Pub Date : 2017-05-01DOI: 10.1109/ICMSC.2017.7959482
Qinghe Liu, Fufan Qu, Ji Song
For urban electric bus, due to its operating conditions and relatively large vehicle weight, a IoT of energy is lost during braking, so it is very important to develop advanced braking energy recovery system. In this paper, an electromechanical double-acting pneumatic brake was designed by adding the electromagnet structure based on a parallel dual-chamber pneumatic brake, and then made the designed valve as the actuator of pneumatic brake system, and the scheme of pneumatic composite braking system based BBW was designed. To maximize energy recovery, the composite brake control strategy based on maximizing energy recovery was established, making full use of the regenerative braking force provided by the motor. In ADVISOR software, the designed regenerative braking model in this paper was loaded into the default EV module, the energy recovery of electric buses was analyzed in different cyclic conditions.
{"title":"A novel dual function pneumatic valve for blending braking system and control strategies","authors":"Qinghe Liu, Fufan Qu, Ji Song","doi":"10.1109/ICMSC.2017.7959482","DOIUrl":"https://doi.org/10.1109/ICMSC.2017.7959482","url":null,"abstract":"For urban electric bus, due to its operating conditions and relatively large vehicle weight, a IoT of energy is lost during braking, so it is very important to develop advanced braking energy recovery system. In this paper, an electromechanical double-acting pneumatic brake was designed by adding the electromagnet structure based on a parallel dual-chamber pneumatic brake, and then made the designed valve as the actuator of pneumatic brake system, and the scheme of pneumatic composite braking system based BBW was designed. To maximize energy recovery, the composite brake control strategy based on maximizing energy recovery was established, making full use of the regenerative braking force provided by the motor. In ADVISOR software, the designed regenerative braking model in this paper was loaded into the default EV module, the energy recovery of electric buses was analyzed in different cyclic conditions.","PeriodicalId":356055,"journal":{"name":"2017 International Conference on Mechanical, System and Control Engineering (ICMSC)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131930744","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 : 2017-05-01DOI: 10.1109/ICMSC.2017.7959478
V. Gaponov, V. Dashevsky, A. Ronzhin
RC servos do not satisfy the requirements applicable to servos in robotic systems due to the lack of feedback from the onboard computer and the inability to change the control mechanism parameters. In this article we analyze the existing solutions and consider the creation of a controller that will allow upgrading the standard RC servo for use in educational robotics. Educational modular and humanoid robots based on the developed servos will be used for planned and additional training of bachelors, masters and PhD students, as well as for full-scale simulation of a socio-cyber-physical environment and the study of the problems of interactive user interaction with the surrounding mobile robotic and embedded devices.
{"title":"Upgrading the hardware and software of RC servos for use in educational robotics","authors":"V. Gaponov, V. Dashevsky, A. Ronzhin","doi":"10.1109/ICMSC.2017.7959478","DOIUrl":"https://doi.org/10.1109/ICMSC.2017.7959478","url":null,"abstract":"RC servos do not satisfy the requirements applicable to servos in robotic systems due to the lack of feedback from the onboard computer and the inability to change the control mechanism parameters. In this article we analyze the existing solutions and consider the creation of a controller that will allow upgrading the standard RC servo for use in educational robotics. Educational modular and humanoid robots based on the developed servos will be used for planned and additional training of bachelors, masters and PhD students, as well as for full-scale simulation of a socio-cyber-physical environment and the study of the problems of interactive user interaction with the surrounding mobile robotic and embedded devices.","PeriodicalId":356055,"journal":{"name":"2017 International Conference on Mechanical, System and Control Engineering (ICMSC)","volume":" 884","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131977634","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 : 2017-05-01DOI: 10.1109/ICMSC.2017.7959470
M. Talanov, Evgeniy Zykov, V. Erokhin, E. Magid, Salvatore Distefano
In this paper we propose a new hardware architecture for the implementation of an artificial neuron based on organic memristive elements and operational amplifiers. This architecture is proposed as a possible solution for the integration and deployment of the cluster based bio- realistic simulation of a mammalian brain into a robotic system. Originally, this simulation has been developed through a neuro-biologically inspired cognitive architecture (NeuCogAr) re-implementing basic emotional states or affects in a computational system. This way, the dopamine, serotonin and noradrenaline pathways developed in NeuCogAr are synthesized through hardware memristors suitable for the implementation of basic emotional states or affects on a biologically inspired robotic system.
