Pub Date : 2015-12-01DOI: 10.1109/ISMA.2015.7373469
O. Hamzeh, Ashraf Elnagar
Tele-robotic localization systems vary in implementation, but the cost of building such solutions is high. Therefore, utilizing such solutions in complex areas becomes a very difficult choice. Can we send a high-end costly solution to a hazardous or military location where it can be destroyed or lost? Or is it feasible to use such solution in routine work at home or in office for example? To answer these questions, we propose to use a low-cost localization solution that consists of a low cost Kinect sensor along with a normal laptop to control a small mobile robot. Our proposed solution involves a tele-operated or controlled mobile robot for collecting information and building a global map of an unknown environment on a remote workstation. The information that is depth data are communicated wirelessly. The global localized map is to be used for local dynamic navigation at a later stage. Experimental results confirm the success of the prototype design and implementation.
{"title":"A Kinect-based indoor mobile robot localization","authors":"O. Hamzeh, Ashraf Elnagar","doi":"10.1109/ISMA.2015.7373469","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373469","url":null,"abstract":"Tele-robotic localization systems vary in implementation, but the cost of building such solutions is high. Therefore, utilizing such solutions in complex areas becomes a very difficult choice. Can we send a high-end costly solution to a hazardous or military location where it can be destroyed or lost? Or is it feasible to use such solution in routine work at home or in office for example? To answer these questions, we propose to use a low-cost localization solution that consists of a low cost Kinect sensor along with a normal laptop to control a small mobile robot. Our proposed solution involves a tele-operated or controlled mobile robot for collecting information and building a global map of an unknown environment on a remote workstation. The information that is depth data are communicated wirelessly. The global localized map is to be used for local dynamic navigation at a later stage. Experimental results confirm the success of the prototype design and implementation.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114496989","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373455
M. Baniyounis, M. AlShabi
Programmable Logic Controller (PLC) has the structure of a computer whose function is stored in a Program. PLCs are used preferably in commercial and industrial applications. This paper is dedicated to explain the initiatives for teaching an advanced PLC course to graduate students. The methods and techniques in the industrial field toward a better use of PLCs are introduced. A Concise overview about the main research tracks in the PLC is given in the scope of this paper. The course is structured to cover the necessary issues in the industry as well as in the research. The contents of the course along with the students learning outcomes are discussed and finally the learning outcomes are evaluated according to the feedback from the students.
{"title":"PLC advanced course for postgraduate students","authors":"M. Baniyounis, M. AlShabi","doi":"10.1109/ISMA.2015.7373455","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373455","url":null,"abstract":"Programmable Logic Controller (PLC) has the structure of a computer whose function is stored in a Program. PLCs are used preferably in commercial and industrial applications. This paper is dedicated to explain the initiatives for teaching an advanced PLC course to graduate students. The methods and techniques in the industrial field toward a better use of PLCs are introduced. A Concise overview about the main research tracks in the PLC is given in the scope of this paper. The course is structured to cover the necessary issues in the industry as well as in the research. The contents of the course along with the students learning outcomes are discussed and finally the learning outcomes are evaluated according to the feedback from the students.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114996430","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373491
E. Chandrasekar, M. Sreekumar
The function of Shape Memory Alloy (SMA) actuator is based on the transformation between its low temperature (martensite) and high temperature (austenite) phases. The drawback of SMA actuation is its nonlinear behavior which mainly depends on the heating and cooling methods. Fuzzy Logic Controllers (FLC) are justified as models for many nonlinear functions because of the Universal Approximation Theorem. The objective of this paper is to implement a trained fuzzy logic controller using a simplified modeling scheme for the control of SMA actuators. Since the speed of response of SMA actuation mainly depends on the heating and cooling method, its heat transfer model is presented first. The training algorithm designed based on look-up table scheme is the outcome of heat transfer model of SMA. The fuzzy logic system presented in this work has been simulated in LabVIEW.
