Pub Date : 2014-11-20DOI: 10.1109/MMAR.2014.6957433
B. Andrievsky, D. Kazunin, D. M. Kostygova, N. Kuznetsov, G. Leonov, P. Lobanov, A. Volkov
The paper deals with designing the driving simulator based on the Gough-Stewart platform and pneumatic computer-controlled actuators. The design features of the simulator are described, the model of the pneumatic actuator is presented and two control laws are considered and studied by the simulations and experimentally.
{"title":"Control of pneumatically actuated 6-DOF Stewart platform for driving simulator","authors":"B. Andrievsky, D. Kazunin, D. M. Kostygova, N. Kuznetsov, G. Leonov, P. Lobanov, A. Volkov","doi":"10.1109/MMAR.2014.6957433","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957433","url":null,"abstract":"The paper deals with designing the driving simulator based on the Gough-Stewart platform and pneumatic computer-controlled actuators. The design features of the simulator are described, the model of the pneumatic actuator is presented and two control laws are considered and studied by the simulations and experimentally.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132311607","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957435
Alaa Khalifa, A. Ramadan, K. Ibrahim, M. Fanni, Samy F. M. Assal, A. Abo-Ismail
This paper presents the experimental implementation of a teleoperated endoscopic surgical manipulator system that uses PHANTOM Omni haptic device as the master. The 4-DOF, 2-PUU 2-PUS, endoscopic surgical parallel manipulator design is carried out using screw theory and Parallel virtual chain methodology to have larger bending angles and workspace volume. The master and slave devices of the teleoperation system are dissimilar in their kinematics and workspace volumes. A workspace mapping technique is implemented based on Position with Modied Rate Control to navigate through the slave workspace without annoying the user. To control the motion of the slave robot, a PID controller is used. The experimental results show the feasibility of the teleoperation surgical system using the 4-DOF parallel manipulator. Also, they indicate the efficiency of the implemented mapping technique and the designed controller to span the slave workspace with high dexterity and good tracking which allows the surgeon to perform the operation with high accuracy.
{"title":"Workspace mapping and control of a teleoperated endoscopic surgical robot","authors":"Alaa Khalifa, A. Ramadan, K. Ibrahim, M. Fanni, Samy F. M. Assal, A. Abo-Ismail","doi":"10.1109/MMAR.2014.6957435","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957435","url":null,"abstract":"This paper presents the experimental implementation of a teleoperated endoscopic surgical manipulator system that uses PHANTOM Omni haptic device as the master. The 4-DOF, 2-PUU 2-PUS, endoscopic surgical parallel manipulator design is carried out using screw theory and Parallel virtual chain methodology to have larger bending angles and workspace volume. The master and slave devices of the teleoperation system are dissimilar in their kinematics and workspace volumes. A workspace mapping technique is implemented based on Position with Modied Rate Control to navigate through the slave workspace without annoying the user. To control the motion of the slave robot, a PID controller is used. The experimental results show the feasibility of the teleoperation surgical system using the 4-DOF parallel manipulator. Also, they indicate the efficiency of the implemented mapping technique and the designed controller to span the slave workspace with high dexterity and good tracking which allows the surgeon to perform the operation with high accuracy.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115574551","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957412
W. Zwonarz
A universal controller for different classes of robotic manipulators is considered. The designed controller is a predictive one with the Powell method as the quality indicator minimum optimizer. The attention is focused on two simulated robotic systems treated as benchmarks. They track rectilinear trajectories.
{"title":"Predictive control based on robotic arm model","authors":"W. Zwonarz","doi":"10.1109/MMAR.2014.6957412","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957412","url":null,"abstract":"A universal controller for different classes of robotic manipulators is considered. The designed controller is a predictive one with the Powell method as the quality indicator minimum optimizer. The attention is focused on two simulated robotic systems treated as benchmarks. They track rectilinear trajectories.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124267269","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957359
S. Abdulla, M. Tokhi
Functional electrical stimulation (FES) based cycling exercise for paraplegics, with the aid of a flywheel and electrical clutch mechanism, is introduced. Fuzzy logic controllers are used to control the stimulation intensity on the quadriceps muscle of both legs. The control of the flywheel assist mechanism is achieved using two different fuzzy logic based approaches. The first approach depends on the knee angular velocity of both legs of the trainee while the second approach uses the bicycle's crank cadence, with the angular velocity of the flywheel, to decide on the engagement/disengagement of the flywheel with the crank. A comparative assessment of the two approaches is carried out and the results are discussed. Results show that the second approach is promoting smoother and longer FES cycling exercise due to reduced stimulation intensity on the muscle, however, it requires a sensitive electrical clutch.
