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  • Articles  (566)
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  • Articles  (566)
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  • 1
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    SMARCOS: Off-the-Shelf Smart Compliant Actuators for Human-Robot Applications (2021)
    Molecular Diversity Preservation International
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    Publication Date: 2021-10-27
    Description: With the growing popularity of Human-Robot Interactions, a series of robotic assistive devices have been created over the last decades. However, due to the lack of easily integrable resources, the development of these custom made devices turns out to be long and expensive. Therefore, the SMARCOS, a novel off-the-shelf Smart Variable Stiffness Actuator for human-centered robotic applications is proposed in this paper. This modular actuator combines compliant elements and sensors as well as low-level controller and high-bandwidth communication. The characterisation of the actuator is presented in this manuscript, followed by two use-cases wherein the benefits of such technology can be truly exploited. The actuator provides a lightweight design that can serve as the building blocks to facilitate the development of robotic applications.
    Electronic ISSN: 2076-0825
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Published by Molecular Diversity Preservation International
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  • 2
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    Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators (2021)
    Molecular Diversity Preservation International
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    Publication Date: 2021-10-27
    Description: In this paper, sliding mode tracking control and its chattering suppression method are investigated for flexible-joint robot manipulators with only state measurements of joint actuators. First, within the framework of singular perturbation theory, the control objective of the system is decoupled into two typical tracking aims of a slow subsystem and a fast subsystem. Then, considering lumped uncertainties (including dynamics uncertainties and external disturbances), a composite chattering-suppressed sliding mode controller is proposed, where a smooth-saturation-function-contained reaching law with adjustable saturation factor is designed to alleviate the inherent chattering phenomenon, and a radial basis function neural network (RBFNN)-based soft computing strategy is applied to avoid the high switching gain that leads to chattering amplification. Simultaneously, an efficient extended Kalman filter (EKF) with respect to a new state variable is presented to enable the closed-loop tracking control with neither position nor velocity measurements of links. In addition, an overall analysis on the asymptotic stability of the whole control system is given. Finally, numerical examples verify the superiority of the dynamic performance of the proposed control approach, which is well qualified to suppress the chattering and can effectively eliminate the undesirable effects of the lumped uncertainties with a smaller switching gain reduced by 80% in comparison to that in the controller without RBFNN. The computational efficiency of the proposed EKF increased by about 26%.
    Electronic ISSN: 2076-0825
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Published by Molecular Diversity Preservation International
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  • 3
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    A Novel Double Redundant Brake-by-Wire System for High Automation Driving Safety: Design, Optimization and Experimental Validation (2021)
    Molecular Diversity Preservation International
    Details
    Publication Date: 2021-10-26
    Description: The high redundant brake-by-wire system reveals vehicular safety handling ability and rarely emerges in the automotive area at the present time. This paper presents a novel brake-by-wire system, DREHB (Double Redundant Electro-Hydraulic Brake), with extensible fail-safe operations for high-automation autonomous driving vehicles. The DREHB is designed as a decoupled-architecture system containing three-layer cascaded modules, including a hydraulic power provider, a hydraulic flow switcher, and a hydraulic pressure modulator, and each of the modules can share dual redundancy. The operating principles of the DREHB in normal and degraded initiative braking modes are introduced, especially for the consideration of fail-safe and fail-operational functions. The matching and optimization of selected key parameters of the electric boost master cylinder and the linear solenoid valve were conducted using computer-aided batched simulations with a DREHB system modeled in MATLAB/Simulink and AMESim. The prototype of the DREHB was tested in hardware-in-the-loop experiments. The test results of typical braking scenarios verify the feasibility and effectiveness of the DREHB system, and the hydraulic pressure response as 28.0 MPa/s and tracking error within 0.15 MPa and the desirable fail-safe braking ability fully meets the requirements of higher braking safety and efficiency.