{"title":"Implementation of a simplified modeling scheme for the control of SMA actuators using labview","authors":"E. Chandrasekar, M. Sreekumar","doi":"10.1109/ISMA.2015.7373491","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373491","url":null,"abstract":"The function of Shape Memory Alloy (SMA) actuator is based on the transformation between its low temperature (martensite) and high temperature (austenite) phases. The drawback of SMA actuation is its nonlinear behavior which mainly depends on the heating and cooling methods. Fuzzy Logic Controllers (FLC) are justified as models for many nonlinear functions because of the Universal Approximation Theorem. The objective of this paper is to implement a trained fuzzy logic controller using a simplified modeling scheme for the control of SMA actuators. Since the speed of response of SMA actuation mainly depends on the heating and cooling method, its heat transfer model is presented first. The training algorithm designed based on look-up table scheme is the outcome of heat transfer model of SMA. The fuzzy logic system presented in this work has been simulated in LabVIEW.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122554995","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373478
V. Bhatia, G. Ram
Many of the industrial processes are difficult to model because of their complex behavior, influent characteristics and operational conditions. Control of robot manipulator for industrial applications is considered as one of the challenging tasks. In this paper, Model Predictive Controller (MPC), a class of advanced control technique is proposed in order to control the motion of the revolute joints. MPC is an optimal control strategy based on numerical optimization. Future control inputs and future plant responses are predicted using a system model and optimized at regular intervals with respect to a performance index. Prediction is to determine the future value of the output variables based on available information. This prediction can be used in the design of control laws for better performance of the control systems. The suggested predictive control approach uses an objective function centered on output estimates over a prediction horizon, and hence error is decreased by a selection of operated variable over a control horizon. The performance of the angular motion of the 2-DOF robot link is analyzed with various set point changes in terms of torque. The proposed controller has been verified and validated using satisfactory simulation results of a model of an industrial robot manipulator.
{"title":"Application of Model Predictive Controller for 2-DOF robot manipulator","authors":"V. Bhatia, G. Ram","doi":"10.1109/ISMA.2015.7373478","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373478","url":null,"abstract":"Many of the industrial processes are difficult to model because of their complex behavior, influent characteristics and operational conditions. Control of robot manipulator for industrial applications is considered as one of the challenging tasks. In this paper, Model Predictive Controller (MPC), a class of advanced control technique is proposed in order to control the motion of the revolute joints. MPC is an optimal control strategy based on numerical optimization. Future control inputs and future plant responses are predicted using a system model and optimized at regular intervals with respect to a performance index. Prediction is to determine the future value of the output variables based on available information. This prediction can be used in the design of control laws for better performance of the control systems. The suggested predictive control approach uses an objective function centered on output estimates over a prediction horizon, and hence error is decreased by a selection of operated variable over a control horizon. The performance of the angular motion of the 2-DOF robot link is analyzed with various set point changes in terms of torque. The proposed controller has been verified and validated using satisfactory simulation results of a model of an industrial robot manipulator.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122722640","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373466
Yahya A. Alhammad, W. Al-Azzawi
Hybrid car is an excellent solution to recover wasted energy in conventional cars. This reduces the use of global fuel consumption; therefore, help to preserve the environment from extra pollution. In this work the wasted heat energy from the exhaust system is utilized based on Peltier effect. Thermoelectric cooler (TEC) and thermoelectric generator (TEG) modules are used to cool down and improve the efficiency of a solar panel fixed on the roof of the car. Using both TEG modules mounted on the exhaust system and TEC modules mounted on solar panel will ultimately cool down the solar panel. It is shown by MATLAB simulation that solar panel efficiency is improved using such system. The efficiency was approximately doubled when the temperature difference was greater than 80 °C. A proposed model of the combination of TEG and TEC modules for appropriate use of photovoltaic panel in hybrid applications is presented in this work. Calculations of the amount of output electric power that generated from TEG on the exhaust and amount of temperature dissipated from photovoltaic panel to the heat sink were earned out; in addition, estimate of the solar panel efficiency improvement was calculated.
