Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449157
Huanqing Wang, Kovid Sacheva, J. Tripp, Bo Chen, D. Robinette, M. Shahbakhti
This paper presents an optimal map-based mode selection and powertrain control for a multi-mode plug-in hybrid electric vehicle. The best mode map and best operation maps for powertrain components are generated using Equivalent Consumption Minimization Strategy (ECMS) to minimize equivalent fuel cost at each operating point. The performance of optimal map-based control is compared with production vehicle rule-based control using experimental vehicle data from Argonne National Laboratory (ANL) chassis dynamometer testing.
{"title":"Optimal Map-Based Mode Selection and Powertrain Control for a Multi-Mode Plug-in Hybrid Electric Vehicle","authors":"Huanqing Wang, Kovid Sacheva, J. Tripp, Bo Chen, D. Robinette, M. Shahbakhti","doi":"10.1109/MESA.2018.8449157","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449157","url":null,"abstract":"This paper presents an optimal map-based mode selection and powertrain control for a multi-mode plug-in hybrid electric vehicle. The best mode map and best operation maps for powertrain components are generated using Equivalent Consumption Minimization Strategy (ECMS) to minimize equivalent fuel cost at each operating point. The performance of optimal map-based control is compared with production vehicle rule-based control using experimental vehicle data from Argonne National Laboratory (ANL) chassis dynamometer testing.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128988443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449176
P. Lin, Po-Chun Juan, Shu-Ping Lin, W. Lu, Zai-Gen Wu
Industry 4.0 factories now use more robots to replace human power. To make sure the robot is adaptive to the dynamic working environment, the end effector absolute accuracy needs to be greater than the mechanical tolerance involved in the robot missions. For example, if a robot arm is to place a part to a hole with a tolerance of 1 mm, the mission is very likely to fail for end effector accuracy higher than 1 mm. This paper introduces how three-dimensional (3D) positioning of end effector absolute position and nonlinear parametric modeling of end effector errors can play an important role of improving the end effector absolute accuracy and enhancing the success rate of robot missions. This paper presents the experimental setup and the results of the said end effector positioning and error correction. The 3D end effector positioning can be done by either trilateration or multilateration with more than 3 cable encoders. The proposed method can improve the accuracy from millimeters to less than 0.5 mm. The greatest advantage of the introduced modeling method is that it is suitable for any kind of end effectors.
{"title":"How End Effector Absolute Accuracy Plays A Role in Industry 4.0","authors":"P. Lin, Po-Chun Juan, Shu-Ping Lin, W. Lu, Zai-Gen Wu","doi":"10.1109/MESA.2018.8449176","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449176","url":null,"abstract":"Industry 4.0 factories now use more robots to replace human power. To make sure the robot is adaptive to the dynamic working environment, the end effector absolute accuracy needs to be greater than the mechanical tolerance involved in the robot missions. For example, if a robot arm is to place a part to a hole with a tolerance of 1 mm, the mission is very likely to fail for end effector accuracy higher than 1 mm. This paper introduces how three-dimensional (3D) positioning of end effector absolute position and nonlinear parametric modeling of end effector errors can play an important role of improving the end effector absolute accuracy and enhancing the success rate of robot missions. This paper presents the experimental setup and the results of the said end effector positioning and error correction. The 3D end effector positioning can be done by either trilateration or multilateration with more than 3 cable encoders. The proposed method can improve the accuracy from millimeters to less than 0.5 mm. The greatest advantage of the introduced modeling method is that it is suitable for any kind of end effectors.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127919094","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449178
G. A. G. Ricardez, Atsushi Ito, Ming Ding, M. Yoshikawa, J. Takamatsu, Y. Matsumoto, T. Ogasawara
Human hands play a very important role in the interaction with the external world. The hands can realize various movements using their complex structure of skeleton, tendons and muscles. Analyzing the type, frequency and duration of the grasping motions in our daily life is important for the development of robotic hands and rehabilitation. In previous studies, the hand motion has been analyzed often in well-controlled experimental environments. In this research, we develop a wearable device which is attached to the forearm to analyze the hand motion in daily-life activities. The developed device can record the electromyogram (EMG) and joint angles of the user's hand simultaneously, without affecting the hand movements and grasping motions in daily-life activities. We use two commercially-available devices: the hand tracker Leap motion and the EMG-based sensor Myo, which is a gesture control armband. We propose a recognition method which uses the data acquired with these two sensors to recognize six representative types of grasping motions, ubiquitous in daily-life activities. In the experiments, we measured hand motions using the developed device on three subjects manipulating objects from a standard hand function assessment kit, and confirmed the effectiveness of the proposed method. The average recognition rate of all movements was 87.3%.
