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  • Artikel  (2.145)
  • IEEE/ASME Transactions on Mechatronics  (1.595)
  • IEEE Transactions on Engineering Management (T-EM)  (550)
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  • Technik allgemein  (2.145)
  • 1
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-13
    Beschreibung: This index covers all technical items - papers, correspondence, reviews, etc. - that appeared in this periodical during the year, and items from previous years that were commented upon or corrected in this year. Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name. The primary entry includes the co-authors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination. The Subject Index contains entries describing the item under all appropriate subject headings, plus the first author's name, the publication abbreviation, month, and year, and inclusive pages. Note that the item title is found only under the primary entry in the Author Index.
    Print ISSN: 1083-4435
    Digitale ISSN: 1941-014X
    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
    Standort Signatur Erwartet Verfügbarkeit
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  • 2
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Remaining useful life prediction for degrading systems plays a key role in prevalent prognostics and health management discipline. Compared with the offline remaining useful life prediction methods, online methods are usually more attractive in practice since they can be implemented dynamically adaptive to the real-time health conditions of the interested system in service. However, most of the existing studies for online remaining useful life prediction were limited to the linear degradation patterns. Aiming at this problem, this paper proposes a novel online remaining useful life prediction method under the framework of a generalized nonlinear degradation model with deterministic and stochastic parameters. Based on the historical degradation data of other similar systems from the same batch, the deterministic parameters and the hyperparameters in the prior distribution of the stochastic parameter are estimated through the maximum-likelihood estimation method, while the stochastic parameter in the degradation model can be dynamically updated by the Bayesian paradigm each time a new piece of degradation measurement of the interested system in service is observed. This makes the predicted remaining useful life dependent on the real-time health conditions of the interested system in service. The proposed online remaining useful life prediction method is then applied to a simulated example, and a practical case of bearings to demonstrate its effectiveness and superiority. Experimental results reveal that, comparing with two commonly used methods in the literature, our proposed method can improve the remaining useful life prediction accuracy dramatically.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 3
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Most current hip exoskeletons emphasize assistance for walking rather than stability. The goal of this paper is to develop a novel, high-power, self-balancing, and passively and software-controlled actively compliant hip exoskeleton that can assist with movement and maintain balance in both the sagittal and frontal planes. The developed hip exoskeleton includes powered hip abduction/adduction and hip flexion/extension joints. Each actuation unit employs a modular and compact series elastic actuator (SEA) with a high torque-to-weight ratio. It provides mechanical compliance at the interface between the exoskeleton and the wearer to ensure safety and a natural gait in the coupled wearer-exoskeleton system. A new balance controller based on the extrapolated center of mass concept is presented for maintaining walking stability. This controller reacts to perturbations in balance and produces a compliant guidance force through a combination of the passive elasticity of the SEA and active compliant control based on adaptive admittance control. The function of the hip exoskeleton is not to override human control, but rather to involve the wearer in movement control in order to avoid conflicts between wearer and exoskeleton. Our preliminary experiments on a healthy subject wearing the hip exoskeleton demonstrate the potential effectiveness of the proposed hip exoskeleton and controller for walking balance control.
    Print ISSN: 1083-4435
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 4
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper presents a novel design method for an in-pipe locomotive device named “helical bundled-tube locomotive device.” Helical bundled-tube locomotive devices are soft robots that travel in pipes. The device only comprises inflatable tubes; it deforms into a helical shape and travels in a pipe with pneumatic power. The deformation pushes the device toward the inner wall of the pipe and generates a traction force in the pipe. Therefore, the extent of deformation should be determined. The methods for estimation and estimation-based design, which this paper presents, allow for the device to be designed without employing trial-and-error experimentation; trial-and-error experimentation is ordinarily required. The proposed methods are quick and easy to implement, and will help in putting the device to practical use. The proposed methods are based on geometrical formulations of the deformations of the device and the tubes that compose the device. This geometrical formulation is independent of the mechanical characteristics of the material. We also considered the developed design method as being independent from the tube characteristics to simplify it. Accordingly, the proposed methods can be applied regardless of material, shape, and individual differences across helical devices.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 5
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Continuum robots with structural compliance have promising potential to operate in unstructured environments. However, this structural compliance brings challenges to the controller design due to the existence of considerable uncertainties in the robot and its kinematic model. Typically, a large number of sensors are required to provide the controller the state variables of the robot, including the length of each actuator and position of the robot tip. In this paper, a model-free method based on an adaptive Kalman filter is developed to accomplish path tracking for a continuum robot using only pressures and tip position. As the Kalman filter operates only with a two-step algebraic calculation in every control interval, the low computational load and real-time control capability are guaranteed. By adding an optimal vector to the control law, buckling of the robot can also be avoided. Through simulation analysis and experimental validation, this control method shows good robustness against the system uncertainty and external disturbance, and lowers the number of sensors.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 6
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: A matching algorithm is a key technique in the gravity-aided inertial navigation system (INS). A matching algorithm combined with an iterated closest contour point (ICCP) algorithm and a point mass filter (PMF) is proposed. The algorithm involves a two-step matching process. First, the PMF based on vehicle position variable can obtain in real-time an instructional position given in a large initial position error. In particular, since the gravity anomaly database is tabulated in the form of a digital model, the parameter in the filter model is estimated by INS short-term displacement. Then, the ICCP algorithm with a sliding window can be employed for further matching. Simulation tests indicate that compared with the conventional ICCP algorithm, the proposed algorithm can achieve better results.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 7
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: In this paper, we present the 3-D analysis of the torque transmitted to a small permanent magnet that is embedded in a capsule robot to achieve targeted drug delivery. This analysis is carried out by using analytical models and experimental results for the magnetic field created by multiple arc-shaped permanent magnets (ASMs), and the torque imparted to a magnetic capsule robot that has an arbitrary position and orientation. Our experimental results, which are in agreement with the analytical results, show that the on-board drug release mechanism can be actuated at any position and with large inclinations of the capsule robot without having to make positional adjustments in the external magnetic system. We have established analytical expressions describing the relationship between the rotating magnetic field created by the ASMs and the transmitted torque. Such relationships are essential to establish real-time control strategies for the actuation of magnetically articulated devices such as drug delivery in capsule robots.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 8
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Radio frequency (RF) cavity resonators are one of the key structures in particle accelerators. An RF source transmits required power for acceleration to cavity through waveguides. Due to impedance mismatch, some of the available power generated by the RF source reflects back from the cavity. To save power and provide the maximum accelerating field, it is desirable to minimize this reflected power by equalizing the frequencies of the cavity and source. In this paper, an adaptive gradient based algorithm is developed to automatically reach the minimum value of the reflected power and maintain this condition. The control algorithm is derived through a Lyapunov-based analysis. The proposed adaptive gradient based controller is further compared with a constant gain controller and a classical perturbation-based extremum seeking method. Experimental and simulation results are presented to evaluate the performance of the algorithms in tuning the resonance frequency.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 9
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: The science objectives of a spacecraft mission place stringent performance requirements on the spacecraft attitude control system. However, it remains an open problem how to guarantee consistent control performance necessary to meet these requirements, especially in the event of actuator faults and input saturation. Motivated by this fact, in this paper, we address the problem of attitude tracking control with prescribed performance guarantees for a rigid spacecraft subject to unknown but constant inertia parameters, unexpected disturbances, actuator faults, and input saturation. First, certain performance functions specified a priori by the designer are adopted to impose desired performance metrics on the attitude tracking errors. Then, the original attitude tracking error dynamics with performance constraints is transformed into an equivalent “state-constrained” one whose robust stabilization is shown to be sufficient to solve the stated problem via a novel error transformation. Subsequently, based on the transformed system, an adaptive fault-tolerant controller is derived by incorporating backstepping control, the barrier Lyapunov function, and Nussbaum gains. It is proved that the designed controller is able to guarantee the satisfaction of the prespecified constraints on the transformed errors, as well as the boundedness of all other closed-loop signals, without resorting to a judicious selection of the control parameters. Finally, the effectiveness of the proposed control scheme is evaluated by means of simulation experiments carried out on a microsatellite.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 10
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: In this paper, we aim to deal with the cooperative tracking problem for a group of nonlinear systems with actuator faults and external disturbance/model uncertainty. The faults in the actuator are allowed to be in arbitrary forms such as actuator degradation, amplification, or even total failure. Moreover, the disturbance/model uncertainty under consideration is of Lipschitz type by assuming that the derivative of disturbance/model uncertainty is uniformly bounded. Then, provided that the actuator has sufficient healthy components when the faults happen, we employ the integral sliding mode technique to design the controller that can tolerate the actuator faults, meanwhile the external disturbance can also be rejected. The controller design is separated into two steps. First, a nominal controller is designed such that the estimated disturbance/model uncertainty from disturbance observer is completely rejected and the desired performance is guaranteed. Second, by the integral sliding mode control technique, a compensating controller is designed such that the matched estimation error of actuator faults and the external disturbance/model uncertainty can be compensated. The designed controller, formed by the sum of the nominal controller and compensating controller, finally proves to guarantee practical synchronization of nonlinear systems. Simulations demonstrate the effectiveness of our theoretical findings.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 11
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Wheeled mobile robots (WMR) have been deployed in Mars/Lunar exploration, military missions, and geological investigations, and they must handle rough and deformable terrains. The dynamics at the wheel–soil interface, including the wheel–terrain contact angle, wheel sinkage, and wheel–soil interaction forces and torque, are major factors in the entrapment of NASA SPIRIT MER and the subsequent mission failure. This paper presents an experimental apparatus that is developed to measure the wheel–terrain contact angle, wheel sinkage, and wheel–soil interaction forces and torque in real time to improve our understanding of the WMR mobility on soft and deformable terrains. A method for wheel sinkage evaluation is presented based on measuring the wheel–terrain contact angle. The wheel–soil interaction forces and torque are measured by installing a force/torque sensor along the axle of the apparatus. The proposed approach is implemented on a testbed, and the experimental results are used to evaluate it; they demonstrate the reliable detection of the wheel–terrain contact angle, wheel sinkage, and wheel–soil interaction forces and torque. Moreover, based on the measured wheel–terrain contact angle, the relative errors in the predicted wheel–soil interaction forces and torque are less than 8% compared with the experimental data.