{"title":"Exploitation the waste energy in hybrid cars to improve the efficiency of solar cell panel as an auxiliary power supply","authors":"Yahya A. Alhammad, W. Al-Azzawi","doi":"10.1109/ISMA.2015.7373466","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373466","url":null,"abstract":"Hybrid car is an excellent solution to recover wasted energy in conventional cars. This reduces the use of global fuel consumption; therefore, help to preserve the environment from extra pollution. In this work the wasted heat energy from the exhaust system is utilized based on Peltier effect. Thermoelectric cooler (TEC) and thermoelectric generator (TEG) modules are used to cool down and improve the efficiency of a solar panel fixed on the roof of the car. Using both TEG modules mounted on the exhaust system and TEC modules mounted on solar panel will ultimately cool down the solar panel. It is shown by MATLAB simulation that solar panel efficiency is improved using such system. The efficiency was approximately doubled when the temperature difference was greater than 80 °C. A proposed model of the combination of TEG and TEC modules for appropriate use of photovoltaic panel in hybrid applications is presented in this work. Calculations of the amount of output electric power that generated from TEG on the exhaust and amount of temperature dissipated from photovoltaic panel to the heat sink were earned out; in addition, estimate of the solar panel efficiency improvement was calculated.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"271 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126836931","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373483
S. Gadsden, M. AlShabi
Flexible links in a robot arm often experience unwanted vibrations at the end points typically due to elastic deflections and system disturbances. This leads to reduced endpoint positioning accuracy, as well as negatively affects the overall control performance of the robot arm. Typical control strategies introduce active damping to reduce oscillations at the robot arm end points, whereas other methods apply interaction strategies based on closed-loop inverse kinematics. Other controllers, such as proportional-integral-derivative (PID) methods and the robust sliding mode controller (SMC), have also been applied to robot arms in an effort to minimize endpoint vibration. This paper studies two popular vibration control strategies found in literature, namely PID and SMC. Simulation results are generated based on applications to a flexible-link robot arm, and the results are compared and discussed.
{"title":"A comparison of vibration control strategies for a flexible-link robot arm","authors":"S. Gadsden, M. AlShabi","doi":"10.1109/ISMA.2015.7373483","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373483","url":null,"abstract":"Flexible links in a robot arm often experience unwanted vibrations at the end points typically due to elastic deflections and system disturbances. This leads to reduced endpoint positioning accuracy, as well as negatively affects the overall control performance of the robot arm. Typical control strategies introduce active damping to reduce oscillations at the robot arm end points, whereas other methods apply interaction strategies based on closed-loop inverse kinematics. Other controllers, such as proportional-integral-derivative (PID) methods and the robust sliding mode controller (SMC), have also been applied to robot arms in an effort to minimize endpoint vibration. This paper studies two popular vibration control strategies found in literature, namely PID and SMC. Simulation results are generated based on applications to a flexible-link robot arm, and the results are compared and discussed.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134336014","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373493
Eduardo Pinto, Pedro Deusdado, Francisco Marques, André Lourenço, Ricardo Mendonça, P. Santana, Luís Flores, J. Barata
This paper presents a multi-core processing solution for ROS-based service robots. The power management together with the control and availability of the processing resources are supervised by a custom-made Power Management Board (PMB) based on a Digital Signal Processor (DSP) micro controller, implementing a Health and Usage Monitoring System (HUMS). The proposed architecture also allows for the PMB to control the most critical robot functions in case of low battery conditions or impossibility of performing energy harvesting, thus extending the lifespan of the robot. All PMB data is recorded on a SD card so as to allow offline analyses of the robotic mission and, thus, support subsequent maintenance activities. Two different implementations of the proposed system have been fielded in two Multi-Robot Systems (MRS) for environmental monitoring, covering aerial, water surface, and wheeled ground vehicles. An additional implementation of the architecture is currently being deployed on an industrial autonomous logistics robot. These three implementations are presented and discussed.
