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  • 1.
    Ahmed, Muhammad Rehan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction2011Doktoravhandling, monografi (Annet vitenskapelig)
    Abstract [en]

    Inspiration from biological systems suggests that robots should demonstrate same level of capabilities that are embedded in biological systems in performing safe and successful interaction with the humans. The major challenge in physical human robot interaction tasks in anthropic environment is the safe sharing of robot work space such that robot will not cause harm or injury to the human under any operating condition.

    Embedding human like adaptable compliance characteristics into robot manipulators can provide safe physical human robot interaction in constrained motion tasks. In robotics, this property can be achieved by using active, passive and semi active compliant actuation devices. Traditional methods of active and passive compliance lead to complex control systems and complex mechanical design.

    In this thesis we present compliant robot manipulator system with semi active compliant device having magneto rheological fluid based actuation mechanism. Human like adaptable compliance is achieved by controlling the properties of the magneto rheological fluid inside joint actuator. This method offers high operational accuracy, intrinsic safety and high absorption to impacts. Safety is assured by mechanism design rather than by conventional approach based on advance control. Control schemes for implementing adaptable compliance are implemented in parallel with the robot motion control that brings much simple interaction control strategy compared to other methods.

    Here we address two main issues: human robot collision safety and robot motion performance.We present existing human robot collision safety standards and evaluate the proposed actuation mechanism on the basis of static and dynamic collision tests. Static collision safety analysis is based on Yamada’s safety criterion and the adaptable compliance control scheme keeps the robot in the safe region of operation. For the dynamic collision safety analysis, Yamada’s impact force criterion and head injury criterion are employed. Experimental results validate the effectiveness of our solution. In addition, the results with head injury criterion showed the need to investigate human bio-mechanics in more details in order to acquire adequate knowledge for estimating the injury severity index for robots interacting with humans.

    We analyzed the robot motion performance in several physical human robot interaction tasks. Three interaction scenarios are studied to simulate human robot physical contact in direct and inadvertent contact situations. Respective control disciplines for the joint actuators are designed and implemented with much simplified adaptable compliance control scheme.

    The series of experimental tests in direct and inadvertent contact situations validate our solution of implementing human like adaptable compliance during robot motion and prove the safe interaction with humans in anthropic domains.

  • 2.
    Ahmed, Muhammad Rehan
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Semi-active compliant robot enabling collision safety for human robot interaction2010Inngår i: 2010 International Conference on Mechatronics and Automation (ICMA), IEEE, 2010, s. 1932-1937Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Human robot interaction (HRI) tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior enabling eminent collision safety as well as maintaining high position accuracy. Robot compliance control normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We proposed a unique method using semi-active compliant actuation mechanism having magneto-rheological (MR) fluid based actuator that introduces reconfigurable compliance characteristics into the robot joints. This enables high intrinsic safety coming from fluid mechanics as well as, it offers simpler interaction control strategy compared to other concurrent approaches. In this studies, we have described three essential modes of motions required for physical human system interaction. Furthermore, we have demonstrated robot collision safety in terms of static collision and experimentally validates the performance of robot manipulator enabling safe human robot interaction.

  • 3.
    Ahmed, Muhammad Rehan
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Static and dynamic collisionsafety for human robot interaction using magneto-rheological fluid based compliant robot manipulator2010Inngår i: IEEE international conference on robotics and biomimetics (ROBIO), 2010, IEEE conference proceedings, 2010, s. 370-375Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The success of human robot interaction (HRI) tasks is characterized by evaluating robot performance in terms of collision safety and position accuracy. Hence, both position accuracy and collision safety are equally indispensable. HRI refers to cognitive as well as physical interaction. Cognitive human robot interaction based on perception and awareness where as physical human robot interaction demands direct contact with the humans exhibiting adaptable compliant behavior. Therefore, development of ideal safe robot manipulator having adaptable compliant actuation is inevitable. Adaptable compliance can be achieved by using active compliant actuation requiring various sensor data or by using passive compliant devices with high mechanical complexity. We present magneto rheological fluid based compliant actuation mechanism introducing adaptable compliance directly into robotic joint with much simpler interaction control and higher intrinsic safety originating from fluid mechanics. In this study, we have discussed adaptable compliance in terms of essential modes of motion for safe physical HRI and evaluated the safety performance of our robot for static collision testing and dynamic collision testing based on impact force and head injury criterion. Finally, the experimental results validate the significance of our proposed method for both human robot collision safety and high position accuracy.