{"title":"Comparative assessment of two fuzzy logic based control approaches for a flywheel and electrical clutch assist mechanism in FES cycling","authors":"S. Abdulla, M. Tokhi","doi":"10.1109/MMAR.2014.6957359","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957359","url":null,"abstract":"Functional electrical stimulation (FES) based cycling exercise for paraplegics, with the aid of a flywheel and electrical clutch mechanism, is introduced. Fuzzy logic controllers are used to control the stimulation intensity on the quadriceps muscle of both legs. The control of the flywheel assist mechanism is achieved using two different fuzzy logic based approaches. The first approach depends on the knee angular velocity of both legs of the trainee while the second approach uses the bicycle's crank cadence, with the angular velocity of the flywheel, to decide on the engagement/disengagement of the flywheel with the crank. A comparative assessment of the two approaches is carried out and the results are discussed. Results show that the second approach is promoting smoother and longer FES cycling exercise due to reduced stimulation intensity on the muscle, however, it requires a sensitive electrical clutch.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129488968","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957321
Ziyad T. Allawi, T. Abdalla
In this paper, an Interval Type-2 Fuzzy Logic controller was used to control the robot cooperation and target reaching tasks during navigation for multiple mobile robots. This controller had been optimized by the Particle Swarm Optimization algorithm and the Hybrid Reciprocal Velocity Obstacles algorithm was also used to handle collision avoidance. This controller was tested on Webots™ robot simulation software and experimentally applied on two real E-puck mobile robots. The simulation and experimental results had shown that the optimized controller outperformed the same controller without optimization.
{"title":"A PSO-optimized type-2 fuzzy logic controller for navigation of multiple mobile robots","authors":"Ziyad T. Allawi, T. Abdalla","doi":"10.1109/MMAR.2014.6957321","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957321","url":null,"abstract":"In this paper, an Interval Type-2 Fuzzy Logic controller was used to control the robot cooperation and target reaching tasks during navigation for multiple mobile robots. This controller had been optimized by the Particle Swarm Optimization algorithm and the Hybrid Reciprocal Velocity Obstacles algorithm was also used to handle collision avoidance. This controller was tested on Webots™ robot simulation software and experimentally applied on two real E-puck mobile robots. The simulation and experimental results had shown that the optimized controller outperformed the same controller without optimization.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128534328","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957367
Guillermo Evangelista
This paper presents the development of a hexapod robotic research platform for academic use, this platform is characterized by having a virtual environment and a physical model, both for testing and validations. The development emphasizes on procedural character and it has defined stages: Mechanical Design, System Modeling, Embedded System and Control Interface. The mechanical design: preliminary model, motion simulation, physic of materials and manufacture. The system modeling: kinematics, dynamics and locomotion. The Embedded Design: process unit and servo-controller; while Control Interface implements all studies. Finally, the validated procedures demonstrate that is a versatile research platform, which allows validate techniques and studies, and also strengthens the teaching and learning process.