{"title":"A Health and Usage Monitoring System for ROS-based service robots","authors":"Eduardo Pinto, Pedro Deusdado, Francisco Marques, André Lourenço, Ricardo Mendonça, P. Santana, Luís Flores, J. Barata","doi":"10.1109/ISMA.2015.7373493","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373493","url":null,"abstract":"This paper presents a multi-core processing solution for ROS-based service robots. The power management together with the control and availability of the processing resources are supervised by a custom-made Power Management Board (PMB) based on a Digital Signal Processor (DSP) micro controller, implementing a Health and Usage Monitoring System (HUMS). The proposed architecture also allows for the PMB to control the most critical robot functions in case of low battery conditions or impossibility of performing energy harvesting, thus extending the lifespan of the robot. All PMB data is recorded on a SD card so as to allow offline analyses of the robotic mission and, thus, support subsequent maintenance activities. Two different implementations of the proposed system have been fielded in two Multi-Robot Systems (MRS) for environmental monitoring, covering aerial, water surface, and wheeled ground vehicles. An additional implementation of the architecture is currently being deployed on an industrial autonomous logistics robot. These three implementations are presented and discussed.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115068435","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373476
Shaima Abdulwahab Ali Al Habsi, M. Shehada, Marwah Abdoon, Ahmed Mashood, H. Noura
The main objective of this project is to design and implement an indoor autonomous flight control for Unmanned Aerial Vehicle (UAV) of type Parrot AR Drone. Autonomous flight is achieved when the AR Drone is capable of following a predefined trajectory without any human interaction. For this purpose, a control algorithm for Parrot AR Drone designed by Mathworks under software MatlabSimulink was used and enhanced. As a part of the control model development and enhancement, a Vicon Capture System consisting of a set of cameras was integrated in real time with the AR Drone MatlabSimulink. Vicon Capture System was used to capture the position of AR Drone and compare it with the estimated position obtained from AR Drone on-board sensors. It was noticed that the Vicon cameras' position estimation was closer to the real position than the sensors' estimation.
本项目的主要目标是为鹦鹉AR无人机(Parrot AR Drone)型无人机设计并实现室内自主飞行控制。当AR无人机能够在没有任何人工干预的情况下遵循预定义的轨迹时，就实现了自主飞行。为此，使用Mathworks在MatlabSimulink软件下设计的Parrot AR无人机控制算法并对其进行了增强。作为控制模型开发和增强的一部分，由一组摄像机组成的Vicon捕获系统与AR无人机MatlabSimulink实时集成。使用Vicon捕获系统捕获AR无人机的位置，并将其与AR无人机机载传感器获得的估计位置进行比较。我们注意到，Vicon相机的位置估计比传感器的估计更接近真实位置。
{"title":"Integration of a Vicon camera system for indoor flight of a Parrot AR Drone","authors":"Shaima Abdulwahab Ali Al Habsi, M. Shehada, Marwah Abdoon, Ahmed Mashood, H. Noura","doi":"10.1109/ISMA.2015.7373476","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373476","url":null,"abstract":"The main objective of this project is to design and implement an indoor autonomous flight control for Unmanned Aerial Vehicle (UAV) of type Parrot AR Drone. Autonomous flight is achieved when the AR Drone is capable of following a predefined trajectory without any human interaction. For this purpose, a control algorithm for Parrot AR Drone designed by Mathworks under software MatlabSimulink was used and enhanced. As a part of the control model development and enhancement, a Vicon Capture System consisting of a set of cameras was integrated in real time with the AR Drone MatlabSimulink. Vicon Capture System was used to capture the position of AR Drone and compare it with the estimated position obtained from AR Drone on-board sensors. It was noticed that the Vicon cameras' position estimation was closer to the real position than the sensors' estimation.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"209 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123400203","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373485
Ehab I. Al Khatib, Wasim M. F. Al-Masri, S. Mukhopadhyay, M. Jaradat, M. Abdel-Hafez
Two adaptive trajectory tracking controllers for wheeled mobile robots are tested in this work. Adaptively tuned proportional control is one approach, where as the other controller uses a Universal Adaptive Stabilization (UAS) based technique. Using simulations, the robustness of the above controllers is quantified in the presence of measurement noise. The robustness is measured in terms of the Integral of absolute magnitude of the error (IAE), the Integral of square of the error (ISE), and the Integral of time multiplied by the absolute value of the error (ITAE) criteria. It is observed that the UAS based technique shows fast convergence in the absence of noise. To combat the effect of noise, the authors reset the adaptation gains after the adaptation gains reach a preset bound. With this technique it is found that the UAS based technique converges to the trajectory being tracked faster than the adaptively tuned proportional controller, and also faster than a traditional inputoutput state feedback linearization based controller.