  • 4.
    Ahmed, Muhammad Rehan
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Static collision analysis of semi active compliant robot for safe human robot interaction2010Inngår i: Proceedings of the 12th Mechatronics Forum Biennial International Conference, IWF Institute of Machine tools and manufacturing , 2010, s. 220-227Konferansepaper (Fagfellevurdert)
  • 5.
    Ahmed, Muhammad Rehan
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Two link compliant robot manipulator for physical human robot collision safety2012Inngår i: Biomedical Engineering Systems and Technologies / [ed] Ana Fred, Joaquim Filipe, Hugo Gamboa, Springer, 2012Konferansepaper (Fagfellevurdert)
  • 6.
    Ahmed, Rehan M.
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Ananiev, Anani V.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Compliant motion control for safe human robot interaction2009Inngår i: Robot motion and control 2009 / [ed] Krzysztof R. Kozłowski, Berlin: Springer , 2009, s. 265-274Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Robots have recently been foreseen to work side by side and share workspace with humans in assisting them in tasks that include physical human-robot (HR) interaction. The physical contact with human tasks under uncertainty has to be performed in a stable and safe manner [6]. However, current industrial robot manipulators are still very far from HR coexisting environments, because of their unreliable safety, rigidity and heavy structure. Besides this, the industrial norms separate the two spaces occupied by a human and a robot by means of physical fence or wall [9]. Therefore, the success of such physical HR interaction is possible if the robot is enabled to handle this interaction in a smart way to prevent injuries and damages.

  • 7.
    Ahmed, Rehan M.
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Ananiev, Anani V.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan G.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Safe robot with reconfigurable compliance/stiffness actuation2009Inngår i: Proceedings of ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR'2009 / [ed] J. S. Dai, M. Zoppi, X. W. Kong, IEEE, 2009, s. 633-638Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Human robot interaction (HRI) in constrained motion tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior Compliance control of industrial robots, normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present a unique method using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates reconfigurable compliance directly into the robot joints. This brings much simple interaction control strategy compared to other antagonistic methods. In this studies, we have described three essential modes of motions required for physical human system interaction. Then we have discussed their respective control disciplines. Finally, we have presented functional performance of reconfigurable MRF actuation mechanism in constrained motion tasks by simulating various HRI scenarios.

  • 8.
    Ahmed, Rehan M.
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Ananiev, Anani
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Modeling of magneto rheological fluid actuator enabling safe human-robot interaction2008Inngår i: IEEE International Conference on Emerging Technologies and Factory Automation, 2008. ETFA 2008, 2008, s. 974-979Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Impedance control and compliant behavior for safe human-robot physical interaction of industrial robots normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present another approach using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates variable stiffness directly into the joints. In this paper, we have investigated and analyzed principle characteristics of MRF actuation mechanism and presented the analytical-model. Then we have developed the static and dynamic model based on experimental test results and have discussed three essential modes of motion needed for human-robot manipulation interactive tasks.

  • 9.
    Albitar, Houssam
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Enabling a Robot for Underwater Surface Cleaning2017Doktoravhandling, med artikler (Annet vitenskapelig)
    Abstract [en]

    Biofouling build-up on submerged structures such as ships, petroleum and gas storage tanks, electric power plants, bridges, oil rigs etc. is a major problem that affects the surface material of the structure, the eventual hydrodynamic quality of the surface and in some cases the efficacy of cooling systems. Underwater cleaning is a solution to maintain submerged structures in order to assure proper functioning for as long as possible. Consequently, there has been an increased interest in the development of new technologies for robotised underwater cleaning systems.

    This thesis presents a new concept of a flexible crawling mechanism for an industrial underwater cleaning robot, which is evaluated from the viewpoint of its capability to work underwater, scanning the desired surface, and perform a cleaning task. The main research questions investigated in this thesis are: (1.) how to select the most important features in choosing the platform mechanism to fulfil the surface scanning operation, (2.) how to design the platform in order to bear the forces related to the cleaning task, (3.) how to maintain surface contact throughout cleaning, (4.) determine the significant parameters to be monitored in order to ensure stable positioning on the surface during the cleaning process and (5.) how to develop the control of actuators to realise the locomotion and to follow the desired trajectory.

    This thesis begins with a classification and discussion of the available solutions for underwater operation, taking into consideration the benefits and drawbacks, overall efficiency and environmental and human safety issues. From this survey, an underwater mobile robotic platform is designed to address the main requirements and industrial needs. Further, a study and simulation of its mobility and stability on the surface is performed and a complete scenario of the entire cleaning operation is presented. In addition, an overview of the required sensors and the control system is given. Finally, a new robotised system was developed to clean underwater surfaces with minimum active degrees of freedom. A successful simulation and real experimental results were obtained with a simplified lab-scale prototype. The thesis concludes with a summary of future works and outlook for the growing field of underwater cleaning robots.