{"title":"Design and modeling of a mobile research platform based on hexapod robot with embedded system and interactive control","authors":"Guillermo Evangelista","doi":"10.1109/MMAR.2014.6957367","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957367","url":null,"abstract":"This paper presents the development of a hexapod robotic research platform for academic use, this platform is characterized by having a virtual environment and a physical model, both for testing and validations. The development emphasizes on procedural character and it has defined stages: Mechanical Design, System Modeling, Embedded System and Control Interface. The mechanical design: preliminary model, motion simulation, physic of materials and manufacture. The system modeling: kinematics, dynamics and locomotion. The Embedded Design: process unit and servo-controller; while Control Interface implements all studies. Finally, the validated procedures demonstrate that is a versatile research platform, which allows validate techniques and studies, and also strengthens the teaching and learning process.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"121 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129115059","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957467
Thomas Meinlschmidt, H. Aschemann
A cascaded control strategy for an innovative Duocopter test stand - a helicopter with two rotors combined with a guiding mechanism - is presented in this paper. The guiding mechanism consists of a rocker arm with a sliding carriage that enforces a planar workspace of the Duocopter. The Duocopter is connected to the carriage by a rotary joint and offers 3 degrees of freedom. The derived system model has similarities with a PVTOL and a planar model of a quadrocopter but involves additional terms due to the guiding mechanism. In the paper, a model-based cascaded control strategy is proposed: the outer MIMO control loop is given by a nonlinear flatness-based tracking control of the horizontal and the vertical Duocopter position, whereas the rotation angle of the Duocopter is controlled in a linear inner control loop of high bandwidth. Due to uncertain system parameters and reasonable simplifications at the modelling of the test stand, the control structure is extended by a reduced-order nonlinear state and disturbance observer. Thereby, an excellent tracking performance in vertical and horizontal direction can be achieved. The efficiency of the proposed control strategy is demonstrated by both simulations and experiments.
{"title":"Cascaded flatness-based control of a Duocopter subject to unknown disturbances","authors":"Thomas Meinlschmidt, H. Aschemann","doi":"10.1109/MMAR.2014.6957467","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957467","url":null,"abstract":"A cascaded control strategy for an innovative Duocopter test stand - a helicopter with two rotors combined with a guiding mechanism - is presented in this paper. The guiding mechanism consists of a rocker arm with a sliding carriage that enforces a planar workspace of the Duocopter. The Duocopter is connected to the carriage by a rotary joint and offers 3 degrees of freedom. The derived system model has similarities with a PVTOL and a planar model of a quadrocopter but involves additional terms due to the guiding mechanism. In the paper, a model-based cascaded control strategy is proposed: the outer MIMO control loop is given by a nonlinear flatness-based tracking control of the horizontal and the vertical Duocopter position, whereas the rotation angle of the Duocopter is controlled in a linear inner control loop of high bandwidth. Due to uncertain system parameters and reasonable simplifications at the modelling of the test stand, the control structure is extended by a reduced-order nonlinear state and disturbance observer. Thereby, an excellent tracking performance in vertical and horizontal direction can be achieved. The efficiency of the proposed control strategy is demonstrated by both simulations and experiments.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132315725","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957465
S. Grzyb, P. Orłowski
Congestion control plays a significant role in maintaining sufficient network throughput. Variety of methods and algorithms are proposed to solve the bottleneck issue. This paper describes a method based on a particle swarm optimization algorithm and piecewise affine controller for non-stationary, discrete, dynamical model of data exchange network. This solution allows active network nodes buffer utilization to be adapted to sudden unexpected network state changes. That leads to alleviate network congestion effects.
{"title":"Congestion control in computer networks: Application of piece-wise affine controller and particle swarm optimization","authors":"S. Grzyb, P. Orłowski","doi":"10.1109/MMAR.2014.6957465","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957465","url":null,"abstract":"Congestion control plays a significant role in maintaining sufficient network throughput. Variety of methods and algorithms are proposed to solve the bottleneck issue. This paper describes a method based on a particle swarm optimization algorithm and piecewise affine controller for non-stationary, discrete, dynamical model of data exchange network. This solution allows active network nodes buffer utilization to be adapted to sudden unexpected network state changes. That leads to alleviate network congestion effects.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"182 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121148959","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957470
M. A. Alcorta-Garcia, S. Rostro, Yosefat Nava Aleman, N. Villarreal, Hector Raymundo Flores Cantu
In this work, the risk-sensitive optimal control equations for polynomial stochastic systems of third degree with exponential criterion to be minimized and parameter of diffusion into the state equations has been applied to the Fitz Hugh-Nagumo (Bon Hoeffervan der Pol) model. This model represents an excitable system with driven noise, which could be associated with diverse processes, from the kinetic one of chemical reactions and physics of the solid state up to biological. In some applications of Fitz Hugh-Nagumo model, the supervenience depends of maintaining certain noise amplitude. The goal of this work is to apply both methodologies of control, risk-sensitive and traditional control equations for polynomial stochastic systems of third degree. This system has the characteristic that is of third degree and needs to maintain certain level of noise, which make it very difficult to handle. Exponential-quadratic cost criterion J is evaluated in both methods, taking the value of J in final time in each method. Some results have been obtained, illustrating the performance of both methodologies, for some values of the parameters.
