Mechatronic Systems and Control最新文献_第8页

Path Following for the Soft Origami Crawling Robot 柔性折纸爬行机器人的路径跟踪

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9175

O. Angatkina, K. Gustafson, A. Wissa, A. Alleyne

{"title":"Path Following for the Soft Origami Crawling Robot","authors":"O. Angatkina, K. Gustafson, A. Wissa, A. Alleyne","doi":"10.1115/dscc2019-9175","DOIUrl":"https://doi.org/10.1115/dscc2019-9175","url":null,"abstract":"Extensive growth of the soft robotics field has made possible the application of soft mobile robots for real world tasks such as search and rescue missions. Soft robots provide safer interactions with humans when compared to traditional rigid robots. Additionally, soft robots often contain more degrees of freedom than rigid ones, which can be beneficial for applications where increased mobility is needed. However, the limited number of studies for the autonomous navigation of soft robots currently restricts their application for missions such as search and rescue. This paper presents a path following technique for a compliant origami crawling robot. The path following control adapts the well-known pure pursuit method to account for the geometric and mobility constraints of the robot. The robot motion is described by a kinematic model that transforms the outputs of the pure pursuit into the servo input rotations for the robot. This model consists of two integrated sub-models: a lumped kinematic model and a segmented kinematic model. The performance of the path following approach is demonstrated for a straight-line following simulation with initial offset. Finally, a feedback controller is designed to account for terrain or mission uncertainties.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"27 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82240237","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 Transient Real-Time Engine-Generator Control in the Series-Hybrid Vehicle 串联式混合动力汽车瞬态发电机最优实时控制

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-8964

Jonathan Lock, Rickard Arvidsson, T. McKelvey

{"title":"Optimal Transient Real-Time Engine-Generator Control in the Series-Hybrid Vehicle","authors":"Jonathan Lock, Rickard Arvidsson, T. McKelvey","doi":"10.1115/dscc2019-8964","DOIUrl":"https://doi.org/10.1115/dscc2019-8964","url":null,"abstract":"\u0000 We study the dynamic engine-generator optimal control problem with a goal of minimizing fuel consumption while delivering a requested average electrical power. By using an infinite-horizon formulation and explicitly minimizing fuel consumption, we avoid issues inherent with penalty-based and finite-horizon problems. The solution to the optimal control problem, found using dynamic programming and the successive approximation method, can be expressed as instantaneous non-linear state-feedback. This allows for trivial real-time control, typically requiring 10–20 CPU instructions per control period, a few bytes of RAM, and 5–20 KiB of nonvolatile memory. Simulation results for a passenger vehicle indicate a fuel consumption improvement in the region of 5–7% during the transient phase when compared with the class of controllers found in the industry. Bench-tests, where the optimal controller is executed in native hardware, show an improvement of 3.7%, primarily limited by unmodeled dynamics. Our specific choice of problem formulation, a guaranteed globally optimal solution, and trivial real-time control resolve many of the limitations with the current state of optimal engine-generator controllers.","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":"86401128","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

On the Dynamics and Control of a Full Wrist Exoskeleton for Tremor Alleviation 缓解震颤的全腕部外骨骼动力学与控制研究

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9118

Jiamin Wang, O. Barry, A. Kurdila, S. Vijayan

引用次数: 2

Multi-Objective Optimal Design of a PID Sliding Mode Controller With Three Different Reaching Laws 三种不同趋近律的PID滑模控制器的多目标优化设计

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-8990

Xiaotian Xu, Y. Sardahi, Almuatazbellah M. Boker

{"title":"Multi-Objective Optimal Design of a PID Sliding Mode Controller With Three Different Reaching Laws","authors":"Xiaotian Xu, Y. Sardahi, Almuatazbellah M. Boker","doi":"10.1115/dscc2019-8990","DOIUrl":"https://doi.org/10.1115/dscc2019-8990","url":null,"abstract":"\u0000 Sliding mode controllers (SMCs) are well-known nonlinear control techniques. The design of a SMC involves the selection of a sliding mode surface and reaching law. The constant, exponential, and power rate reaching laws are the most widely used. Selecting a reaching law is often based on the desired reaching time; that is how fast the state trajectory approaches the switching manifold. However, the selection of a reaching law does not only affect the reaching time (tr) but also other design specifications such as the settling time (ts), overshoot (Mp), and tracking error (JIAE). Indeed, the design of a closed-loop system usually involves multiple and often conflicting objectives. Therefore, a multi-objective optimal design approach that takes into consideration all the design requirements should be adopted. Furthermore, a systematic study is needed to evaluate and compare the performance of a SMC controller under these reaching laws in multi-objective settings. To this end, the problems of designing a PID (Proportional-Integral-Derivative) sliding mode controller applied to linear and nonlinear dynamic systems using the three reaching laws are formulated as multi-objective optimization problems (MOPs). The objective space includes tr, Mp, ts, and JIAE and the parameter space consists of the design gains of the reaching laws and the sliding mode surface. The non-dominated sorting genetic algorithm (NSGA – II) is used to solve the optimization problem. The solution of the MOP is a Pareto front of optimal design points. Therefore, comparing three Pareto fronts is not a straightforward task. As a result, sections of the Pareto fronts that satisfy some legitimate constraints on the objective space are extracted. Then, a comparison among these sections is conducted graphically. The results show that the exponential rate reaching law outperforms the other two laws in most of the objectives under investigation.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"27 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73960122","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