    Delarbeid
    1. Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems
    Åpne denne publikasjonen i ny fane eller vindu >>Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems
    2016 (engelsk)Inngår i: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 13, artikkel-id 7Artikkel i tidsskrift (Fagfellevurdert) Published
    Abstract [en]

    Underwater robots are being developed for various applications ranging from inspection to maintenance and cleaning of submerged surfaces and constructions. These platforms should be able to travel on these surfaces. Furthermore, these platforms should adapt and reconfigure for underwater environment conditions and should be autonomous. Regarding the adhesion to the surface, they should produce a proper attaching force using a light-weight technics. Taking these facts into consideration, this paper presents a survey of different technologies used for underwater cleaning and the available underwater robotics solutions for the locomotion and the adhesion to surfaces.

    sted, utgiver, år, opplag, sider
    INTECH, 2016
    Emneord
    Underwater Robot, Underwater Cleaning, Bio-fouling, Adhesion, Locomotion
    HSV kategori
    Forskningsprogram
    Datavetenskap
    Identifikatorer
    urn:nbn:se:oru:diva-47813 (URN)10.5772/62060 (DOI)000368630700001 ()2-s2.0-85002271299 (Scopus ID)
    Tilgjengelig fra: 2016-01-28 Laget: 2016-01-28 Sist oppdatert: 2018-01-10bibliografisk kontrollert
    2. New concept of in-water surface cleaning robot
    Åpne denne publikasjonen i ny fane eller vindu >>New concept of in-water surface cleaning robot
    2013 (engelsk)Inngår i: Mechatronics and Automation (ICMA), 2013 IEEE International Conference onDate 4-7 Aug. 2013, IEEE conference proceedings, 2013, s. 1582-1587Konferansepaper, Publicerat paper (Fagfellevurdert)
    Abstract [en]

    This paper introduces a new concept of flexible crawling mechanism to design an industrial underwater cleaning robot, which is evaluated from the viewpoint of the capability to work underwater, scanning the desired surface, and bearing the reactions. This can be used as a robotic application in underwater surface cleaning and maintenance. We designed a robot that realizes the motion by contraction and extraction using DC-motors and vacuum technology. In this study we first focused on realizing the adhesion, bearing reactions, and achieving a stable locomotion on the surface.

    sted, utgiver, år, opplag, sider
    IEEE conference proceedings, 2013
    Emneord
    climbing robot; inspection
    HSV kategori
    Forskningsprogram
    Datavetenskap
    Identifikatorer
    urn:nbn:se:oru:diva-30340 (URN)10.1109/ICMA.2013.6618150 (DOI)000335375900267 ()2-s2.0-84887901379 (Scopus ID)978-1-4673-5557-5 (ISBN)
    Konferanse
    2013 IEEE International Conference on Mechatronics and Automation (ICMA), 4-7 aug. 2013, Takamatsu, Japan
    Tilgjengelig fra: 2013-08-27 Laget: 2013-08-27 Sist oppdatert: 2018-01-11bibliografisk kontrollert
    3. In-water surface cleaning robot: concept, locomotion and stability
    Åpne denne publikasjonen i ny fane eller vindu >>In-water surface cleaning robot: concept, locomotion and stability
    2014 (engelsk)Inngår i: International Journal of Mechatronics and Automation, ISSN 2045-1067, Vol. 4, nr 2, s. 104-115Artikkel i tidsskrift (Fagfellevurdert) Published
    Abstract [en]

    This paper introduces a new concept of flexible crawling mechanism in the design ofindustrial in-water cleaning robot, which is evaluated from the viewpoint of work and operationon an underwater surface. It enables the scanning and cleaning process performed by water jets,while keeping stable robot position on the surface by its capacity to bear and compensate the jetreactions. Such robotic platform can be used for cleaning and maintenance of various underwatersurfaces, including moving ships in the open sea. The designed robot implements its motions bycontraction and expansion of legged mechanism using standard motors and suction cupstechnology. In this study we focus at the conditions for achieving enough adhesion for keepingcontinuous contact between the robot and the surface and robot stability in different situations forthe basic locomotions.