{"title":"The memristive artificial neuron high level architecture for biologically inspired robotic systems","authors":"M. Talanov, Evgeniy Zykov, V. Erokhin, E. Magid, Salvatore Distefano","doi":"10.1109/ICMSC.2017.7959470","DOIUrl":"https://doi.org/10.1109/ICMSC.2017.7959470","url":null,"abstract":"In this paper we propose a new hardware architecture for the implementation of an artificial neuron based on organic memristive elements and operational amplifiers. This architecture is proposed as a possible solution for the integration and deployment of the cluster based bio- realistic simulation of a mammalian brain into a robotic system. Originally, this simulation has been developed through a neuro-biologically inspired cognitive architecture (NeuCogAr) re-implementing basic emotional states or affects in a computational system. This way, the dopamine, serotonin and noradrenaline pathways developed in NeuCogAr are synthesized through hardware memristors suitable for the implementation of basic emotional states or affects on a biologically inspired robotic system.","PeriodicalId":356055,"journal":{"name":"2017 International Conference on Mechanical, System and Control Engineering (ICMSC)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128632920","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 : 2017-05-01DOI: 10.1109/ICMSC.2017.7959468
R. Khusainov, A. Klimchik, E. Magid
Kinematic calibration is a crucial task for humanoid robot locomotion. The paper proposes a novel technique for joint offset calibration using industrial manipulator. Corresponding procedure uses position and orientation data from the manipulator and requires fixing of robots bases and end-effectors with respect to each other. The full pose information is obtaining as the humanoid limbs are moved through predefined configurations. To find joint offsets the least-squares optimization problem is solved. The proposed method is accurate since the industrial manipulator provides high precision. The proposed approach was validated on the calibration of AR601M humanoid robot using Kuka iiwa 14 industrial manipulator.
{"title":"Humanoid robot kinematic calibration using industrial manipulator","authors":"R. Khusainov, A. Klimchik, E. Magid","doi":"10.1109/ICMSC.2017.7959468","DOIUrl":"https://doi.org/10.1109/ICMSC.2017.7959468","url":null,"abstract":"Kinematic calibration is a crucial task for humanoid robot locomotion. The paper proposes a novel technique for joint offset calibration using industrial manipulator. Corresponding procedure uses position and orientation data from the manipulator and requires fixing of robots bases and end-effectors with respect to each other. The full pose information is obtaining as the humanoid limbs are moved through predefined configurations. To find joint offsets the least-squares optimization problem is solved. The proposed method is accurate since the industrial manipulator provides high precision. The proposed approach was validated on the calibration of AR601M humanoid robot using Kuka iiwa 14 industrial manipulator.","PeriodicalId":356055,"journal":{"name":"2017 International Conference on Mechanical, System and Control Engineering (ICMSC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132988635","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 : 2017-05-01DOI: 10.1109/ICMSC.2017.7959506
E. Magid, Roman Lavrenov, Ilya M. Afanasyev
Optimal path planning in dynamic environments for an unmanned vehicle is a complex task of mobile robotics that requires an integrated approach. This paper describes a path planning algorithm, which allows to build a preliminary motion trajectory using global information about environment, and then dynamically adjust the path in real-time by varying objective function weights. We introduce a set of key parameters for path optimization and the algorithm implementation in MATLAB. The developed algorithm is suitable for fast and robust trajectory tuning to a dynamically changing environment and is capable to provide efficient planning for mobile robots.
{"title":"Voronoi-based trajectory optimization for UGV path planning","authors":"E. Magid, Roman Lavrenov, Ilya M. Afanasyev","doi":"10.1109/ICMSC.2017.7959506","DOIUrl":"https://doi.org/10.1109/ICMSC.2017.7959506","url":null,"abstract":"Optimal path planning in dynamic environments for an unmanned vehicle is a complex task of mobile robotics that requires an integrated approach. This paper describes a path planning algorithm, which allows to build a preliminary motion trajectory using global information about environment, and then dynamically adjust the path in real-time by varying objective function weights. We introduce a set of key parameters for path optimization and the algorithm implementation in MATLAB. The developed algorithm is suitable for fast and robust trajectory tuning to a dynamically changing environment and is capable to provide efficient planning for mobile robots.","PeriodicalId":356055,"journal":{"name":"2017 International Conference on Mechanical, System and Control Engineering (ICMSC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123461122","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 : 2017-05-01DOI: 10.1109/ICMSC.2017.7959505
Artur Sagitov, Ksenia Shabalina, Roman Lavrenov, E. Magid
A fiducial marker system is a system of unique 2D (planar) marker, which is placed in an environment and automatically will be detected with a camera with a help of a corresponding detection algorithm. Application areas of these markers include industrial systems, augmented reality, robots navigation, human-robot interaction and others. Marker system designed for such different applications must be robust to such factors as view angles, occlusions, changing distances, etc. This paper compares three existing systems of markers: ARTag, AprilTag, and CALTag. As a benchmark, we use their reliability and detection rate in presence of occlusions of various types and intensity. The paper presents experimental comparison of these markers. The marker detection was performed with a simple inexpensive Web camera.