本文将三次多项式随机系统的风险敏感最优控制方程应用于Fitz Hugh-Nagumo (Bon Hoeffervan der Pol)模型，该系统具有指数准则最小化和状态方程中扩散参数。该模型代表了一个具有驱动噪声的可激发系统，它可以与多种过程相关联，从化学反应的动力学和固体物理到生物。在Fitz Hugh-Nagumo模型的某些应用中，监督性依赖于保持一定的噪声幅度。本工作的目的是将控制方法、风险敏感方法和传统控制方程应用于三次多项式随机系统。该系统具有三度特性，需要保持一定程度的噪声，处理起来非常困难。两种方法都对指数-二次代价准则J求值，每种方法都取最终时间J的值。对于某些参数值，已经得到了一些结果，说明了两种方法的性能。
{"title":"Application of nonlinear risk-sensitive optimal control equations to excitable noise system","authors":"M. A. Alcorta-Garcia, S. Rostro, Yosefat Nava Aleman, N. Villarreal, Hector Raymundo Flores Cantu","doi":"10.1109/MMAR.2014.6957470","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957470","url":null,"abstract":"In this work, the risk-sensitive optimal control equations for polynomial stochastic systems of third degree with exponential criterion to be minimized and parameter of diffusion into the state equations has been applied to the Fitz Hugh-Nagumo (Bon Hoeffervan der Pol) model. This model represents an excitable system with driven noise, which could be associated with diverse processes, from the kinetic one of chemical reactions and physics of the solid state up to biological. In some applications of Fitz Hugh-Nagumo model, the supervenience depends of maintaining certain noise amplitude. The goal of this work is to apply both methodologies of control, risk-sensitive and traditional control equations for polynomial stochastic systems of third degree. This system has the characteristic that is of third degree and needs to maintain certain level of noise, which make it very difficult to handle. Exponential-quadratic cost criterion J is evaluated in both methods, taking the value of J in final time in each method. Some results have been obtained, illustrating the performance of both methodologies, for some values of the parameters.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115950432","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 : 2014-11-20DOI: 10.1109/MMAR.2014.6957403
M. Schwab, Tristan Braun, Florian Straußberger, J. Reuter
In this paper, a control strategy that enables a reliable dip detection for solenoid valves is presented. For this purpose, the power electronics components are temporarily switched into a linear mode, using a power MOSFET as a voltage controlled resistor. The voltage is stabilized via a nonlinear controller that has been designed using Lyapunov's direct method. The stability region is determined and theoretical investigations are conducted in order to find appropriate controller parameters. The usefulness of the method is demonstrated by several experiments deploying an FPGA based hardware platform.
{"title":"Nonlinear voltage control for motion state detection in solenoid valves: A Lyapunov approach","authors":"M. Schwab, Tristan Braun, Florian Straußberger, J. Reuter","doi":"10.1109/MMAR.2014.6957403","DOIUrl":"https://doi.org/10.1109/MMAR.2014.6957403","url":null,"abstract":"In this paper, a control strategy that enables a reliable dip detection for solenoid valves is presented. For this purpose, the power electronics components are temporarily switched into a linear mode, using a power MOSFET as a voltage controlled resistor. The voltage is stabilized via a nonlinear controller that has been designed using Lyapunov's direct method. The stability region is determined and theoretical investigations are conducted in order to find appropriate controller parameters. The usefulness of the method is demonstrated by several experiments deploying an FPGA based hardware platform.","PeriodicalId":166287,"journal":{"name":"2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128117379","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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