{"title":"Wearable Device to Record Hand Motions based on EMG and Visual Information","authors":"G. A. G. Ricardez, Atsushi Ito, Ming Ding, M. Yoshikawa, J. Takamatsu, Y. Matsumoto, T. Ogasawara","doi":"10.1109/MESA.2018.8449178","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449178","url":null,"abstract":"Human hands play a very important role in the interaction with the external world. The hands can realize various movements using their complex structure of skeleton, tendons and muscles. Analyzing the type, frequency and duration of the grasping motions in our daily life is important for the development of robotic hands and rehabilitation. In previous studies, the hand motion has been analyzed often in well-controlled experimental environments. In this research, we develop a wearable device which is attached to the forearm to analyze the hand motion in daily-life activities. The developed device can record the electromyogram (EMG) and joint angles of the user's hand simultaneously, without affecting the hand movements and grasping motions in daily-life activities. We use two commercially-available devices: the hand tracker Leap motion and the EMG-based sensor Myo, which is a gesture control armband. We propose a recognition method which uses the data acquired with these two sensors to recognize six representative types of grasping motions, ubiquitous in daily-life activities. In the experiments, we measured hand motions using the developed device on three subjects manipulating objects from a standard hand function assessment kit, and confirmed the effectiveness of the proposed method. The average recognition rate of all movements was 87.3%.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114267168","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449150
M. Paolanti, L. Romeo, Andrea Felicetti, A. Mancini, E. Frontoni, J. Loncarski
Condition monitoring together with predictive maintenance of electric motors and other equipment used by the industry avoids severe economic losses resulting from unexpected motor failures and greatly improves the system reliability. This paper describes a Machine Learning architecture for Predictive Maintenance, based on Random Forest approach. The system was tested on a real industry example, by developing the data collection and data system analysis, applying the Machine Learning approach and comparing it to the simulation tool analysis. Data has been collected by various sensors, machine PLCs and communication protocols and made available to Data Analysis Tool on the Azure Cloud architecture. Preliminary results show a proper behavior of the approach on predicting different machine states with high accuracy.
{"title":"Machine Learning approach for Predictive Maintenance in Industry 4.0","authors":"M. Paolanti, L. Romeo, Andrea Felicetti, A. Mancini, E. Frontoni, J. Loncarski","doi":"10.1109/MESA.2018.8449150","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449150","url":null,"abstract":"Condition monitoring together with predictive maintenance of electric motors and other equipment used by the industry avoids severe economic losses resulting from unexpected motor failures and greatly improves the system reliability. This paper describes a Machine Learning architecture for Predictive Maintenance, based on Random Forest approach. The system was tested on a real industry example, by developing the data collection and data system analysis, applying the Machine Learning approach and comparing it to the simulation tool analysis. Data has been collected by various sensors, machine PLCs and communication protocols and made available to Data Analysis Tool on the Azure Cloud architecture. Preliminary results show a proper behavior of the approach on predicting different machine states with high accuracy.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"359 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115518754","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449207
Benjamin C. Fortune, Lachlan R. McKenzie, Logan T. Chatfield, C. Pretty
This paper presents the use of the branched electrode (BE) configuration to reduce crosstalk in forearm electromyography (EMG) during static gripping. The BE configuration is mathematically equivalent to the double differential configuration, only scaled down by a factor of two; however, the electrode configuration is advantageous due to its capability for being used with a conventional EMG device. The configuration was used to successfully record the bio-potential signal from five forearm muscles of one able bodied subject: Flexor Digitorum Superficialis, Flexor Digitorum Profundus, Flexor Carpi Radialis, Palmaris Longus and the Flexor Carpi Ulnaris. During the measurement process, a constant contraction strength of (50 ± 2.5)% maximum voluntary strength was enforced using a Smedley hand dynamometer. Two amplitude based indices were used to quantify the amount of crosstalk reduction: normalised root mean square (RMS) and normalised average rectified value (ARV). The BE configuration removed 4.82% (RMS) and 3.90% (ARV) of crosstalk from the flexor Digitorum Superficialis and 5.4% (RMS) and 3.47% (ARV) from the Flexor Carpi Ulnaris. The other three muscles had an increase in both the BE RMS and ARV, in comparison to their corresponding bipolar recordings. The low reduction in crosstalk (mostly an increase in both RMS and ARV) is believed to be from an electrode-skin impedance mismatch.