{"title":"Comparing fiducial marker systems in the presence of occlusion","authors":"Artur Sagitov, Ksenia Shabalina, Roman Lavrenov, E. Magid","doi":"10.1109/ICMSC.2017.7959505","DOIUrl":"https://doi.org/10.1109/ICMSC.2017.7959505","url":null,"abstract":"A fiducial marker system is a system of unique 2D (planar) marker, which is placed in an environment and automatically will be detected with a camera with a help of a corresponding detection algorithm. Application areas of these markers include industrial systems, augmented reality, robots navigation, human-robot interaction and others. Marker system designed for such different applications must be robust to such factors as view angles, occlusions, changing distances, etc. This paper compares three existing systems of markers: ARTag, AprilTag, and CALTag. As a benchmark, we use their reliability and detection rate in presence of occlusions of various types and intensity. The paper presents experimental comparison of these markers. The marker detection was performed with a simple inexpensive Web camera.","PeriodicalId":356055,"journal":{"name":"2017 International Conference on Mechanical, System and Control Engineering (ICMSC)","volume":"123 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130078696","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 : 2017-05-01DOI: 10.1109/ICMSC.2017.7959469
Roman Lavrenov, A. Zakiev, E. Magid
Robot simulations nowadays provide significant support in testing new algorithms for robotic systems for a broad area of tasks, including navigation, mapping, and SLAM. Within a simulation, special attention should be paid for providing algorithms with realistic testing environments that are to be further used for robot navigation. This paper presents an automatic tool that allows creating realistic landscapes in Gazebo simulation, which are based on results of real world sensor-based exploration. The tool provides automatic filtering and importing of an occupancy grid map into Gazebo framework as a heightmap.
{"title":"Automatic mapping and filtering tool: From a sensor-based occupancy grid to a 3D Gazebo octomap","authors":"Roman Lavrenov, A. Zakiev, E. Magid","doi":"10.1109/ICMSC.2017.7959469","DOIUrl":"https://doi.org/10.1109/ICMSC.2017.7959469","url":null,"abstract":"Robot simulations nowadays provide significant support in testing new algorithms for robotic systems for a broad area of tasks, including navigation, mapping, and SLAM. Within a simulation, special attention should be paid for providing algorithms with realistic testing environments that are to be further used for robot navigation. This paper presents an automatic tool that allows creating realistic landscapes in Gazebo simulation, which are based on results of real world sensor-based exploration. The tool provides automatic filtering and importing of an occupancy grid map into Gazebo framework as a heightmap.","PeriodicalId":356055,"journal":{"name":"2017 International Conference on Mechanical, System and Control Engineering (ICMSC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129129230","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 : 2017-05-01DOI: 10.1109/ICMSC.2017.7959477
Mohammad Ostadijafari, S. Fakhimi, Mojtaba Amini Omam
This paper deals with the leaderless synchronization of multiple agents modeled by nonlinear uncertain Euler-Lagrange equations with unmeasurable velocities and bounded control inputs. An adaptive cooperative control law is proposed to the entire group sync with uncertainty. Due to the fact that the closed-loop interconnected Euler-Lagrange equations employing this algorithm are non-autonomous, Matrosov's theorem is exploited to guarantee finite time synchronization in spite of the presence of the system uncertainties and external disturbances. From the simulation results, the consensus scheme has been shown to achieve favorable performance and the synchronization is reached on the generalized coordinates.
