinear Dynamic Systems 非线性动态系统中轨迹跟踪的数据驱动ILC

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-8926

Yu-Hsiu Lee, T. Tsao

引用次数: 2

Observability of Multi-Agent Network Sensing Systems 多智能体网络感知系统的可观测性

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9138

I. Raptis, Clark N. Taylor

{"title":"Observability of Multi-Agent Network Sensing Systems","authors":"I. Raptis, Clark N. Taylor","doi":"10.1115/dscc2019-9138","DOIUrl":"https://doi.org/10.1115/dscc2019-9138","url":null,"abstract":"\u0000 This work addresses the observability properties of linear time-invariant systems that are monitored by a sensor network that provides access only to relative measurements and partial absolute observations of the state-space variables. Graph-theoretical tools are deployed to represent the information sharing links between the sensors of the network. The results are extended to multi-agent coordinated systems that are independently controlled or execute distributed control protocols. Explicit analytical conditions are derived that determine the system’s observability with respect to the spectral characteristics of the information-sharing network. The system’s observability is further investigated for multi-agent systems governed by the agreement dynamics where only a singleton measurement is available. The analysis is disseminated to the design of distributed observers where the agents have only available their relative displacement measurement from their neighbors. The distributed observer’s estimation error is rendered globally asymptotically stable by the addition of an anchor node that has access to the absolute motion of a single agent (node). The theoretical analysis is validated through numerical simulations.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"2 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81212479","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

Solution of the Benchmark Control Problem by Scenario Optimization 基于场景优化的基准控制问题求解

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-8949

Roberto Rocchetta, L. Crespo, S. Kenny

引用次数: 4

A Torque Balance Method for Multi-Cylinder Gasoline Engines With Non-Uniform Cylinder-to-Cylinder Combustion Strategies 非均匀燃烧多缸汽油机的扭矩平衡方法

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9231

Qinghua Lin, Pingen Chen

{"title":"A Torque Balance Method for Multi-Cylinder Gasoline Engines With Non-Uniform Cylinder-to-Cylinder Combustion Strategies","authors":"Qinghua Lin, Pingen Chen","doi":"10.1115/dscc2019-9231","DOIUrl":"https://doi.org/10.1115/dscc2019-9231","url":null,"abstract":"\u0000 Lean burn gasoline engines have attracted more and more attentions over the past two decades. One of the main challenges in commercializing lean burn gasoline engines in the United States is lean NOx control to meet the stringent NOx emission regulation. Several types of lean aftertreatment systems including passive selective catalytic reduction (SCR) systems and lean NOx traps (LNTs), have been intensively investigated to meet the NOx emission requirements without triggering significant penalties on fuel efficiency. One of the most promising technologies to achieve this goal is non-uniform cylinder-to-cylinder combustion (NUCCC) control strategies. However, successful implementation of NUCCC strategies are challenging tasks since it may cause cylinder-to-cylinder torque imbalance and thus deterioration of drivability. The purpose of this study is to propose and evaluate a systematic method for generating the references of fuel quantity and air quantity for different cylinders to simultaneously achieve cylinder-to-cylinder torque balance and non-uniform cylinder-to-cylinder air/fuel ratio (AFR) for multi-cylinder engines in various scenarios. To validate the effectiveness of the proposed method, simulation studies were carried out using a multi-zone engine model. The simulation results show that, the proposed references, if successfully tracked, can lead to torque balance across the cylinders as well as non-uniform cylinder-to-cylinder AFR.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"11 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87964663","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