    Print ISSN: 1083-4435
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 12
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Controlling heterogeneous multiagent systems (MASs) to cooperatively accomplish tasks is currently an emerging topic in the application-oriented research of robotics. This paper investigates the consensus problem of a MAS consisting of quadrotors and two-wheeled mobile robots (2WMRs). Directed and switching interaction topologies over the network are considered. We propose a distributed linear quadratic regulation (LQR) consensus protocol for the quadrotors and design an LQR-based Rotate&Run Consensus Scheme for the 2WMRs to update the states. We use the algebraic graph theory and stochastic matrix analysis to conduct the convergence analysis of consensus. The underactuation characteristic of the 2WMR dynamics is considered in the controller design. The effectiveness of the control methods is verified by simulations and experiments.
    Print ISSN: 1083-4435
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 13
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper reports a new design strategy of adding lumped masses to the frame structure of a disk resonator gyroscope (DRG) to mitigate its figure of merit (FOM). A greatly enhanced decaying time constant τ can lead to very small FOM, which could then greatly mitigate the DRG's bias and bias drift. Additionally, this technique could also reduce the Brownian noise floor. A comprehensive investigation of the possible ways to add the lumped masses is presented, and a detailed design guideline is provided. A DRG prototype based on this design strategy is then presented and shows a τ of 38.5 s, a quality factor Q of 358 k, and a FOM of 1.9°/s. The prototype is operated in the force-to-rebalance mode, and an angle random walk of 0.012°/√h and a bias stability of 0.08°/h are demonstrated experimentally. This design strategy is suitable for use in batch fabrication of very high precision microelectromechanical systems devices such as gyroscopes.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 14
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Due to the absence of a direct control signal in the affected states, overcoming mismatched disturbances and/or uncertainties is a difficult task in control of nonlinear systems. Up to now, several alternatives have been developed for such situations. However, there are still some limitations, such as the existence of steady-state errors and prior knowledge requirement for disturbance bounds, which restrict the application of most of the designs. The main goal of this paper is to design a novel disturbance observer scheme for dealing with both matched and mismatched uncertainties of uncertain n -degree-of-freedom ( n DoF) nonlinear systems. Perturbations of the control inputs together with the effects of the input saturation are also taken into account. In our scheme, there is no need to know the constant parameters of the input saturation function, as well as the bounds of the uncertain terms. To solve the tracking control problem of the uncertain n DoF nonlinear system, an adaptive nonsmooth sliding-mode controller is proposed. Rigorous mathematic stability analysis is performed to guarantee the correctness of the theoretical designs. The main contribution of this study is that a novel disturbance observer along with a new adaptive terminal sliding-mode control is introduced to assure that the effects of mismatched uncertainties, external disturbances, and control fluctuations with completely unknown parameters and bounds are successfully canceled without any steady-state errors. Simulation results and comparative studies on tracking control of two multi-input multi-output mechatronic systems demonstrate the suitable performance of the introduced adaptive composite controller.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 15
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Advertisement, IEEE.
    Print ISSN: 1083-4435
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 16
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 17
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper presents a new shared control method for lane keeping assist (LKA) systems of intelligent vehicles. The proposed method allows the LKA system to effectively share the control authority with a human driver by avoiding or minimizing the conflict situations between these two driving actors. To realize the shared control scheme, the unpredictable driver-automation interaction is explicitly taken into account in the control design via a fictive driver activity variable. This latter is judiciously introduced into the driver–road–vehicle system to represent the driver's need for assistance in accordance with his/her real-time driving activity. Using Lyapunov stability arguments, Takagi–Sugeno fuzzy model-based design conditions are derived to handle not only the time-varying driver activity variable, but also a large variation range of vehicle speed. Both simulation and hardware experiments are presented to demonstrate that the proposed control strategy together with a linear matrix inequality design formulation provide an effective tool to deal with the challenging shared steering control issue. In particular, a fuzzy output feedback control scheme is exploited to achieve the shared control goal without at least two important vehicle sensors. These physical sensors are widely employed in previous works to measure the lateral speed and the steering rate for the control design and real-time implementation. The successful results of this idea of sensor-reduction control has an obvious interest from practical viewpoint.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 18
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper is focused on solving the problems of fault estimation and fault-tolerant control for multiarea power systems with sensor failures. First, the estimations of the system states and fault vectors are determined using an improved sliding-mode observer technique. Moreover, a derivative gain and a proportional gain are introduced to design the resultant sliding-mode observer more freely, and a discontinuous input is given to reduce the impact of sensor faults and aggregated uncertainties. Then, based on the obtained state estimates, an integral-type sliding-mode control scheme against faults and disturbances is proposed to ensure that the resultant fault system is asymptotically stable, from which each subsystem states in the multiarea power system can be driven onto the designed sliding-mode surfaces in both the state estimation and error estimation spaces. Finally, a three-area power system is simulated to validate the feasibility of the developed fault-tolerant control scheme.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 19
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Flywheel energy storage technology plays an important role in enhancing the operation reliability and efficiency of wind power generation farms. This work investigates an aggregated connection topology of flywheel energy storage matrix system, which is composed of multiple flywheel energy storage system (FESS) units within a wind farm. Based on this architecture, an effective charge/discharge strategy is introduced in order to ensure cooperative operation among flywheels, so as to realize smooth power transients, quality regulation, and voltage restoration. For each FESS unit, a structurally simple and computationally inexpensive neural-adaptive proportional integration derivative (PID) control algorithm based on Lyapunov stability theory is developed to control each flywheel individually in coordinated and stable manner. The merits and benefits of the proposed method are validated and demonstrated by both numerical simulations and experimental results.
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  • 20
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper presents a continuous fixed-time observer-based controller driving all states of an $n$ -dimensional chain of integrators to the origin for a finite pre-established (fixed) time using a scalar input when only the highest relative degree state can be measured. The uniform upper bound for the controller convergence time is calculated. Performance of the developed controller is demonstrated in two case studies, stabilizing an industrial armature-controlled dc motor (stable system) and controlling a cart inverted pendulum (unstable system).
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  • 21
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: The vibration signals of faulty rotating machinery are typically nonstationary, nonlinear, and mixed with abundant compounded background noise. To extract the potential excitations from the observed rotating machinery, signal demodulation and time–frequency analysis are indispensable. This work proposes a novel particle swarm optimization-based variational mode decomposition method, which adopts the minimum mean envelope entropy to optimize the parameters ( $alpha$ and $K$ ) in the existing variational mode decomposition. The proposed fault-detection framework separated the observed vibration signals into a series of intrinsic modes. A certain number of the intrinsic modes are then selected by means of the Hilbert transform-based square envelope spectral kurtosis. Subsequently, in this study, the feature representations were reconstructed via the selected intrinsic modes; then, the envelope spectra of the real faulty conditions were generated in the rotating machinery. To verify the performance of the proposed method, a testbed platform of a gearbox with a combination of different faults was implemented. The experimental results demonstrated that the proposed method represented the patterns of the fault frequency more explicitly than the available empirical mode decomposition, the local mean decomposition, and the wavelet package transform method.
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  • 22
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper proposes a novel event-triggered closed-loop subspace predictive control algorithm for linear discrete-time systems with an unknown plant model. The integrated observer-based event-triggered system is designed only with the system input and output data. The designed event-triggered law is dependent on the defined input error based on the input-to-state stable Lyapunov (ISS-Lyapunov) function. The receding horizon principle in the typical predictive control is substituted by the event-triggered law, which can considerably reduce the computation load and the time consumption while it maintains its stability and optimality. Moreover, a possible fault detection scheme is also proposed based on the event-triggered law. The simulation results illustrate the effect and the improved performance of the proposed scheme.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 23
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper presents a novel method to actively control magnetic field in a region-of-interest using multiple electromagnets (EMs), referred to here as extended distributed multipole (eDMP). Numerous sensor and actuator applications require controlling magnetic fields such as medical device and automation. However, it is difficult to achieve owing to the nonlinearity of the field and its interaction with various materials. In this paper, the eDMP model is used to compute the magnetic field of the EMs. The method achieves fast and accurate field analysis and it can be utilized to control the desired magnetic field using a set of EMs. The magnetic field generated from various designs of EMs and control of the field is numerically simulated and compared with experiments. Finally, two practical applications are presented to show the effectiveness and accuracy of the method. The first is a transcranial magnetic stimulation (TMS) paradigm used by a medical instrument for diagnosis and treatment of brain disease using magnetic pulses. The effect of the TMS coils on performance is investigated with the eDMP method. The second refers to the locomotion control of a capsule endoscope. Magnetic locomotion can be controlled to attain a desired position and orientation. Simulations and experimental results justify the usefulness of the method that is expected to be extensively applicable.