{"title":"Robust cooperative saturated output feedback control of uncertain networked Euler-Lagrange systems","authors":"Mohammad Ostadijafari, S. Fakhimi, Mojtaba Amini Omam","doi":"10.1109/ICMSC.2017.7959477","DOIUrl":"https://doi.org/10.1109/ICMSC.2017.7959477","url":null,"abstract":"This paper deals with the leaderless synchronization of multiple agents modeled by nonlinear uncertain Euler-Lagrange equations with unmeasurable velocities and bounded control inputs. An adaptive cooperative control law is proposed to the entire group sync with uncertainty. Due to the fact that the closed-loop interconnected Euler-Lagrange equations employing this algorithm are non-autonomous, Matrosov's theorem is exploited to guarantee finite time synchronization in spite of the presence of the system uncertainties and external disturbances. From the simulation results, the consensus scheme has been shown to achieve favorable performance and the synchronization is reached on the generalized coordinates.","PeriodicalId":356055,"journal":{"name":"2017 International Conference on Mechanical, System and Control Engineering (ICMSC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129264848","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 : 2017-05-01DOI: 10.1109/ICMSC.2017.7959465
Dumitru Sergiu, Comeagă Constantin Daniel, C. Anghel, Morega Alexandru Mihail
The article presents the design, modelling and simulation of an electronic control solution for a MEMS electromagnetic scanning system. The electromechanical design is presented and completed with a mathematical model, and a simulation based on Comsol. The simulations allow to extract the equivalent circuit parameters of the actuator which in turn are used to integrate the equivalent circuit with the electronic circuit and simulate in PSPICE. The behavior of the overall circuit is simulated allowing to optimally design the electronic circuit. Current sources with Howland topology made with operational amplifiers are often used for electromagnetically actuators if that requires constant current polarization. Theoretical determination of overall performances for these circuits is generally known. This paper presents a PSPICE simulation for the mains performance of the constant current circuit used for actuators driving.
{"title":"Modelling and simulation of MEMS electromagnetic scanner control","authors":"Dumitru Sergiu, Comeagă Constantin Daniel, C. Anghel, Morega Alexandru Mihail","doi":"10.1109/ICMSC.2017.7959465","DOIUrl":"https://doi.org/10.1109/ICMSC.2017.7959465","url":null,"abstract":"The article presents the design, modelling and simulation of an electronic control solution for a MEMS electromagnetic scanning system. The electromechanical design is presented and completed with a mathematical model, and a simulation based on Comsol. The simulations allow to extract the equivalent circuit parameters of the actuator which in turn are used to integrate the equivalent circuit with the electronic circuit and simulate in PSPICE. The behavior of the overall circuit is simulated allowing to optimally design the electronic circuit. Current sources with Howland topology made with operational amplifiers are often used for electromagnetically actuators if that requires constant current polarization. Theoretical determination of overall performances for these circuits is generally known. This paper presents a PSPICE simulation for the mains performance of the constant current circuit used for actuators driving.","PeriodicalId":356055,"journal":{"name":"2017 International Conference on Mechanical, System and Control Engineering (ICMSC)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129301122","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 : 2017-05-01DOI: 10.1109/ICMSC.2017.7959445
L. Abbas, X. Rui
The analysis of natural vibration characteristics has become an important step of the manufacture and dynamic design in different engineering branches and industries. In order to solve the vibration behavior of spinning Euler- Bernoulli beam, a transfer matrix method for multibody systems is developed. The components of the transfer matrix are all functions of the system's natural frequency. However, overall transfer equation only involves boundary state vectors; whereas the state vectors at all other connection points do not appear. The state vectors at the boundary are composed of displacements, rotation angles, internal bending moments and internal shear forces, which are partly known and partly unknown. In addition, the overall transfer matrix is independent of the degrees of the freedom. For validation, the proposed approach will be demonstrated for example taken from the literature.
{"title":"Vibration of spinning beam based on transfer matrix method of linear multibody systems","authors":"L. Abbas, X. Rui","doi":"10.1109/ICMSC.2017.7959445","DOIUrl":"https://doi.org/10.1109/ICMSC.2017.7959445","url":null,"abstract":"The analysis of natural vibration characteristics has become an important step of the manufacture and dynamic design in different engineering branches and industries. In order to solve the vibration behavior of spinning Euler- Bernoulli beam, a transfer matrix method for multibody systems is developed. The components of the transfer matrix are all functions of the system's natural frequency. However, overall transfer equation only involves boundary state vectors; whereas the state vectors at all other connection points do not appear. The state vectors at the boundary are composed of displacements, rotation angles, internal bending moments and internal shear forces, which are partly known and partly unknown. In addition, the overall transfer matrix is independent of the degrees of the freedom. For validation, the proposed approach will be demonstrated for example taken from the literature.","PeriodicalId":356055,"journal":{"name":"2017 International Conference on Mechanical, System and Control Engineering (ICMSC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121170807","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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