Mechatronic Systems and Control最新文献_第6页

Design of a Kangaroo Inspired Hopping Robot for Unrestricted Locomotion and Controller Development 一种受袋鼠启发的无约束跳跃机器人设计及控制器开发

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9083

Austin Curtis, James A. Mynderse, H. Vejdani

引用次数: 0

Backstepping-Based Trajectory Tracking for Underwater Gliders 基于后退的水下滑翔机轨迹跟踪

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9028

Demetris Coleman, Maria L. Castaño, Osama Ennasr, Xiaobo Tan

{"title":"Backstepping-Based Trajectory Tracking for Underwater Gliders","authors":"Demetris Coleman, Maria L. Castaño, Osama Ennasr, Xiaobo Tan","doi":"10.1115/dscc2019-9028","DOIUrl":"https://doi.org/10.1115/dscc2019-9028","url":null,"abstract":"\u0000 Autonomous underwater gliders have become valuable tools for a myriad of applications ranging from ocean exploration to fish tracking to environmental sampling. To be suitable for these types of applications, precise sensing and monitoring is desired, which makes accurate trajectory control important. However, highly nonlinear under-actuated dynamics present significant challenges in control of gliders. In this work a backstepping-based controller is proposed for an underwater glider to track a desired position and heading reference in the sagittal plane with only two control inputs, the buoyancy and center of gravity along the longitudinal direction. In particular,the under-actuation issue is addressed by exploiting the coupled dynamics and introducing a new modified error that combines the tracking errors of heading and position references. In addition, an auxiliary system is incorporated to account for input constraints. Finally, a sliding mode observer is designed to obtain the estimates of body-fixed velocities, to facilitate practical implementation of the designed controller. The effectiveness of the proposed control scheme is demonstrated via simulations and its advantages are shown via comparison with a PID controller.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"103 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85838911","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

Drop Volume Control in Drop-on-Demand Inkjet Printing 滴量控制滴按需喷墨打印

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9233

Jie Wang, Xia Chen, G. Chiu

引用次数: 2

A Hybrid Electro-Thermal Energy Storage System for High Ramp Rate Power Applications 一种用于高斜坡速率电力应用的混合电-热储能系统

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9089

Cary E. Laird, A. Alleyne

引用次数: 3

Neural-Based Control of Compliant Foils With Spanwise Flexibility 具有展向柔性的柔性箔的神经控制

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9045

Annika-verena Haecker, Gabriel N. Carryon, J. Tangorra, T. Sattel

{"title":"Neural-Based Control of Compliant Foils With Spanwise Flexibility","authors":"Annika-verena Haecker, Gabriel N. Carryon, J. Tangorra, T. Sattel","doi":"10.1115/dscc2019-9045","DOIUrl":"https://doi.org/10.1115/dscc2019-9045","url":null,"abstract":"\u0000 The ability to change the spatial distribution of a compliant foil’s flexural rigidity can enhance the foil’s swimming performance capabilities but pose challenges to neural-based control of these types of foils. The same property that makes these foil’s effective propulsors also makes them challenging to control with a neural oscillator, namely the variation in the mechanical properties will cause the amplitude and phase of the sensory feedback signal to vary depending upon the placement of the sensor. In this study we investigate the effect of sensor placement on the entrainment characteristics of a coupled-system consisting of a neural oscillator driving a series of compliant foils with spanwise flexibility (i.e. spatially varying mechanical properties in the dorsal-ventral direction). We find that acquiring sensory feedback from the foil’s stiff region produces a broader range of frequencies over which entrainment occurs compared to acquiring feedback from the compliant region of a foil. Additionally, we characterize the thrust and lift forces generated by spanwise foils as a function of the foil’s flapping frequency and flexural rigidity.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"6 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78361440","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

An Agent-Based Model of Lost Person Dynamics for Enabling Wilderness Search and Rescue 基于agent的荒野搜救失踪者动力学模型

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9222

Amanda Hashimoto, N. Abaid

引用次数: 7

Following Fast-Dynamic Targets With Only Slow and Delayed Visual Feedback: A Kalman Filter and Model-Based Prediction Approach 用缓慢和延迟的视觉反馈跟踪快速动态目标:卡尔曼滤波和基于模型的预测方法

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9022

Hui Xiao, Xu Chen

引用次数: 1

Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control 基于瞬时旋转中心的主从运动建模与控制

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9123

V. Ramanathan, A. Zelenak, M. Pryor

引用次数: 0

Multi-Mobile Sensing With Temporal-Spatial Coupling via Compressed Sensing 基于压缩感知的时空耦合多移动感知

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9218

Tianwei Li, Q. Zou

{"title":"Multi-Mobile Sensing With Temporal-Spatial Coupling via Compressed Sensing","authors":"Tianwei Li, Q. Zou","doi":"10.1115/dscc2019-9218","DOIUrl":"https://doi.org/10.1115/dscc2019-9218","url":null,"abstract":"\u0000 In this paper, the problem of using a limited number of mobile sensors to sense/measure a time-varying distribution of a field over a multi dimensional space is considered. As the number of sensors, in general, is not adequate for capturing the dynamic distribution with the needed spatial resolution, the sensors are required to be transited between the sampled locations, resulting in intermittent measurement at each sampled location. Therefore, it becomes challenging to use the measured data to recover/restore not only the dynamic process at each sampled/measured location, but also the dynamic distribution over the entire measured space, with high temporal and spatial resolutions. Such a multi-mobile sensing problem, however, cannot be addressed by using existing methods directly. In this work, we propose to tackle this problem through the compressed sensing framework. The randomness requirement of the compressed sensing, however, results in the temporal-spatial coupling, and the constraints in selecting the sampled locations due to the limit of the sensor speed. We propose a spatial-temporal pairing method to avoid the temporal-spatial coupling, and a checking-and-removal process to remove the sensor speed constraint. Simulation results of a video recovery example is presented and discussed to illustrate the proposed method.","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":"82776985","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-Balanced Leader-Switching Policy for Formation Rotation Control of Multi-Agent Systems Inspired by Bird Flocks 基于鸟群的多智能体系统编队旋转控制的能量平衡先导切换策略

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9044

C. Dotson, Geronimo Macias, Kooktae Lee

{"title":"Energy-Balanced Leader-Switching Policy for Formation Rotation Control of Multi-Agent Systems Inspired by Bird Flocks","authors":"C. Dotson, Geronimo Macias, Kooktae Lee","doi":"10.1115/dscc2019-9044","DOIUrl":"https://doi.org/10.1115/dscc2019-9044","url":null,"abstract":"\u0000 This paper addresses an energy-balanced leader-switching policy for formation rotation control of multi-agent systems inspired by bird flocks. Birds that flock in V-formation with a leader rotation strategy are able to travel longer distances due to reduced drag and therefore less energy expenditure. This flocking behavior with a leader rotation will result in more conservation of overall energy and will be particularly beneficial to migrating birds that should fly long distances without landing. In this paper, we propose an energy-balanced leader-switching policy inspired by this bird flocking behavior in order to increase the flight range for multi-agent systems. The formation control of multi-agent systems is achieved by the consensus algorithm, which is fully decentralized through the use of information exchanges between agents. The proposed leader-switching method is not necessarily incorporated with the consensus dynamics and thus, the leader-switching algorithm can be decoupled from formation control dynamics. Therefore, the proposed method can simplify the leader-switching algorithm, making it easy to implement. Moreover, we propose the analytic flight distance based on the energy consumption model for each agent. To test the validity of the developed method, several simulation results are presented.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"1 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89134624","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