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  • 24
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Data-driven approaches have gained increasing interests in the fault detection of wind turbines (WTs) due to the difficulty in system modeling and the availability of sensor data. However, the nonlinearity of WTs, uncertainty of disturbances and measurement noise, and temporal dependence in time-series data still pose grand challenges to effective fault detection. To this end, this paper proposes a new fault detector based on a recently developed unsupervised learning method, denoising autoencoder (DAE), which offers the learning of robust nonlinear representations from data against noise and input fluctuation. A DAE is used to build a robust multivariate reconstruction model on raw time-series data from multiple sensors, and then, the reconstruction error of the DAE trained with normal data is analyzed for fault detection. In addition, we apply the sliding-window technique to consider temporal information inherent in time-series data by including the current and past information within a small time window. A key advantage of the proposed approach is the ability to capture the nonlinear correlations among multiple sensor variables and the temporal dependence of each sensor variable simultaneously, which significantly enhanced the fault detection performance. Simulated data from a generic WT benchmark and field supervisory control and data acquisition data from a real wind farm are used to evaluate the proposed approach. The results of two case studies demonstrate the effectiveness and advantages of our proposed approach.
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  • 25
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 26
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: A difficult problem of exponential tracking control for uncertain systems even with external disturbance is investigated. The systems studied have a general/representative form with the lossless second-order differential systems and Euler–Lagrange systems included. A general control design framework is presented using observer technique. An observer-based estimator is first developed to precisely estimate and or reconstruct the uncertainty and the disturbance, and an estimator-based controller is then developed. Globally exponential stability of the closed-loop tracking system can be achieved by that controller. Moreover, the resulted estimation error of uncertainty can be stabilized with finite-time convergence. The key advantage of this control architecture is that the controller is able to achieve a perfect tracking performance with no overshoot observed and the settling time tuned to be as less as possible. The effectiveness of the approach is validated on a rigid-flexible coupling satellite example.
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  • 27
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: In general, permanent magnet synchronous motor (PMSM) drives require four sensors (one position, one dc-link voltage, and at least two current sensors) to obtain good dynamic control performance. If an unpredictable fault occurs in any of these sensors, the performance of the drive deteriorates or even becomes unstable. Most of the existing works are limited to fault diagnosis of one or two sensors due to complexity. Therefore, to provide a continuous drive operation regardless of any of the sensor faults, an advanced fault-tolerant control (FTC) scheme that comprises of higher order sliding mode (HOSM) based observers and controllers is proposed. Two HOSM observers and one Luenberger observer are designed to generate the respective residuals and provide the detection of all sensor faults. Moreover, HOSM controllers are developed to ensure finite-time convergence of the error trajectories after the fault reconfiguration. The proposed FTC scheme reduces the existing chattering phenomenon with good performance in terms of convergence speed and steady-state error. Evaluation results on a three-phase PMSM are presented to validate the effectiveness of the proposed FTC approach.
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  • 28
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Presents the table of contents for this issue of the publication.
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 29
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Most prognostics and health management publications focus on the development of algorithms to monitor and estimate the health condition of individual components. However, estimating the remaining useful life (RUL) of complex systems comprising multiple components is a more relevant topic for the industry. An accurate system-level RUL prediction can be used as a powerful decision support tool to help industry practitioners reduce operational costs and increase availability of systems. This paper presents a method to estimate the RUL of multiple-component systems based on health monitoring information regarding each component in the system under consideration. The proposed method relates the health factors of each component to its performance. Then, a system-level performance indicator is computed based on the performance of each component and a system architecture function that describes the relations among different components within the system. The system-level RUL is then estimated based on the extrapolation of the system-level performance indicator and a known failure threshold. In the proposed method, a system failure is not necessarily connected with a component failure. We present two case studies to illustrate the application of the proposed method: 1) a simplified aircraft hydraulic system containing multiple pumps; and 2) an aircraft air conditioning system containing different components.
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  • 30
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Synchronous scanning of multiple objects is essential to health monitoring of cells with high reliability. In general, monitoring multiple objects with fixed optical resolution in a total area larger than the sensor size of the camera requires asynchronous scanning; therefore, the recorded images of different scanned areas are asynchronous. We have developed a novel single-shot triple field of view (FOV) interferometric technique that rectifies this asynchronous problem and the effect of high-frequency noise due to the motorized scanning components utilized to extend imaging area. The proposed technique is a novel setup, calibration, and correction algorithm that facilitates a wider 3-D imaging area and higher mechanical stability with fixed imaging parameters. In addition, objects are exposed to a low-power light source and images can be formed with lower intensity light, which is important for sensitive objects in practical applications. The technique separates the light exiting a microscope using four mirrors, which results in all beams having the same intensity and the recorded image possessing a higher fringe contrast than with techniques that use beam splitters. Furthermore, the arrangement it adopts, in which a pinhole is employed to produce a clear reference beam, makes it appropriate for complex industrial fabrication monitoring. A sub-Nyquist sampling scheme is also employed to facilitate recording of the maximum possible FOV for single-shot three holograms recording, and the phase retrieval process is modified to refocus the beam on different image planes. The feasibility of the proposed technique for monitoring multiple biological cells with different morphologies is demonstrated by using it to image human embryonic kidney 293 cells.
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  • 31
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper presents a convolutional neural network (CNN) based approach for fault diagnosis of rotating machinery. The proposed approach incorporates sensor fusion by taking advantage of the CNN structure to achieve higher and more robust diagnosis accuracy. Both temporal and spatial information of the raw data from multiple sensors is considered during the training process of the CNN. Representative features can be extracted automatically from the raw signals. It avoids manual feature extraction or selection, which relies heavily on prior knowledge of specific machinery and fault types. The effectiveness of the developed method is evaluated by using datasets from two types of typical rotating machinery, roller bearings, and gearboxes. Compared with traditional approaches using manual feature extraction, the results show the superior diagnosis performance of the proposed method. The present approach can be extended to fault diagnosis of other machinery with various types of sensors due to its end to end feature learning capability.
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  • 32
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This study proposes a concept for multithread active vision sensing that can measure dynamically changing displacement and vibration at multiple points on civil engineering structures. In multithread active vision sensing, a high-speed camera can function virtually as multiple tracking cameras by accelerating its measurement, computation, and actuation with ultrafast viewpoint switching at millisecond level. This enables simultaneous measurement of small vibrations distributed across a wide range, which cannot be observed using a single camera system, because its pixel accuracy is generally incompatible with its wide angle of view. We developed a galvanomirror-based high-speed multithread active vision system that can switch 500 different views in a second; it functioned as 15 virtual cameras each operating at 33.3 fps to observe multiple scenes in completely different views. The experimental results for a 4-m-long truss-structure bridge model to which 15 markers were attached show that a single active vision system can observe the deformation of the bridge structure and estimate modal parameters, such as resonant frequencies and mode shapes, at a frequency on the order of dozens of hertz.
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  • 33
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: The high nitrogen oxide ( ${text{NO}}_x$ ) emission is one of the main issues for diesel engines. To reduce the $text {NO}_x$ emissions with an after-treatment system, the information of NO and NO 2 concentrations plays an important role. In this paper, we investigate the NO and NO 2 concentration estimation for a diesel-engine-after-treatment system with ${text{NO}}_x$ sensor measurements. The main objective is to estimate the NO and NO 2 concentrations after diesel particulate filter (DPF) such that the selective catalytic reduction system can be benefited from the estimated concentrations. Since the diesel oxidation catalyst (DOC) is connected in series with DPF, the estimation work for DOC is also necessary. An empirical engine-out NO 2 / ${text{NO}}_x$ ratio model is adopted to predict the inputs of DOC. By considering the main chemical reactions inside DOC and DPF, the NO and NO 2 concentration models are obtained. The nonlinear models are converted into linear-parameter-varying forms. Then, a gain-scheduling Luenburger observer is proposed for the DOC and DPF. A practical assumption in which the system modeling and sensor measurements are not perfectly precise is made. Therefore, the gain-scheduling Luenburger observer does not directly share the weighting factors of the original system. By defining the estimation error, an augmented compact system is obtained. Both the stability and the energy-to-peak performance are investigated for the compact system. Based on the derived conditions, the observer design approach is proposed. Experimental studies and comparisons are given to validate the results. Compared with an existing work- the designed observer can improve the estimation performance significantly.
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  • 34
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Efficient battery condition monitoring is of particular importance in large-scale, high-performance, and safety-critical mechatronic systems, e.g., electrified vehicles and smart grid. This paper pursues a detailed assessment of optimization-driven moving horizon estimation (MHE) framework by means of a reduced electrochemical model. For state-of-charge estimation, the standard MHE and two variants in the framework are examined by a comprehensive consideration of accuracy, computational intensity, effect of horizon size, and fault tolerance. A comparison with common extended Kalman filtering and unscented Kalman filtering is also carried out. Then, the feasibility and performance are demonstrated for accessing internal battery states unavailable in equivalent circuit models, such as solid-phase surface concentration and electrolyte concentration. Ultimately, a multiscale MHE-type scheme is created for State-of-Health estimation. This study is the first known systematic investigation of MHE-type estimators applied to battery management.
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  • 35
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: In modern industrial processes, production quality, system performance, process reliability, and safety issues have received considerable attention. This paper proposes a plug-and-play (PnP) monitoring and control architecture that results in a simple reliable design procedure. The proposed PnP architecture is integrated with process monitoring and control systems, by which system performance can be enhanced without modifying or replacing the existing control system. Based on the proposed PnP architecture, a PnP process monitoring and disturbance compensation for rolling mills is proposed. The performance and effectiveness of the proposed approach is demonstrated using an industrial rolling mill benchmark.
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  • 36
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: The condition of a machine can automatically be identified by creating and classifying features that summarize characteristics of measured signals. Currently, experts, in their respective fields, devise these features based on their knowledge. Hence, the performance and usefulness depends on the expert's knowledge of the underlying physics or statistics. Furthermore, if new and additional conditions should be detectable, experts have to implement new feature extraction methods. To mitigate the drawbacks of feature engineering, a method from the subfield of feature learning, i.e., deep learning (DL), more specifically convolutional neural networks (NNs), is researched in this paper. The objective of this paper is to investigate if and how DL can be applied to infrared thermal (IRT) video to automatically determine the condition of the machine. By applying this method on IRT data in two use cases, i.e., machine-fault detection and oil-level prediction, we show that the proposed system is able to detect many conditions in rotating machinery very accurately (i.e., 95 and 91.67% accuracy for the respective use cases), without requiring any detailed knowledge about the underlying physics, and thus having the potential to significantly simplify condition monitoring using complex sensor data. Furthermore, we show that by using the trained NNs, important regions in the IRT images can be identified related to specific conditions, which can potentially lead to new physical insights.