{"title":"Crosstalk Reduction in Forearm Electromyography During Static Gripping","authors":"Benjamin C. Fortune, Lachlan R. McKenzie, Logan T. Chatfield, C. Pretty","doi":"10.1109/MESA.2018.8449207","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449207","url":null,"abstract":"This paper presents the use of the branched electrode (BE) configuration to reduce crosstalk in forearm electromyography (EMG) during static gripping. The BE configuration is mathematically equivalent to the double differential configuration, only scaled down by a factor of two; however, the electrode configuration is advantageous due to its capability for being used with a conventional EMG device. The configuration was used to successfully record the bio-potential signal from five forearm muscles of one able bodied subject: Flexor Digitorum Superficialis, Flexor Digitorum Profundus, Flexor Carpi Radialis, Palmaris Longus and the Flexor Carpi Ulnaris. During the measurement process, a constant contraction strength of (50 ± 2.5)% maximum voluntary strength was enforced using a Smedley hand dynamometer. Two amplitude based indices were used to quantify the amount of crosstalk reduction: normalised root mean square (RMS) and normalised average rectified value (ARV). The BE configuration removed 4.82% (RMS) and 3.90% (ARV) of crosstalk from the flexor Digitorum Superficialis and 5.4% (RMS) and 3.47% (ARV) from the Flexor Carpi Ulnaris. The other three muscles had an increase in both the BE RMS and ARV, in comparison to their corresponding bipolar recordings. The low reduction in crosstalk (mostly an increase in both RMS and ARV) is believed to be from an electrode-skin impedance mismatch.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115561054","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449168
M. Arnesano, J. Dyson, Marco Fagiani, A. Mancini, G. M. Revel, M. Severini, S. Squartini, L. Zampetti, P. Zingaretti
Today the monitoring of energy variables plays a key-role in the proper management of buildings to optimize costs along with the low emission profile and comfortable environments. The monitoring could be augmented by adding also optimization aspects that could decrease the energy/costs. Up to now the optimization is performed by using building and context (district) data, but with no or rough evaluation of comfort conditions delivered to the occupants. The work presented in this paper is derived from the ENERGIS project that takes into account individual buildings and districts including detailed comfort conditions representing a novelty in the Energy Management System. The monitoring is used to locally sense the energy demand while the optimization is performed at two different scales. The first optimization tries to consider different aspects related to the thermal management of rooms, supported by a novel sensor that is able to evaluate the comfort taking into account the room model and to control the thermal actuators to track a comfort set-point. The second level of optimization starts from the collected data from each building to set-up a district model that is able to map and then predict the energy demand enabling an energy management that is built on the concept of “sharing”. This paper outlines the overall system architecture that exploits the benefit of IoT also showing the first optimization level performed on a business office showing the overall pipeline that starts from the sensing of environment and ends with the control of actuators to track an optimized set-point.