{"title":"A comparison of adaptive trajectory tracking controllers for wheeled mobile robots","authors":"Ehab I. Al Khatib, Wasim M. F. Al-Masri, S. Mukhopadhyay, M. Jaradat, M. Abdel-Hafez","doi":"10.1109/ISMA.2015.7373485","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373485","url":null,"abstract":"Two adaptive trajectory tracking controllers for wheeled mobile robots are tested in this work. Adaptively tuned proportional control is one approach, where as the other controller uses a Universal Adaptive Stabilization (UAS) based technique. Using simulations, the robustness of the above controllers is quantified in the presence of measurement noise. The robustness is measured in terms of the Integral of absolute magnitude of the error (IAE), the Integral of square of the error (ISE), and the Integral of time multiplied by the absolute value of the error (ITAE) criteria. It is observed that the UAS based technique shows fast convergence in the absence of noise. To combat the effect of noise, the authors reset the adaptation gains after the adaptation gains reach a preset bound. With this technique it is found that the UAS based technique converges to the trajectory being tracked faster than the adaptively tuned proportional controller, and also faster than a traditional inputoutput state feedback linearization based controller.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122341141","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373486
N. Tarhuni, A. Saleem, M. Mesbah
In real-time motor speed measurements and control, severe noise spikes cause unacceptable performance degradation of the control loop. In this work, we propose a real-time filtering mechanism to reduce the unwanted effects of spiky noise. A Hardware-In-the-Loop (HIL) experimental setup was used to measure the noisy motor speed and an online order statistics filtering was applied to mitigate the effect of the noise. We tested and evaluated experimentally several orders of the applied on-line filtering algorithm. We showed that larger windows tend to enhance the smoothness of the response but at the expense of extra delay that can lead to oscillatory responses when a feedback controller is used. For the implemented system, we showed experimentally that a window size of 5 samples achieves a good compromise between impulsive noise rejection and acceptable oscillatory response.
{"title":"On-line denoising of motor speed control loop using order statistics filtering","authors":"N. Tarhuni, A. Saleem, M. Mesbah","doi":"10.1109/ISMA.2015.7373486","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373486","url":null,"abstract":"In real-time motor speed measurements and control, severe noise spikes cause unacceptable performance degradation of the control loop. In this work, we propose a real-time filtering mechanism to reduce the unwanted effects of spiky noise. A Hardware-In-the-Loop (HIL) experimental setup was used to measure the noisy motor speed and an online order statistics filtering was applied to mitigate the effect of the noise. We tested and evaluated experimentally several orders of the applied on-line filtering algorithm. We showed that larger windows tend to enhance the smoothness of the response but at the expense of extra delay that can lead to oscillatory responses when a feedback controller is used. For the implemented system, we showed experimentally that a window size of 5 samples achieves a good compromise between impulsive noise rejection and acceptable oscillatory response.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126372676","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：