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  • 37
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: It is important for humanoid-like mobile robots to learn the complex motion sequences in human–robot environment such that the robots can adapt such motions. This paper describes a reinforcement learning (RL) strategy for manipulation and grasping of a mobile manipulator, which reduces the complexity of the visual feedback and handle varying manipulation dynamics and uncertain external perturbations. Two hierarchies plannings have been considered in the proposed strategy: 1) high-level online redundancy resolution based on the neural-dynamic optimization algorithm in operational space; and 2) low-level RL in joint space. At this level, the dynamic movement primitives have been considered to model and learn the joint trajectories, and then the RL is employed to learn the trajectories with uncertainties. Experimental results on the developed humanoidlike mobile robot demonstrate that the presented approach can suppress the uncertain external perturbations.
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  • 38
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper investigates the problem of position tracking control for an electro-hydraulic servo system with parameter uncertainty. Superior to some existing results based on parameter estimation or fuzzy modeling, our proposed control scheme can guarantee the bounded tracking performance without parameter identification and model approximation. This is accomplished by using a novel differentiator-based backstepping control scheme, in which finite-time-convergent second-order differentiators are introduced to get the differential estimations of the system states. Then, the obtained differentials can be used to deal with the system uncertainties since such differentials contain the information relating to the system uncertainties. Moreover, in the backstepping control design procedure, the derivatives of the virtual control functions can also be approximated via the second-order differentiator, which can overcome the difficulty of calculating the derivatives of the virtual control functions. Finally, a design experiment is given to show the effectiveness of the proposed method.
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  • 39
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Vehicle with electrified powertrains exhibit degraded performance when operated in hot environments. When the operating and surrounding temperatures rise, an electric drive suffers from torque derating as its parameters change. This paper proposes a linear parameter varying (LPV) based observer controller pair to address this problem. The feedback field oriented control (FOC) is the most commonly adopted instantaneous torque control method for an electrified powertrain drive system. The flux and torque performance of a conventional feedback FOC deteriorates under the vast uncertainties in rotor and stator resistance due to temperature variations during electric vehicle (EV) operation. To cater for these uncertain scenarios, a robust closed-loop observer is designed to estimate the thermally derated torque and flux. The stability of the whole LPV scheme is established. The efficacy of the proposed algorithm is demonstrated for an EV operating in federal urban driving schedule with a dynamic temperature profile. The nonlinear simulation results confirm the LPV observer capability to successfully estimate the flux and derated torque in an EV drive system. The proposed technique, after validating in simulation environment, is verified experimentally on an induction machine drive controlled by NI myRIO-1900.
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  • 40
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper presents an experimental validation of a new control design for semi - active suspension systems, referred to as Combinatory quasi-Optimum Damping (COD) controller. This strategy is entirely based on vehicle measurements, is multiobjective, of low computational load, and can be implemented in real time. The validation was performed on a scaled vehicle 1:5, fully instrumented and equipped with Electro-Rheological dampers. First, a frequency-domain analysis is provided from a chirp road. Then, a five bumps test is considered for time-domain validation. Compared with passive suspensions, sky-hook, and ground-hook controls, the given results prove that the COD controller allows an almost optimum distribution between comfort and road holding.
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  • 41
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper presents a hybrid fuzzy decoupling control strategy, and its implementation for leveling and positioning a maglev wafer carrier in an integrated circuit (IC) packaging application. The maglev platform possesses micron scale positioning and can carry the wafers with precision motion between workstations. Because the maglev system is open-loop unstable, there are strong nonlinear interactions between electromagnets and the exact nonlinear system model is unknown, it is hard to achieve a good decoupling control performance by using conventional control strategy. Therefore, in this paper, a hybrid fuzzy decoupling control with good decoupling performance is proposed. The decoupling control uses a master–slave structure, which consists of a linear master decoupling control term and a nonlinear slave intelligent compensation term. The master decoupling term decouples the main interactions of the coupled maglev system. Using the decoupled main system as reference, the slave intelligent term compensates the nonlinear interactions. Furthermore, for this control strategy, establishing the exact linear or nonlinear model is not necessary, only an approximated linear model is needed. The experimental results show that the proposed control strategy decouples most of the interactions between the electromagnetic actuators. Experimental comparisons also highlight that the master–slave decoupling control has shorter settling time and smaller steady-state error than a conventional adaptive fuzzy controller and proportional-integral-differential controller.
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  • 42
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: A control strategy and trajectory generation algorithm for a novel 9-axis micromachining center is presented. The micromachining center consists of a 3-axis gantry type micromill and a six degree of freedom magnetic rotary table. The micromill is modeled as a rigid body and controlled with a sliding mode controller and feedfoward friction compensator. The rotary table is modeled as a rigid body with flexible connections and controlled using a combination of notch filters, loop shaping controllers, and integrators. To improve the performance of the micromill, the tracking error of the micromill is sent as reference commands to the rotary table. The trajectory generation algorithm consists of a kinematic module and a feedrate optimizer. The kinematic module resolves the redundancies of the 9-axis micromachine while respecting the stroke limits and avoids singularities. The generated position commands by the kinematic module are optimized without violating the physical limits of the drives. A two dimensional contouring experiment has been carried out to validate the improved tracking error performance of the proposed strategy. A freeform surface has been machined to demonstrate the overall performance of the 9-axis machine tool.
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  • 43
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Series elastic actuators (SEAs) have become fundamental components in robots that physically interact with the surrounding world and with humans. Force control of SEAs is indeed an active area of research. This paper refines and improves the stability analysis of the environment-adaptive force controller we previously proposed and proves asymptotic convergence in several cases of practical interest. In particular, we theoretically motivate observations that are not adequately explained or covered in our previous work. The analysis reveals an interesting generalization property of the approach achieved by using a simple and generic model to account for very different environments including stiff contacts, purely inertial loads, and soft materials. This is allowed by model parameters with interchangeable physical meaning: the same parameter describes different physical properties or variables, depending on the kind of interacting environment. In this light, the proposed adaptive controller adapts not only to parameters values, but also to parameter meaning. The analysis also shows that as the environment stiffness decreases, the convergence precision may degrade and a sliding-mode robustification is proposed to overcome the issue. Simulations and experiments are conducted to validate the control convergence in different environments, showing agreement with the theoretical expectation.
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  • 44
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper introduces a new framework for the closed-loop orientation control of spherical parallel manipulators (SPMs) based on the online solution of a convex optimization problem. The aim of solving a constrained optimization problem is to define a reference position for the SPM that remains as close as possible to the ideal reference (i.e., the one for which the top mobile platform has the desired orientation), at the same time keeping the SPM within the set of configurations in which collisions between links and singular configurations are avoided (the so-called feasible workspace). The proposed approach relies on a recently introduced method for obtaining unique inverse kinematics for SPMs and a newly proposed method for generating an approximation of the feasible workspace suitable for fast online optimization. The proposed control scheme is experimentally tested on an Agile Wrist SPM prototype, confirming the performance expected from the theoretical formulation.
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  • 45
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper presents a novel liver manipulator featuring suction fixing, stiffness tuning, and pneumatic actuation. In a liver-manipulation process, the manipulator begins in a low-stiffness state and is then pneumatically actuated to fit suction pads to the liver surface. At this point, the manipulator vacuums external air through the suction pads to adhere to the liver surface and then turns to a high-stiffness state to hold the liver tenaciously. Stiffness tuning is achieved with two cloth-rubber beams, which are contained within a closed elastic tube. Sucking the air between the beams increases the stiffness by 4.2 times. Experimental results demonstrate liver manipulation improvement in terms of holding stability and being less invasive.
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  • 46
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Current atomic force microscopes (AFMs) support single-probe operation, in which one nanosized tip enables versatile operations such as surface imaging, nanomanipulation, and nanomanufacturing to be performed, although one at a time. Some AFM operations involve switching between imaging and the operational mode, which is cumbersome, challenging, and limiting, particularly when different probe geometries are preferred for each mode. This paper presents a new dual-probe atomic force microscope (DP-AFM) that has two independent probes operating in a common workspace. Such a setup enables two AFM operations to be carried out simultaneously. For instance, one probe can be used to image, while the other probe performs one of the many tip-based processes. The hardware and software design involved in developing the DP-AFM is discussed in detail. Furthermore, to demonstrate the capability of dual-probe arrangement, a controller is developed for real-time plowing depth control, where one probe is used to plow the surface, while the other is used to image the plow profile, thus enabling real-time feedback control of the AFM plow process. Experimental results show that the plow depth can be regulated with nanometer-level accuracy.
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  • 47
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: In this paper, a concept design of a novel traveling wave driven piezoelectric plate robot (TWDPPR) for planar motion is presented. The TWDPPR consists of an aluminum plate structure with four noncollocated piezoelectric patches bonded on its surface. A two-dimensional modeling of noncollocated piezoelectric patches bonded on thin structures developed and validated in previous work is used in this paper to model the TWDPPR based on the “two modes excitation” method for propulsion. A preliminary design is presented and the model is then used to verify the generation of the 2-D traveling wave on the plate for planar motion. A prototype is fabricated and forward, backward, and steering motions are experimentally achieved. An experimental characterization of the TWDPPR is given in this paper.