{"title":"An IoT Solution for Energy Management at Building and District Level","authors":"M. Arnesano, J. Dyson, Marco Fagiani, A. Mancini, G. M. Revel, M. Severini, S. Squartini, L. Zampetti, P. Zingaretti","doi":"10.1109/MESA.2018.8449168","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449168","url":null,"abstract":"Today the monitoring of energy variables plays a key-role in the proper management of buildings to optimize costs along with the low emission profile and comfortable environments. The monitoring could be augmented by adding also optimization aspects that could decrease the energy/costs. Up to now the optimization is performed by using building and context (district) data, but with no or rough evaluation of comfort conditions delivered to the occupants. The work presented in this paper is derived from the ENERGIS project that takes into account individual buildings and districts including detailed comfort conditions representing a novelty in the Energy Management System. The monitoring is used to locally sense the energy demand while the optimization is performed at two different scales. The first optimization tries to consider different aspects related to the thermal management of rooms, supported by a novel sensor that is able to evaluate the comfort taking into account the room model and to control the thermal actuators to track a comfort set-point. The second level of optimization starts from the collected data from each building to set-up a district model that is able to map and then predict the energy demand enabling an energy management that is built on the concept of “sharing”. This paper outlines the overall system architecture that exploits the benefit of IoT also showing the first optimization level performed on a business office showing the overall pipeline that starts from the sensing of environment and ends with the control of actuators to track an optimized set-point.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115874457","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449200
A. Bonci, Riccardo De Amicis, S. Longhi, Emanuele Lorenzoni
This paper investigates the effects of a traction control system on the motorcycle's dynamics when both straight line or cornering conditions are considered. A nonlinear sliding mode controller has been chosen. When the rear wheel traction is lost after a rapid acceleration, the controller reduces the power supplied by the engine allowing the rear wheel to regain grip and stability. This situation has been simulated with the motorcycle running in vertical position and in leaning condition. The latter allows to investigate the behaviour of the traction control when the motorcycle's dynamic is more affected by the roll angle. The results show that the controller is able in both the cases to reduce the longitudinal slip of the rear wheel. Moreover, in leaning situation, the controller acting indirectly on the lateral dynamic reduces the oversteer, a phenomenon that can lead to the lowside fall. The simulations have been carried out by means of the motorcycle analytical model proposed by the authors in prior works. This mathematical platform is able to examine with sufficient detail the behavior of a two-wheeled vehicle in the most significant situations.
{"title":"On the Traction Control of Single-Track Vehicles in Different Trim Conditions","authors":"A. Bonci, Riccardo De Amicis, S. Longhi, Emanuele Lorenzoni","doi":"10.1109/MESA.2018.8449200","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449200","url":null,"abstract":"This paper investigates the effects of a traction control system on the motorcycle's dynamics when both straight line or cornering conditions are considered. A nonlinear sliding mode controller has been chosen. When the rear wheel traction is lost after a rapid acceleration, the controller reduces the power supplied by the engine allowing the rear wheel to regain grip and stability. This situation has been simulated with the motorcycle running in vertical position and in leaning condition. The latter allows to investigate the behaviour of the traction control when the motorcycle's dynamic is more affected by the roll angle. The results show that the controller is able in both the cases to reduce the longitudinal slip of the rear wheel. Moreover, in leaning situation, the controller acting indirectly on the lateral dynamic reduces the oversteer, a phenomenon that can lead to the lowside fall. The simulations have been carried out by means of the motorcycle analytical model proposed by the authors in prior works. This mathematical platform is able to examine with sufficient detail the behavior of a two-wheeled vehicle in the most significant situations.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"204 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131802312","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449154
Binsen Qian, Harry H. Cheng
Robots can protect humans from risk in many applications, such as search and rescue, outer-space exploration, and toxic cleanup. Multi-robot systems have a huge potential to benefit versatile applications through reconfiguring heterogeneous or homogeneous robots in different ways. This paper presents the design and implementation of RoboCoop, a mobile agent-based framework for automatic coordination of multi-robot systems. RoboCoop consists of several modules, such as knowledge base, Input/Output, task procession/execution, and-sensor reading. The agent-based framework utilizes the innate advantages of themulti-threading of each agent, such that each module can run persistently without blocking others. Modules can exchange information and data through inter-agent communication based on the standards of the Foundation for Intelligent Physical Agents (FIPA). The presented framework allows robots to coordinate, manage, and execute tasks automatically. Also, a backup mechanism is developed to ensure the robustness of robot systems. Moreover, it allows customized algorithms and strategies for task allocation, and execution. A box-pushing mission has been studied to validate the performance of the proposed cooperation framework in several folds, such as task allocation, path planning and motion synchronization. In this validation, boxes need to be assigned to a two-robot team for them to push to a designated position. The A* path planning algorithm is used for robots to drive to the box location. While the robot can push small boxes independently, the big boxes require two robots pushing simultaneously such that the box can move straight to the location.