Combining Reachability Analysis and Importance Sampling for Accelerated Evaluation of Highly Automated Vehicles at Pedestrian Crossing 基于可达性分析和重要性抽样的人行横道高度自动化车辆加速评估

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9179

Xinpeng Wang, H. Peng, Ding Zhao

引用次数: 6

Agricultural Field Coverage Using Cooperating Unmanned Ground Vehicles 利用协同无人地面车辆覆盖农田

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-8992

S. Faryadi, Mohammadreza Davoodi, J. M. Velni

引用次数: 4

Dynamic Design Optimization for Thermal Management: A Case Study on Shell and Tube Heat Exchangers 热管理的动态优化设计:以管壳式换热器为例

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9212

Austin L. Nash, Neera Jain

引用次数: 1

Design and Verification of a Small-Scale District Heating Network Experiment 小型区域供热网络实验设计与验证

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9101

M. Krieger, Dylan Stecklair, S. Peluso, S. Stockar

引用次数: 2

Analysis of Reference Shaping Control for Improved Yaw Stability in a Steer-by-Wire Vehicle 提高线控转向车辆偏航稳定性的参考整形控制分析

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9153

Srivatsan Srinivasan, Matthias J. Schmid, V. Krovi

{"title":"Analysis of Reference Shaping Control for Improved Yaw Stability in a Steer-by-Wire Vehicle","authors":"Srivatsan Srinivasan, Matthias J. Schmid, V. Krovi","doi":"10.1115/dscc2019-9153","DOIUrl":"https://doi.org/10.1115/dscc2019-9153","url":null,"abstract":"\u0000 Incorporation of electronic yaw stabilization in on-road vehicles can take many forms. Although the most popular ones are differential braking and torque distribution, a potentially better alternative would be the inclusion of a controller into the steering process. However, this is not often pursued in mechanically-coupled steering systems since the controller could work against the driver’s intentions creating potential challenges to safety. The growing adoption of steer-by-wire (SbW) systems now in autonomous/semi-autonomous vehicles offers an opportunity to simplify the incorporation of such steering-controller based assistance. Most current steering-assistance systems focus either on adaptive steering control (adaptive power steering and gear ratios) or on total steering control in autopilot functions (lane keeping control). Such steering-controllers (incorporated via SbW modality) can improve driving performance and maneuverability and contribute to the overall suite of active-safety vehicle systems. In this study, we introduce a new pure-feedforward (open loop) controller for the steer-by-wire system based on the concept of reference shaping control aimed at reducing the vibration/oscillation caused in vehicles during fast (evasive) maneuvers.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"46 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75607821","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

Contagion Processes Over Temporal Networks With Time-Varying Backbones 具有时变主干的时间网络上的传染过程

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Mechatronic Systems and Control Pub Date : 2019-11-26 DOI: 10.1115/dscc2019-9054

Matthieu Nadini, A. Rizzo, M. Porfiri

{"title":"Contagion Processes Over Temporal Networks With Time-Varying Backbones","authors":"Matthieu Nadini, A. Rizzo, M. Porfiri","doi":"10.1115/dscc2019-9054","DOIUrl":"https://doi.org/10.1115/dscc2019-9054","url":null,"abstract":"\u0000 Predicting the diffusion of real-world contagion processes requires a simplified description of human-to-human interactions. Temporal networks offer a powerful means to develop such a mathematically-transparent description. Through temporal networks, one may analytically study the co-evolution of the contagion process and the network topology, as well as incorporate realistic feedback-loop mechanisms related to individual behavioral changes to the contagion. Despite considerable progress, the state-of-the-art does not allow for studying general time-varying networks, where links between individuals dynamically switch to reflect the complexity of social behavior. Here, we tackle this problem by considering a temporal network, in which reducible, associated with node-specific properties, and irreducible links, describing dyadic social ties, simultaneously vary over time. We develop a general mean field theory for the Susceptible-Infected-Susceptible model and conduct an extensive numerical campaign to elucidate the role of network parameters on the average degree of the temporal network and the epidemic threshold. Specifically, we describe how the interplay between reducible and irreducible links influences the disease dynamics, offering insights towards the analysis of complex dynamical networks across science and engineering.","PeriodicalId":41412,"journal":{"name":"Mechatronic Systems and Control","volume":"92 1","pages":""},"PeriodicalIF":0.6,"publicationDate":"2019-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80416769","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