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  • 48
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: The complex structure of the parallel kinematic machine (PKM) challenges its high kinematic accuracy. An innovative smart structure-based PKM design method was generated in our previous work as a possible solution to improve its accuracy, wherein a prototype was successfully developed. This paper mainly examined the theoretical and technique methods to improve the kinematic accuracy of the novel smart structure-based PKM to promote its practical application. The developed smart structure-based PKM was first introduced and the procedure of improving its kinematic accuracy was presented. The kinematic error model of this PKM was then established by considering the kinematic property of the machine. Due to the special structure of the smart structure-based PKM, several key preparations, including the installation of the grid encoder, the origin returning of the smart structure chains, and the automatic measurement of the motion information, were performed for kinematic accuracy improvement. On this basis, the PKM's kinematic accuracy was improved by the kinematic calibration method and the smart structure chains. The regularization method was employed to deal with the ill-conditioning problem in the error identification of the PKM, thereby reducing the maximum positioning error of the smart structure-based PKM from 300 to 25  μ m through error compensation. An experimental test was performed to verify the existence of nonlinear geometric errors in the actual PKM. A regional error identification and compensation method was proposed to reduce their effects on the result of the kinematic calibration. Finally, the smart structure chains were controlled to further improve the PKM's kinematic accuracy. The experimental results indicated that the smart structure-based PKM achieved micron-level positioning accuracy in its whole workspace by following the proposed kinematic accuracy impr- vement process.
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  • 49
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: This paper presents a quantitative evaluation of the dynamics-based deblurring method using an optical character recognition (OCR) technology. Although various image deblurring algorithms have been studied, there has been no standard performance metric; deblurred images have often been evaluated in a qualitative manner. In this study, blurry images containing alphanumeric characters were obtained in the course of rapid motion using a robotic vision system. The obtained blurry images were recovered by the dynamics-based deblurring method. For a quantitative evaluation, OCR rates from the deblurred images by the dynamics-based method were calculated and compared with those by other well-known methods. Experiment results show that the dynamics-based method has the best quantitative results.
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  • 50
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: Structural modes such as decoupling of a mechanical subsystem are in general unwanted effects in high precision positioning systems. This paper introduces intentional decoupling as a design choice by using a connecting flexure-damper configuration that allows high bandwidth control of a stiff first subsystem and lower bandwidth control of a bulky second subsystem at the same time. An experimental setup of a single degree of freedom system with one body intentionally decoupling above 190 Hz is developed and analyzed, showing good agreement with the analytical modeling. A model-based H $_infty$ -controller to actively control the position of the first body is designed and the damping in the system is revealed as an important design parameter to reduce the control effort around the decoupling frequency. It is demonstrated that with the derived controller, the first and the second body of the resulting prototype can simultaneously be controlled with bandwidths of 1.4 kHz and 180 Hz, respectively. When exposed to a disturbance profile with 12.4 $mu$ m root mean square (rms) value in the laboratory environment, the remaining rms positioning errors for the actively and passively controlled subsystems are as small as 0.12 $mu$ m and 0.81 $mu$ m, respectively.
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  • 51
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: A nonresonant-type piezoelectric motor with a precise driving ability was proposed. The operating principle of the proposed motor is different from the previous nonresonant piezoelectric motors using either the clamping and feeding mechanism (inchworm mechanism) or the inertia drive mechanism. An oblique linear motion formed by the hybrid of two bending motions of a sandwich transducer was used to push the runner step-by-step. Two square-wave voltages were applied to the horizontal and vertical PZT elements to obtain the desired oblique linear motion. The mechanism of the proposed piezoelectric motor was illustrated in detail. Then, transient analyses were performed by ANSYS software to simulate the motion trajectory and to find the response characteristics of the motor. Finally, a prototype was fabricated to verify the mechanism and to test the mechanical output characteristics of the proposed motor. Under the input square-wave voltages of 500 V $_{text{p-p}}$ , the prototype achieved a step displacement of 5.96 μm, a maximum no-load velocity of 59.64 μm/s, and a maximum thrust of 30 N. This paper provides a new mechanism for the design of a nonresonant piezoelectric motor with long stroke and precise driving ability.
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  • 52
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: These instructions give guidelines for preparing papers for this publication. Presents information for authors publishing in this journal.
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  • 53
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2018-02-21
    Beschreibung: The scroll-type air motor, also named the scroll expander, has been widely used for different applications due to its characteristics of compact structure and high energy conversion efficiency. However, the leakage and the friction result in non-negligible energy losses. This paper presents the recent work on developing a new scroll-type air motor with mounted permanent magnetic spirals and investigates its potential in leakage reduction and efficiency improvement, especially at low-pressure air supply conditions. A method for the implementation of the magnetic scroll air motor is proposed. A prototype is manufactured, and initial experimental tests are conducted to study the generalized torque distribution. A mathematical model for the magnetic scroll air motor is developed, and a corresponding simulation study is presented. The study shows that the proposed magnetic scroll air motor structure is feasible in terms of manufacturing and has the potential to reduce the air leakage and, thus, to improve the energy efficiency by a maximum of around 15% at a supply pressure of $2 times {10^5}$ Pa, with a flank leakage clearance reference of 0.06 mm.
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  • 54
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
    Print ISSN: 0018-9391
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  • 55
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
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  • 56
    Publikationsdatum: 2018-01-20
    Beschreibung: In this paper, we examine the relationship between justice dimensions (procedural, distributive, and interactional justice) and conflict (task and relationship) in buyer–supplier relationships. We develop a nuanced understanding of how justice dimensions reduce task and relationship conflict in buyer–supplier relationships. In addition, we hypothesize that task conflict mediates the relationship between justice dimensions and relationship conflict. We also hypothesize that the effect of justice dimensions on conflict is contingent on the buyer–supplier cultural distance and the degree of autonomy provided to the supplier. Based on primary data on buyer–supplier relationships, our results show that procedural and interactional justice dimensions are more important than distributive fairness. Furthermore, managers can reduce the relationship conflict by mitigating task conflict, which has not been asserted in the buyer–supplier relationship literature. Our results suggest that supplier autonomy and cultural distance, as contextual variables, influence the relationship between interactional justice and conflict dimensions, but they do not influence the relationship between procedural or distributive justice and conflict dimensions. We discuss the relative importance and role of the three justice dimensions in mitigating relational conflicts in buyer–supplier relationships, and implications of our results to theory as well as practice.
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  • 57
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
    Beschreibung: Integrating insights from organizational information processing theory and social categorization theory, we examine how top management team (TMT) tenure diversity affects team performance. We propose a theoretical framework that examines how these two conflicting processes occur simultaneously within diverse TMTs by arguing that TMT tenure variety influences information processing while TMT tenure separation influences the social categorization process. We argue for the presence of nonlinear relationships between tenure variety, tenure separation, and team performance. Furthermore, we propose that these relationships are moderated by the level of TMT behavioral integration. Based on a sample of 357 senior managers from 126 firms in China, we find that both TMT tenure variety and TMT tenure separation have opposing and nonlinear relationships with TMT performance, and the relationship between TMT tenure separation and TMT performance is moderated by the level of TMT behavioral integration. Our results help clarify the conflicting conclusions of previous TMT tenure diversity research. Our findings suggest that the effect of diversity depends on the type of diversity as they affect different processes. Our findings also explain how the opposing effects of both information processing and social categorization can occur simultaneously in the TMT. Furthermore, the effects of both processes are not linear while the level of diversity variety and diversity separation can affect the marginal effects. Finally, TMT behavioral integration processes affect how tenure diversity plays its role in team performance.
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  • 58
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
    Beschreibung: The issue of scheduling interrelated activities is important and of particular concern to design managers. One tool that helps us to solve this issue is the design structure matrix (DSM) which can explicitly represent the information dependencies among interrelated activities. Based on the DSM method, this study presents effective approaches for sequencing interrelated activities with the goal of minimizing total feedback length, which is a good approximation for reducing project completion time. First, we prove two new properties of the problem, and develop an insertion-based heuristic. Second, the proposed heuristic is further improved by combing it with simulated annealing and genetic algorithm. Computer experiments show that our approaches outperform existing heuristics, in that with similar settings, our approaches often produces better solutions.
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  • 59
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
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  • 60
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
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  • 61
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
    Beschreibung: This paper's novelty is the modeling of competition in production quantity and product-launch timing, which has been silent regarding the impact of these interdependent decisions on firm survival. We rigorously address the competitive interplay between a startup and an established rival by developing a game-theoretic model that captures the startup's vulnerability to failure through maximizing its survival likelihood. We allow the established rival to behave strategically by anticipating the startup's timing and production decisions prior to making its own production decision. We propose that unless the market-entry investment is low, a survival-maximizing startup should wait to launch its product, and do so with a larger production output than the established rival, when delaying the product launch enables the startup to charge a high price. Insights on the established firm involve the benefit from behaving strategically, which is when competing with either a survival-maximizing or profit-maximizing startup. If the market-entry investment is large, comparing a survival-maximizing startup with a profit-maximizing startup suggests that the former produces at a larger scale than the latter when either startup competes with an established rival, which in turn is forced to reduce its production level.
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  • 62
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
    Beschreibung: Product lifecycle management (PLM) is a strategic and holistic approach for the management of information, processes, and resources supporting the entire product lifecycle from concept to disposal. Several systems are available to manage data and information during the lifecycle. A PLM system does not have to be considered as a unique solution, but as a set of software supporting different perspectives and activities related to the lifecycle management. A full comprehensive implementation of PLM systems is rare. Since PLM reflects the peculiarities of processes and data structures, implementation differences are evidently observable among companies. The design of methods and tools supporting an assessment of PLM implementation inside a company can enable a correct definition of PLM strategies and goals. Based on these premises, the paper aims to specify a methodology for carrying out a gap analysis of PLM with the scope of discovering existing technological and methodological gaps, and planning actions for improvement. The proposed methodology implements a visual and lean reference model, and an assessment questionnaire for data collection. Lesson learned and feedback from three industrial applications are also described and discussed.