机器人可以在许多应用中保护人类免受风险，例如搜索和救援，外层空间探索和有毒物质清理。多机器人系统具有巨大的潜力，通过以不同的方式重新配置异构或同构机器人，使多用途应用受益。RoboCoop是一种基于移动智能体的多机器人系统自动协调框架。RoboCoop由知识库、输入/输出、任务处理/执行和传感器读取等几个模块组成。基于代理的框架利用了每个代理多线程的固有优势，这样每个模块都可以持久地运行而不会阻塞其他模块。模块之间通过基于FIPA (Foundation for Intelligent Physical Agents)标准的agent间通信来交换信息和数据。提出的框架允许机器人自动协调、管理和执行任务。此外，为了保证机器人系统的鲁棒性，还设计了一种备份机制。此外，它还允许为任务分配和执行定制算法和策略。以推箱任务为例，从任务分配、路径规划和运动同步等多个方面验证了所提协作框架的性能。在此验证中，需要将箱子分配给两个机器人团队，以便他们将箱子推到指定位置。采用A*路径规划算法，使机器人行驶到箱体位置。虽然机器人可以独立推动小盒子，但大盒子需要两个机器人同时推动，这样盒子才能直接移动到指定位置。
{"title":"Multi-Robot Coordination Through Mobile Agent","authors":"Binsen Qian, Harry H. Cheng","doi":"10.1109/MESA.2018.8449154","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449154","url":null,"abstract":"Robots can protect humans from risk in many applications, such as search and rescue, outer-space exploration, and toxic cleanup. Multi-robot systems have a huge potential to benefit versatile applications through reconfiguring heterogeneous or homogeneous robots in different ways. This paper presents the design and implementation of RoboCoop, a mobile agent-based framework for automatic coordination of multi-robot systems. RoboCoop consists of several modules, such as knowledge base, Input/Output, task procession/execution, and-sensor reading. The agent-based framework utilizes the innate advantages of themulti-threading of each agent, such that each module can run persistently without blocking others. Modules can exchange information and data through inter-agent communication based on the standards of the Foundation for Intelligent Physical Agents (FIPA). The presented framework allows robots to coordinate, manage, and execute tasks automatically. Also, a backup mechanism is developed to ensure the robustness of robot systems. Moreover, it allows customized algorithms and strategies for task allocation, and execution. A box-pushing mission has been studied to validate the performance of the proposed cooperation framework in several folds, such as task allocation, path planning and motion synchronization. In this validation, boxes need to be assigned to a two-robot team for them to push to a designated position. The A* path planning algorithm is used for robots to drive to the box location. While the robot can push small boxes independently, the big boxes require two robots pushing simultaneously such that the box can move straight to the location.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130890080","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449145
Ádám Szabó, Tamás Bécsi, P. Gáspár, S. Aradi
The paper deals with the model-based control of an electro-pneumatic gearbox actuator. Electro-pneumatic systems have many advantages, such as long lifetime and high operational safety, but their nonlinear behavior makes predicting and controlling them difficult. The objective of the research is to design an optimal control of an electro-pneumatic gearbox actuator. In order to control a nonlinear system with linear control methods a multi-state state-space representation of the system is presented. Based on a preliminary comparison an open-loop, a PID, and a linear quadratic controller were chosen for development. The developed controllers were tested in a Model in The Loop environment, and their performances were compared based on previously defined controlling requirements. Both the open-loop and the PID controller were able to meet the given requirements. The open-loop controller has high parameter sensitivity and relative low performances in case of collision speed and shift time, while the PID controller has the highest number of solenoid valve actuations. The linear quadratic controller has good overall performance in case of neutral to gear changes, however it cannot stabilize the system in neutral position within the required time, which can be a consequence of the given simplifications. With respect to the results of the Model in the Loop tests two suggestions were made regarding the applicable controller.