    Electronic ISSN: 2076-0825
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Published by Molecular Diversity Preservation International
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  • 4
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    Learning-Based Cooperative Adaptive Cruise Control (2021)
    Molecular Diversity Preservation International
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    Publication Date: 2021-10-26
    Description: Traffic congestion and the occurrence of traffic accidents are problems that can be mitigated by applying cooperative adaptive cruise control (CACC). In this work, we used deep reinforcement learning for CACC and assessed its potential to outperform model-based methods. The trade-off between distance-error minimization and energy consumption minimization whilst still ensuring operational safety was investigated. Alongside a string stability condition, robustness against burst errors in communication also was incorporated, and the effect of preview information was assessed. The controllers were trained using the proximal policy optimization algorithm. A validation by comparison with a model-based controller was performed. The performance of the trained controllers was verified with respect to the mean energy consumption and the root mean squared distance error. In our evaluation scenarios, the learning-based controllers reduced energy consumption in comparison to the model-based controller by 17.9% on average.
    Electronic ISSN: 2076-0825
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Published by Molecular Diversity Preservation International
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  • 5
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    Adaptive Control of Chaotic Signals: Investigated by Simulation Software and Real Electronic Circuits (2021)
    Molecular Diversity Preservation International
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    Publication Date: 2021-10-25
    Description: Chaotic behavior is complicated, sensitive, and has the feature of great variety, which are the most potential signals to be applied in data encryption, secure communication, medical information protection, etc. As a consequence, in this paper, we try to propose three different ways to show our data generating results step by step, which means it can be proved effectively and used in practice: (1) Chaotic solutions simulated by MATLAB, (2) chaotic motion drawn via electronic circuits software Multisim, and (3) chaotic signal implemented on real electronic circuits with breadboard. In advance, following the same design principal, the adaptive chaotic signal is also designed and presented in the end of this article for further study, which provides a more flexible and variable chaotic signal to enhance the encryption effectiveness. The experimental results are extremely close to the two simulation results and can definitely be technically transferred to real encryption application.
    Electronic ISSN: 2076-0825
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Published by Molecular Diversity Preservation International
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  • 6
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    A Closed-Loop Control Mathematical Model for Photovoltaic-Electrostatic Hybrid Actuator with a Slant Lower Electrode Based on PLZT Ceramic (2021)
    Molecular Diversity Preservation International
    Details
    Publication Date: 2021-10-25
    Description: In this paper, a novel photovoltaic-electrostatic hybrid actuator with a slant lower electrode based on the PLZT ceramic is proposed. The mathematical model of photovoltaic-electrostatic hybrid actuator is established. Then, based on the mathematical model of photovoltaic-electrostatic hybrid actuator and the parameters identified, the mathematical simulation of the closed-loop displacement control for the photovoltaic-electrostatic hybrid actuator based on the PLZT ceramic is carried out. The results show that the displacement of the actuator can be controlled successfully at a particular value within the pull-in displacement by the light source. Furthermore, the response speed of the output displacement for photovoltaic-electrostatic hybrid actuator with a slant lower electrode is faster than that with a parallel lower electrode, offering a good potential to advance the current applications on micro-electro-mechanical system.
    Electronic ISSN: 2076-0825
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Published by Molecular Diversity Preservation International
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  • 7
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    Prescribed Performance Control with Sliding-Mode Dynamic Surface for a Glue Pump Motor Based on Extended State Observers (2021)
    Molecular Diversity Preservation International
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    Publication Date: 2021-10-22
    Description: The actuator of a particleboard glue-dosing system, the glue pump motor, is affected by external disturbances and unknown uncertainty. In order to achieve accurate glue-flow tracking, in this paper, a glue pump motor compound control method was designed. First, the prescribed performance control method is used to improve the transient behaviors, and the error of the glue flow tracking is guaranteed to converge to a preset range, as a result of the design of an appropriate performance function. Second, two extended state observers were designed to estimate the state vector and the disturbance, in order to improve the robustness of the controlled system. To further strengthen the steady-state performance of the system, the sliding-mode dynamic surface control method was introduced to compensate for uncertainties and disturbances. Finally, a Lyapunov stability analysis was conducted, in order to prove that all of the signals are bounded in a closed-loop system, and the effectiveness and feasibility of the proposed method were verified through numerical simulation.