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  • 63
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
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  • 64
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
    Beschreibung: This paper develops two duopoly game models to explore price decisions and the channel benefit of decentralization for two supply chains, and investigates the channel structure decisions in the presence of fixed marketing and manufacturing costs. We give the price decisions and discuss price distortion. Under the downward decentralization model, our analysis reveals that first, symmetric decentralization improves supply chain profit only when the fixed marketing costs are high or product substitutability is high; second, decentralization improves channel profit, and symmetric decentralization (i.e., both manufacturers use decentralization) is an equilibrium if the fixed marketing (or unit production) costs are sufficiently high and the market scales are sufficiently small; and third, the presence of fixed marketing costs and asymmetry of supply chains support the existence of asymmetric equilibrium. Under the upward decentralization model, we find that symmetric outsourcing emerges when the fixed manufacturing cost or the unit production cost is low while both market scale and product substitutability are large in the supplier-led setting, the channel profit under downward decentralization is higher than that under symmetric outsourcing only if product substitutability is high, and the sourcing strategy largely depends on the specific game sequence.
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  • 65
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
    Beschreibung: Despite substantial research that advocates the “right” portfolio of new product development initiatives for the firm, one important aspect has been overlooked: Creating a portfolio of new product development initiatives is not equivalent to choosing from a menu of initiatives. Rather, these initiatives are defined by and within the organization. Thus, portfolio selection rests upon two challenges: 1) the cross-functional nature of collaborative tasks; and 2) the role of explicit and implicit incentives on innovative outcomes. This paper explores how these factors ultimately determine the initiatives an organization pursues. We abstract a new product development organization as two functional managers who report to senior management and analyze the strategic interactions between all three stakeholders. Senior management decides whether to empower the functional managers to define the initiative and how to reward them contingent on the outcome. We evaluate how the asymmetry of information regarding each function's capability, and the explicit and implicit rewards and penalties imposed on the functional managers affect the upfront resource allocation. We find a profound effect of the information asymmetry: the set of initiatives the firm deems profitable is reduced, thus impeding the organization's potential to innovate. To counter such a shortcoming, senior management may optimally misalign the objectives of the stakeholders.
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  • 66
    Publikationsdatum: 2018-01-20
    Beschreibung: Some developed countries have enacted extended producer responsibility regulations that facilitate the diffusion of environmental supply chain cooperation (ESCC) practices among manufacturers. Developing countries, such as China, have adopted similar but generally flexible and voluntary regulations and policies. Using exchange theory with a focus on regulatory aspects as the theoretical lens, this paper develops propositions to examine if awareness of voluntary environmental regulatory policies is different among manufacturers as well as the relationship to ESCC practices adoption. Results from cluster analysis and multivariate analysis of variance for 308 responses identify three categories of Chinese manufacturers with respect to their awareness of environmental regulatory policies. These three categories include savvy, attentive, and nescient manufacturers. It was found that manufacturers characterized with higher environmental regulatory awareness tend to implement ESCC practices more intensively. Hierarchical regression analysis was further used to examine the relationship between awareness of regulatory policies and ESCC practices. Awareness of domestic regulatory policies has positive effects on green purchasing only for savvy manufacturers. Regression results show a nonlinear relationship between awareness of domestic regulatory policies and customer cooperation with environmental concerns, from slightly positive for nescient manufacturers and slightly negative for attentive manufacturers to significantly positive for savvy manufacturers.
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  • 67
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
    Beschreibung: Although research in the supply chain area inherently involves the study of supply networks, the majority of existing work is limited to utilizing a dyadic approach in examining relationships between buyer and supplier firms. However, real-world supply networks are characterized by a complex network of interfirm relationships and not just dyads. Thus, it is important to examine how structural relationships among supply chain partners impact the performance of firms using a network analytic lens. This paper examines the influence of structural characteristics of a firm's supply network on its performance. Using a dataset of 114 firms consisting of firm-level variables drawn from multiple sources in the electronics industry, we investigate two important structural characteristics of the supply network—structural prominence, depicting the centrality of a firm's position in the supply network, and density, characterizing the interconnectedness among firms in a supply network. Using a robust regression approach, we find that both the structural prominence of firms and the density of the supply networks, along with the interaction between them, positively influence the performance of firms as measured by the firm's asset utilization, cost performance, and operational efficiency. We discuss both theoretical and practical implications of our findings, and relate the results to managerial significance.
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  • 68
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    Publikationsdatum: 2018-01-20
    Beschreibung: This paper presents a contingency model that examines the external links between the business environment and supply chain strategies, and the internal links between supply chain strategies and supplier management practices. The research model theorizes that flexibility and low-cost oriented supply chain strategies should fit with the underlying business environments, and, in turn, supplier management practices (i.e., long-term relationships, supplier assessment, and integration) should fit with the chosen supply chain strategies. The dataset to test the research model was drawn from a survey of managers from 232 Australian manufacturing firms, and comparative path analyses were employed to assess the fit among different business environments, supply chain strategies, and supply chain practices. The findings show that dynamic environment has a better fit with flexibility strategy than low-cost strategy, while competitive environment surprisingly does not show a stronger fit to low-cost strategy than flexibility strategy. Additionally, the results show that while supplier assessment is important for both flexibility and low-cost oriented strategies, long-term relationship and logistics integration are more important for flexibility strategy than for low-cost strategy. The implications for theory and practice are discussed in the paper.
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  • 69
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
    Beschreibung: Despite the increased research attention directed to the importance of knowledge protection in collaborative business partnerships, such as IT offshore outsourcing, the extant literature offers conflicting views on whether knowledge protection inhibits project performance. Based on the transaction cost theory and the psychological contract theory, this study investigates how outsourcer knowledge protection affects project performance through partnership quality from the view of the vendors. Hypotheses were proposed and examined using data from 180 IT offshore outsourcing projects. This study finds that knowledge protection reduces partnership quality and project performance. Furthermore, a vendor's relational contract schema strengthens the negative effect of outsourcer knowledge protection on partnership quality, while a vendor's transactional contract schema weakens the negative effect. This study extends our understanding regarding the effects of knowledge protection on project performance and has important implications for outsourcing project management.
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  • 70
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    Publikationsdatum: 2018-01-20
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  • 71
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    Publikationsdatum: 2018-01-20
    Beschreibung: Motivated by industrial practices, we explore in this paper the optimal supply chain scheduling problem in garment manufacturing with the consideration of coordination and radio frequency identification (RFID) technology. We consider the case in which a garment manufacturer receives orders from multiple retailers, and needs to determine the optimal order set to take and the corresponding optimal production schedule. We model the problem as a flowshop scheduling problem, uncover its structural properties, and prove that the problem is NP-hard in the ordinary sense only. We contribute by first developing a practical and effective pseudopolynomial dynamic programming algorithm to find the globally optimal solution in reasonable time; second, proposing an implementable method to achieve win–win supply chain coordination; and third, showing the good performance of RFID technology deployment. We further determine the critical threshold value of the order number with which the total manufacturing capacity must be increased if companies in the supply chain wish to improve their profits.
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  • 72
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    Publikationsdatum: 2018-01-20
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  • 73
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    Publikationsdatum: 2018-01-20
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  • 74
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    Institute of Electrical and Electronics Engineers (IEEE)
    Publikationsdatum: 2018-01-20
    Beschreibung: Global Product Development (GPD) networks have evolved to satisfy the unique requirements essential to the successful adoption of corporate outsourcing and offshoring during development processes. Having reviewed the relevant literature associated with GPD, this paper seeks to contribute to the understanding of organizational considerations taken by GPD networks during their transitional processes. A retrospective case study analysis was conducted with 17 Italian companies classified into six GPD configurations (named the “Chess matrix”). Each classification was based on both developmental localization (local versus global) and product development process fragmentation; development activities are either entirely performed within the same development lab, eventually with the contribution of support/adaptive units, or they are split among development units. Using this classification system, an evolutionary model was adopted to illustrate the dynamic paths companies follow when transitioning toward new GPD configurations. With this framework and categorization process, it was deduced that three main variables drove each of the 17 companies: 1) market needs; 2) market extension; and 3) internal needs. These variables were determined based on the GPD approach each company adopted in pursuit of a stable profitable configuration that was achieved by either deliberately remaining in a certain configuration or by employing an evolutionary GPD development configuration. In recognizing that there is not a singularly optimal stable configuration, it is essential to recognize and identify the individual drivers being pursued by each enterprise when implementing specific configurations. Further research will be devoted to more extensively elaborate the paths within a larger sample of companies to identify unrevealed paths and drivers that move companies in their product development globalization efforts.
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  • 75
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: Presents the table of contents for this issue of the publication.
    Print ISSN: 1083-4435
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    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
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  • 76
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: Presents a listing of the editorial board, board of governors, current staff, committee members, and/or society editors for this issue of the publication.
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  • 77
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: This paper presents an advanced method of selecting the number of poles slots so as to reduce the vibration of a traction motor for a gearless elevator system. The vibration source, i.e., the radial electromagnetic force, of the prototype was examined through its analytical derivation. The expression indicated the vibration orders and frequencies of the radial electromagnetic force that was caused by the interactions within or between armature reaction and permanent magnet fields including the stator slotting effect. More specifically, the prototype with 14 poles and 18 slots displayed a problem in terms of the vibration at the two times line frequency; this was due to the lowest vibration order 2. The vibration at two times line frequency was decreased by approximately 77.27% through a selection of 24 poles and 54 slots with a lowest vibration order of 6. A tower test was then conducted in order to validate the proposed method. Finally, an experiment on models having other rated load and pole-slot combinations was also carried out to improve the overall reliability.