研究了一种基于模型的电-气变速箱执行器控制方法。电-气系统具有寿命长、运行安全性高等优点，但其非线性特性给电-气系统的预测和控制带来困难。研究的目的是设计电-气齿轮箱作动器的最优控制。为了用线性控制方法控制非线性系统，提出了系统的多状态空间表示。在初步比较的基础上，选择了开环、PID和线性二次型控制器进行开发。开发的控制器在Model in The Loop环境中进行了测试，并根据先前定义的控制要求对其性能进行了比较。开环和PID控制器都能满足给定的要求。开环控制器的参数灵敏度高，但在碰撞速度和换挡时间下的性能相对较低，而PID控制器的电磁阀驱动次数最多。线性二次型控制器在空挡到齿轮变速的情况下具有良好的总体性能，但它不能在要求的时间内将系统稳定在空挡位置，这可能是给定简化的结果。根据闭环模型试验的结果，对适用的控制器提出了两点建议。
{"title":"Control design of an electro-pneumatic gearbox actuator","authors":"Ádám Szabó, Tamás Bécsi, P. Gáspár, S. Aradi","doi":"10.1109/MESA.2018.8449145","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449145","url":null,"abstract":"The paper deals with the model-based control of an electro-pneumatic gearbox actuator. Electro-pneumatic systems have many advantages, such as long lifetime and high operational safety, but their nonlinear behavior makes predicting and controlling them difficult. The objective of the research is to design an optimal control of an electro-pneumatic gearbox actuator. In order to control a nonlinear system with linear control methods a multi-state state-space representation of the system is presented. Based on a preliminary comparison an open-loop, a PID, and a linear quadratic controller were chosen for development. The developed controllers were tested in a Model in The Loop environment, and their performances were compared based on previously defined controlling requirements. Both the open-loop and the PID controller were able to meet the given requirements. The open-loop controller has high parameter sensitivity and relative low performances in case of collision speed and shift time, while the PID controller has the highest number of solenoid valve actuations. The linear quadratic controller has good overall performance in case of neutral to gear changes, however it cannot stabilize the system in neutral position within the required time, which can be a consequence of the given simplifications. With respect to the results of the Model in the Loop tests two suggestions were made regarding the applicable controller.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125331695","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449199
A. Bonci, Riccardo De Amicis, S. Longhi, Emanuele Lorenzoni
Over the recent years many solutions to the problems of anti-locking and traction control have been widely investigated for four-wheeled vehicle equipped with both electric and internal combustion engines. Few works are relative to TCS (Traction Control System) for two-wheeled vehicle and most of them take advantage of well established nonlinear techniques. This paper proposes a traction controller for two-wheeled electric vehicle based on nonlinear model predictive approach. The controller objective is to prevent the traction wheel from spinning out when accelerating in order to maintain the driving performance as well as driving comfort. A proper evaluation of the interaction between the rider command and the controller action is made in order that the controller take over the rider’s input as soon as longitudinal slip condition is detected. In controlled state the optimal driving torque that guarantees optimal traction is computed based on a model predictive approach taking into account the nonlinearities of the system conveyed by the friction forces. The controller has been tested in simulation environment.
{"title":"A Smooth Traction Control Design for Two-Wheeled electric vehicles","authors":"A. Bonci, Riccardo De Amicis, S. Longhi, Emanuele Lorenzoni","doi":"10.1109/MESA.2018.8449199","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449199","url":null,"abstract":"Over the recent years many solutions to the problems of anti-locking and traction control have been widely investigated for four-wheeled vehicle equipped with both electric and internal combustion engines. Few works are relative to TCS (Traction Control System) for two-wheeled vehicle and most of them take advantage of well established nonlinear techniques. This paper proposes a traction controller for two-wheeled electric vehicle based on nonlinear model predictive approach. The controller objective is to prevent the traction wheel from spinning out when accelerating in order to maintain the driving performance as well as driving comfort. A proper evaluation of the interaction between the rider command and the controller action is made in order that the controller take over the rider’s input as soon as longitudinal slip condition is detected. In controlled state the optimal driving torque that guarantees optimal traction is computed based on a model predictive approach taking into account the nonlinearities of the system conveyed by the friction forces. The controller has been tested in simulation environment.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114631896","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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