    Electronic ISSN: 2076-0825
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Published by Molecular Diversity Preservation International
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  • 8
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    Model-Based Observer Design Considering Unequal Measurement Delays (2021)
    Molecular Diversity Preservation International
    Details
    Publication Date: 2021-10-22
    Description: State observers are essential components of a modern control system. It is often designed based on a mathematical model of the process, thus requiring detailed process knowledge. However, in the existing state estimation methods, equal delays are commonly assumed for all communication lines, which is unrealistic and poses problems such as instability and a degraded performance of observers when unequal time delays exist. In this paper, a design of observers considering the measurement delays is presented. To deal with this problem, a chain-based observer has been proposed in which each chain deals with one output delay, performs prediction for the unavailable output value, and passes it to the next chain. Convergence of each chain observer as well as overall state estimation were proven. To illustrate the performance of the proposed scheme, simulation studies were performed on a benchmark continuous stirred tank heater (CSTH) process.
    Electronic ISSN: 2076-0825
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Published by Molecular Diversity Preservation International
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  • 9
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    Adaptive Cuckoo Search-Extreme Learning Machine Based Prognosis for Electric Scooter System Under Intermittent Fault (2021)
    Molecular Diversity Preservation International
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    Publication Date: 2021-10-22
    Description: In this paper, an adaptive Cuckoo search extreme learning machine (ACS-ELM)-based prognosis method is developed for an electric scooter system with intermittent faults. Firstly, bond-graph-based fault detection and isolation is carried out to find possible faulty components in the electric scooter system. Secondly, submodels are decomposed from the global model using structural model decomposition, followed by adaptive Cuckoo search (ACS)-based distributed fault estimation with less computational burden. Then, as the intermittent fault gradually deteriorates in magnitude, and possesses the characteristics of discontinuity and stochasticity, a set of fault features that can describe the intermittent fault’s evolutionary trend are captured with the aid of tumbling window. With the obtained dataset, which represents the fault features, the ACS-ELM is developed to model the intermittent fault degradation trend and predict the remaining useful life of the intermittently faulty component when the physical degradation model is unavailable. In the ACS-ELM, the ACS is employed to optimize the input weights and hidden layer biases of an extreme learning machine, to improve the algorithm performance. Finally, the proposed methodologies are validated by a series of simulation and experiment results based on the electric scooter system.
    Electronic ISSN: 2076-0825
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Published by Molecular Diversity Preservation International
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  • 10
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    Robust Control Design Based on Perturbation Cancellation for Micro-Positioning Design with Hysteresis (2021)
    Molecular Diversity Preservation International
    Details
    Publication Date: 2021-10-21
    Description: Based on the superiority of the piezoelectric elements, including lightweight, high electric mechanical transformation efficiency and a quick response time, a piezoelectric-based micro-positioning actuator is developed in this investigation. For eliminating the effects of hysteresis and modeling uncertainties that appeared in this micro-positioning actuator, a nonlinear adaptive fuzzy robust control design with a perturbation cancellation ability is proposed for this micro-positioning design to achieve a positioning resolution of 1 μm. Structurally, this proposed robust control methodology contains two particular parts: a universal fuzzy approximator and a robust compensator, which are employed to cancel the modeling uncertainties caused by the perturbed parts of the micro-positioning actuator and mitigate the approximation error between the modeling uncertainties and the universal fuzzy approximator, respectively. From both the numerical simulations and real validations, this proposed micro-positioning design performs a promising positioning performance in the micrometer level.
    Electronic ISSN: 2076-0825
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Published by Molecular Diversity Preservation International
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