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  • 78
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: An active rotor topology for vibration control in rotating machinery is proposed. Microelectromechanical system accelerometers and miniature mass-balancer actuators are placed within a hollow rotor to produce a self-sensing self-actuating design. When compared with conventional stator-mounted active systems, this topology enables an increased number of sensors and actuators, with greater freedom to select their location along the rotor. The construction and evaluation of a prototype is reported. An algorithmic direct search controller is adopted to provide non a priori vibration control. The searching algorithm is specified to solve a discrete problem, accounting for the limits in resolution of sensors and actuators. In addition, features have been introduced to prevent premature convergence at saddle points. The controller has been applied both in simulation and experimentally, achieving a substantial reduction in rotor vibration.
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  • 79
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: This paper addresses a residual vibration control problem of the refueling machine (RM) that transports fuel rods in water to their desired locations in the nuclear reactor. A hybrid lumped-mass and distributed-parameter model of the RM is considered for investigation of the transverse vibrations (caused by trolley movement) of a fuel rod in water. Simulations and experiments reveal that the hydrodynamic force causes a large deflection of the rod in water as compared with in air, which must be suppressed to avoid damage to the rod's fissile material. A new command-shaping method for suppression of the flexible rod's residual vibrations in water is developed, which considers both a similitude law relating the maximum endpoint deflection of the rod in water to the maximum trolley velocity and a constraint on the rod's maximum endpoint deflection during its transport. The simulation and experimental results show that the proposed underwater-command-shaping method can effectively suppress the vibrations of the flexible rod operating in water.
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  • 80
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: A desired compensation adaptive controller is proposed in this paper for precision motion control of electro-hydraulic servo systems, with consideration of the nonlinearity, modeling uncertainty, and especially the severe measurement noise arising from actual state feedbacks and deteriorating the control performance significantly. To alleviate the noise, actual states in the model-based compensation design are replaced with corresponding desired values. Considering that the general hydraulic system model contains unmatched modeling uncertainties (e.g., unmodeled nonlinear friction), an innovative approach to construct the desired values of the intermediate state variables is proposed in backstepping design procedure. It is then applied especially to the load pressure state, which appears in the system in a nonlinear way, and the discontinuous sign function is approximated by a continuous function to facilitate the controller design. As a result, the adaptive compensation and the regressor in the proposed controller depend on the desired trajectory and online parameter estimates only. Hence, the effect of measurement noise can be reduced and then high control performance is expected. Theoretical analysis reveals that the proposed controller can guarantee a prescribed transient performance and final tracking accuracy in the presence of both parametric uncertainties and uncertain nonlinearities. Moreover, it can guarantee the asymptotic tracking performance when subjected to parametric uncertainties only. Extensively comparative experimental results are obtained to verify the effectiveness of the proposed control strategy.
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  • 81
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: This paper addresses the problem of autonomous servoing an unmanned redundant aerial manipulator using computer vision. The overactuation of the system is exploited by means of a hierarchical control law, which allows to prioritize several tasks during flight. We propose a safety-related primary task to avoid possible collisions. As a secondary task, we present an uncalibrated image-based visual servo strategy to drive the arm end-effector to a desired position and orientation by using a camera attached to it. In contrast to the previous visual servo approaches, a known value of camera focal length is not strictly required. To further improve flight behavior, we hierarchically add one task to reduce dynamic effects by vertically aligning the arm center of gravity to the multirotor gravitational vector, and another one that keeps the arm close to a desired configuration of high manipulability and avoiding arm joint limits. The performance of the hierarchical control law, with and without activation of each of the tasks, is shown in simulations and in real experiments confirming the viability of such prioritized control scheme for aerial manipulation.
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  • 82
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: A design method for the gearshift strategy in powertrain systems is proposed to explore the energy saving potential of an electric vehicle (EV) equipped with a multispeed automated manual transmission (AMT). The optimal gearshift schedule is obtained by solving a nonlinear time-varying optimal problem in the framework of model predictive control, wherein, the vehicle driveability, represented by the driver's power demand satisfaction, and battery efficiency are considered. The solution approach is developed basing on the combination of Pontryagin's minimum principle and numerical methods, in addition to the real-time applications. Simulation results for a passenger EV with four-speed AMT on different drive cycles show that compared with the case of a standard gearshift strategy, an additional fuel saving can reach 3–5% and even more when considering road characteristic such as road slope. Furthermore, hardware in the Loop simulation for experimental validation is also given in this paper. Results indicate that both energy efficiency and computational speed are improved.
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  • 83
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: In this paper, a maximum torque per ampere (MTPA) control strategy is presented for interior permanent magnet synchronous machines (IPMSMs) without current sensing or regulation. The developed control scheme achieves MTPA using a direct voltage control method, which varies the machine's stator voltage amplitude and angle. As such, no explicit current loop regulation is needed, which simplifies the control structure and unlike other control strategies, no parameter knowledge, voltage, or current transducer is required. Experimental comparison against the well-known MTPA vector control highlights the performance of the proposed controller in various conditions. Moreover, quantitative efficiency metrics are provided to better illustrate the MTPA trajectory tracking performance. Furthermore, the simplicity of the control scheme makes it a good candidate for low-cost implementation of real-time IPMSM drives.
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  • 84
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: Normally, due to the strongly coupled kinematics and under-actuated property, motion planning for a multisteering tractor–trailer mobile robot (MSTTMR) is a complex problem. In this paper, an MSTTMR system with on-axle hitching is considered. Motion planning for it is divided into three independent subproblems: planning a collision-free geometric path for the tractor, transforming the geometric path into a motion trajectory of the tractor, as well as generating motion trajectories for the trailers, and then they are solved by means of a three-level hierarchical method. At the highest level, a geometric path in the form of a cubic spline curve is planned for the tractor. To consider obstacle avoidance and satisfy constraints on the control inputs of the tractor, the path parameters are optimized by an improved quantum-behaved particle swarm optimization algorithm. At the middle level, the planned path is transformed into a feasible motion trajectory of the tractor. At the lowest level, to guide all the trailers to track the planned path, motion planning for the trailers is achieved by the Gauss pseudospectral method (GPM). As a result, both the tractor and trailers can simultaneously move along the same path, and turning maneuvers in narrow and cluttered spaces can successfully be achieved. Simulation and experimental results are presented to show the effectiveness of the proposed approach.
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  • 85
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: This paper presents the design and implementation of a new control strategy for Ghent University, Ghent, Belgium (UGent) knee rig, which is capable of imposing bicycle motions on cadaver knee specimens in order to investigate knee biomechanics and the impact of newly designed knee implants. An electromechanical description of the system with its instrumentation and limitations is given. Via system identification, a dynamical model of the multiple-input/multiple-output system is obtained on which the control strategy design is based. This control strategy combines position control and force control. Dynamical analysis of the system suggests the need for a Proportional-Integral-Derivative (PID) control strategy with gain adaptation. In order to fulfill the performance specifications, a feed-forward action and decouplers are added to the control strategy, and their advantages are shown via simulations and experiments. The complete strategy is implemented on the real system and the output signals are measured for analysis. The results indicate that the identified model fits well to the measured data and that the designed control strategy is able to accurately control the system. The measurements show that the predefined performance specifications have been achieved for a bicycle motion with a period of 10 s; the error on the position is smaller than 2 mm and the error on the force is smaller than 10 N.
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  • 86
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: Optical biopsy methods such as probe-based confocal endomicroscopy can provide intraoperative real-time assessment of tumour margins, including during minimally invasive surgery with flexible endoscopes or robotic platforms. Mosaics can be produced by translating the probe across the target, but it remains difficult to scan over a large field of view with a flexible endomicroscope. In this paper, we have developed a novel flexible scanning device for intraoperative endomicroscopy in minimally invasive surgery (MIS). A Schott leached imaging bundle was integrated into the device and enables the approach, via a flexible path, to deep and narrow spaces in the human body that otherwise would not accessible. The proposed device uses a gear-based flexible concentric tube scanning mechanism to facilitate large field-of-view mosaicing. Experimental results show that the device is able to scan different surface trajectories (e.g., a spiral pattern over a hemi-spherical surface). Results from lens tissue paper and porcine liver tissue are demonstrated, illustrating a viable scanning approach for endomicroscopy in MIS.
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  • 87
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: This paper presents a new thermal-field modeling method referred to here as a flexible division algorithm (FDA) for predicting the temperature fields of a mechatronic system, and its real-time applications where thermal effects have a significant influence on the performance and reliability of the final products. This algorithm, which takes advantages of the flexible division in 3-D space to deal with the spatial distribution of thermal fields, is built upon physical laws to derive the governing equations in state-space representation that facilitates the reconstruction and control of the thermal field being analyzed. Three numerical models (involving both Cartesian and cylindrical coordinates) are illustrated to highlight the effectiveness and usefulness of the FDA for real-time modeling and computing. In the context of a thin-walled component machining application, the FDA is evaluated numerically and validated experimentally. Its solutions agree well with results computed using commercial finite-element analysis (FEA) software, confirming its ability to obtain accurate results, but with significantly less computation time, and its effectiveness as a complement to FEA when real-time computing of a physical field is required.
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  • 88
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: Improvements in the accuracy of the parallel kinematic machine (PKM) have proved challenging and are crucial for its practical application and industrialization. The present study proposes a novel idea that introduces smart structures into the PKM's kinematic chains to improve its accuracy rather than focusing on enhancing the performances of the PKM's hardware. A 2-degrees of freedom planar PKM is taken as the application object. Its geometric parameters are first optimized based on the dexterity index. The design scheme of the smart structure chains is then discussed in detail. The piezoceramic actuator is adopted as the actuation element and the compliant mechanism is used to construct the basic structure of the chain. Three smart structure chains are developed based on the design scheme and experimental tests suggest the presence of adequate motion stroke, high positioning resolution, and excellent dynamic performance, which provide a solid foundation for its application to improve the PKM's accuracy. Finally, a novel precision PKM based on the smart structure chains is developed, and experimental tests validate its high positioning and contour accuracies. Except for the PKM, the proposed method is also applicable in improving the accuracy of the other types of machines through the insertion of smart structures into their crucial components.
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  • 89
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: Soft robotics is an emerging field that takes advantage of compliant materials and makes use of nonstandard actuators. Flexible fluid actuators (FFAs) use fluid pressure to produce high deformation of elastomeric-based structures. However, closed-loop control of such actuators is still very challenging due to the lack of robust, reliable, and inexpensive sensors that can be integrated onto highly deformable actuator structures, involving very low cost materials and manufacturing. This paper presents a systematic approach to implement the feedback control of FFA-based soft robotic bending modules by using commercial flex bend sensors. A flex bend sensor detects the module curvature in one direction, and its response is processed by an on board microcontroller and sent to the central control system. Such sensor integration enables the closed-loop control of modular robotic architectures, often used in soft robotics. Once integrated with the soft module, the sensor response was calibrated by the use of a ground truth electro-magnetic tracking system in order to characterize its behavior when combined with the relative FFA. A feedback control using a low-pass filter and a proportional-integral controller was designed and used to evaluate the dynamic response and the position accuracy of the integrated module. With such closed-loop control, the module tip is positioned with less than 1 mm accuracy, which can be considered a relevant result in the soft robotics field.
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: The design of a prototype to carry out takeoff and flight tests with tethered aircrafts is presented. The system features a ground station equipped with a winch and a linear motion system. The motion of these two components is regulated by an automatic control system, whose goal is to accelerate a tethered aircraft to takeoff speed using the linear motion system, while reeling out the tether from the winch with low pulling force and avoiding entanglement. The mechanical, electrical, measurement, and control aspects of the prototype are described in detail. Experimental results with a manually piloted aircraft are presented, showing a good match with previous theoretical findings.
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  • 91
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: Prospective authors are requested to submit new, unpublished manuscripts for inclusion in the upcoming event described in this call for papers.
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  • 92
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: This paper aims at estimating the longitudinal jerk of the vehicle as it is acted by a human driver, in the context of preventive safety. A reliable estimate is needed to infer the current driver intention in an advanced driving assistance system developed by the authors. The derived intention-oriented model for the longitudinal dynamics is embedded into an enhanced Kalman filter that provides the user with a knob to trade off between responsiveness of the estimate and noise rejection. The scheme is fit for on-line usage, relies on signals commonly available on the CAN bus of modern vehicles, and requires a very limited number of parameters. Its effectiveness is validated on experimental data and compared with alternative approaches.
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  • 93
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: In the past two decades, a large number of robot fishes have been built, though their performances are still far inferior compared with that of the real fish. One of the key reasons is the design. This paper presents a novel robot fish. The key innovation is the combination of an active wire-driven body with a soft compliant tail to accomplish undulatory swimming (i.e., flapping in “S” motion). First, the design is presented. Second, the design and analysis model is given. In particular, it is shown that the compliant tail can be modeled through the proposed multipseudolink model. Then, a prototype and experimental results are presented. The experiment results demonstrate that the kinematics of the robot fish can be predicted by the presented model with reasonable errors. Moreover, it has several advantages; simple in structure, easy to control, capable of high-speed swimming (the maximum speed is 2.15 body lengths/s), and good maneuverability (the average turning speed is 63°/s). Most importantly, it is highly efficient; the swimming performance of the robot fish is close to that of a real fish.
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  • 94
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: This paper describes the simulation, fabrication, and feedback control of a microheater array designed for the implementation of real-time control during thermal evolution of microstructure. The ten-channel heating array was designed through finite element simulation and microfabricated to be compatible with in situ imaging in a scanning electron microscope. Control algorithms are implemented that demonstrate cooperative control of the temperature (using calibrated Ti heater line resistances as a proxy) across the set of channels in the array. The goal of this system is to be able to generate controlled thermal, and thus microstructural, and property distribution during processing of polycrystalline materials.
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  • 95
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: Cardiac interventions have to deal with several difficulties, where heart motion is a major one. This paper addresses the heart motion compensation problem under contact, relying on robot force control techniques. A double active observer (AOB) architecture is proposed to tackle precise force control in the presence of heart motion. One AOB controls the desired interaction force, and the other one is responsible for compensating heart motion autonomously. Three-degrees of freedom (DOF) force tracking on top of a beating heart is presented, showing that with the proposed control architecture, it is possible to have force controlled interventions with root mean square errors below 0.56 N (based on raw data). The 4-DOF whole arm manipulator (WAM) from Barrett Technologies is the medical arm, while another 3-DOF robot carrying an ex vivo heart generates heart motion based on recorded biosignals.
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  • 96
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: These instructions give guidelines for preparing papers for this publication. Presents information for authors publishing in this journal.
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  • 97
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: This paper presents a predictive energy management strategy for a parallel hybrid electric vehicle (HEV) based on velocity prediction and reinforcement learning (RL). The design procedure starts with modeling the parallel HEV as a systematic control-oriented model and defining a cost function. Fuzzy encoding and nearest neighbor approaches are proposed to achieve velocity prediction, and a finite-state Markov chain is exploited to learn transition probabilities of power demand. To determine the optimal control behaviors and power distribution between two energy sources, a novel RL-based energy management strategy is introduced. For comparison purposes, the two velocity prediction processes are examined by RL using the same realistic driving cycle. The look-ahead energy management strategy is contrasted with shortsighted and dynamic programming based counterparts, and further validated by hardware-in-the-loop test. The results demonstrate that the RL-optimized control is able to significantly reduce fuel consumption and computational time.
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  • 98
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    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: Piezo-patch energy harvesters can be readily attached to plate-like structures in automotive, marine, and aerospace applications, in order to exploit the broadband vibration of the host system. Power output investigations of such patch-based harvesters, when connected to practical interface circuits, require accurate models for harvesting performance evaluation and optimization. This paper proposes an analytical approach to derive the closed-form mechanical and electrical response expressions of the multiple piezo-patch energy harvesters (MPEHs) by integrating an equivalent load impedance, which consists of the harvesting circuit and the overall piezo-patch capacitance into a distributed-parameter model of the plate. Moreover, an equivalent circuit model of the electromechanical system is developed in a circuit simulator software SPICE for system-level simulations, taking into account the interconnection of piezo-patches and multiple vibration modes of the plate. Numerical SPICE simulations are then validated for the conventional ac input–ac output problem by the experiments and existing analytical solution. The proposed analytical model is validated by the experiments for the standard ac input–dc output problem. Finally, the analytical and numerical results for the peak power output of the MPEHs in series/parallel configuration with ac and dc interface circuits are presented, and shown to be in good agreement with the experimental results.
    Print ISSN: 1083-4435
    Digitale ISSN: 1941-014X
    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
    Standort Signatur Erwartet Verfügbarkeit
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  • 99
    facet.materialart.
    Unbekannt
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: This paper proposes a fuzzy model predictive direct torque control (FMP-DTC) strategy of interior permanent magnet synchronous motors (IPMSMs) for electric vehicle (EV) applications. The fuzzy logic control technique incorporated into the proposed FMP-DTC scheme dynamically determines the appropriate values of the weighting factors, and then generates the optimal switching states that minimize the electromagnetic torque and stator flux errors. Unlike the conventional model predictive (MP)-DTC strategy, the optimal switching states of the proposed FMP-DTC are selected without retuning the weighting factors. It means that they are updated depending on the specific operating conditions. Therefore, the proposed FMP-DTC is effective in various operating conditions that make it suitable for the EV-traction operating environment. Hence, the proposed FMP-DTC method has a simple control structure and can explicitly handle the system constraints. The performance evaluation is carried out via both MATLAB/Simulink and a prototype IPMSM test-bed with a TMS320F28335 digital signal processor (DSP). Comparative simulation and experimental results present the evidence of the performance improvements based on the proposed FMP-DTC strategy compared with the conventional MP-DTC strategy by indicating a fast transient torque response, low ripples, and an accurate speed tracking even under rapid climbing or emergency braking situations.
    Print ISSN: 1083-4435
    Digitale ISSN: 1941-014X
    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
    Standort Signatur Erwartet Verfügbarkeit
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  • 100
    facet.materialart.
    Unbekannt
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Publikationsdatum: 2017-08-19
    Beschreibung: The main contribution of this work is the low-cost joint torque measurement method using harmonic drive characteristics. To measure the external torque, we use the strain measurement of the flexspline of the harmonic drive. The flexspline of the harmonic drive is deformed by the external torque, as well as by the velocity reducing operation, which creates torque ripple on the strain signal from the flexspline. As the frequency characteristics of such torque ripple are strongly related to the joint speed, an order tracking technique is used to compensate the torque ripple. The resampling-based order tracking data acquisition is used to rearrange the torque ripple signal into the order signal, which has independent frequency characteristic to the joint speed. Then, a simple notch filter easily cancels the torque ripple from the rearranged signal. Our algorithm switches the signal source between the order tracking and the conventional time sampling to overcome the zero velocity condition. To overcome the lack of order information at low velocity, we propose a back propagation method using trained order sampling data. The developed joint torque sensing method is applied to the harmonic drive reducer of a robot manipulator's joint and is experimentally evaluated for the torque measurement during the motion of 5th order polynomial trajectory following.
    Print ISSN: 1083-4435
    Digitale ISSN: 1941-014X
    Thema: Elektrotechnik, Elektronik, Nachrichtentechnik , Maschinenbau , Technik allgemein
    Standort Signatur Erwartet Verfügbarkeit
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