    sted, utgiver, år, opplag, sider
    IEEE, 2014
    Emneord
    underwater robot, crawling robot, underwater surface cleaning
    HSV kategori
    Identifikatorer
    urn:nbn:se:oru:diva-35987 (URN)10.1504/IJMA.2014.062338 (DOI)2-s2.0-84904859302 (Scopus ID)
    Tilgjengelig fra: 2014-08-19 Laget: 2014-08-19 Sist oppdatert: 2019-08-30bibliografisk kontrollert
    4. Stability study of underwater crawling robot on non-horizontal surface
    Åpne denne publikasjonen i ny fane eller vindu >>Stability study of underwater crawling robot on non-horizontal surface
    2014 (engelsk)Inngår i: Mobile Service Robotics: Clawar 2014: 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines: Poznan, Poland 21 - 23 July 2014, Singapore: World Scientific, 2014, s. 511-519Konferansepaper, Publicerat paper (Fagfellevurdert)
    Abstract [en]

    This paper introduces a study of a concept of exible crawling mechanism todesign an industrial underwater cleaning robot, which is evaluated from theviewpoint of the capability to work underwater, scanning the desired surface,and bearing the reactions. This can be used as a robotic application in under-water surface cleaning and maintenance. In this study we focused on realizingthe adhesion on the surface in stationary and in motion, bearing reactions,enabling the needed locomotion types for scanning, and achieving the stabilityin dierent situations on the surface.

    sted, utgiver, år, opplag, sider
    Singapore: World Scientific, 2014
    Emneord
    Crawling robot, underwater, locomotion, stability
    HSV kategori
    Identifikatorer
    urn:nbn:se:oru:diva-35985 (URN)000342693100061 ()2-s2.0-85007347787 (Scopus ID)978-981-4623-34-6 (ISBN)
    Konferanse
    Clawar 2014: 17th International Conference on Climbing and Walking Robots CLAWAR, Poznan, Poland, 21 - 23 July, 2014
    Tilgjengelig fra: 2014-08-19 Laget: 2014-08-19 Sist oppdatert: 2018-01-11bibliografisk kontrollert
    5. Layered mission control architecture and strategy for crawling underwater cleaning robot
    Åpne denne publikasjonen i ny fane eller vindu >>Layered mission control architecture and strategy for crawling underwater cleaning robot
    2015 (engelsk)Inngår i: International Journal of Mechatronics and Automation, ISSN 2045-1059, Vol. 5, nr 2/3, s. 114-124Artikkel i tidsskrift (Fagfellevurdert) Published
    Abstract [en]

    This paper presents the mechanical design and the control system architecture of anunderwater robot, developed for bio-fouling cleaning surfaces. The robotic system presented herehas been designed to improve the productivity, reduce the environmental impacts, and excludethe hazards for the operators. The control system has a layered structure which is distributed intotwo blocks: cleaning robot, and on-board base station connected with power and control cablesand a water hose, to facilitate different modes of operations and to increase the system reliability.A low level control has been implemented on the robotic platform. The onboard station designedto be in different layers of the control system: manual, semiautonomous and autonomous modes.A scaled prototype has been implemented and tested to prove the concept, and to make certainthat the mechanical design and the chosen control system are perfectly suited to the mainfunctions of the robotic system.

    sted, utgiver, år, opplag, sider
    InderScience Publishers, 2015
    Emneord
    underwater robots, layered control system, crawling robots, bio-fouling cleaning
    HSV kategori
    Forskningsprogram
    Datavetenskap
    Identifikatorer
    urn:nbn:se:oru:diva-49753 (URN)10.1504/IJMA.2015.075957 (DOI)2-s2.0-84973596360 (Scopus ID)
    Tilgjengelig fra: 2016-04-11 Laget: 2016-04-11 Sist oppdatert: 2018-01-10bibliografisk kontrollert
  • 10.
    Arain, Muhammad Asif
    et al.
    University of Genova , Genova, Italy; Warsaw University of Technology, Warshaw, Poland.
    Hultmann Ayala, Helon Vicente
    University of Genova , Genova, Italy; Warsaw University of Technology, Warshaw, Poland.
    Ansari, Muhammad Adil
    Science & Technology , Quaid-e-Awam University of Engineering, Sindh, Pakistan.
    Nonlinear System Identification Using Neural Network2012Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Magneto-rheological damper is a nonlinear system. In this case study, system has been identified using Neural Network tool. Optimization between number of neurons in the hidden layer and number of epochs has been achieved and discussed by using multilayer perceptron Neural Network.

  • 11.
    Bergsten, Pontus
    et al.
    Örebro universitet, Institutionen för teknik.
    Palm, Rainer
    Siemens AG Corporate Technology, Munich, Germany.
    Driankov, Dimiter
    Örebro universitet, Institutionen för teknik.
    Fuzzy Observers2001Inngår i: The 10th IEEE International Conference on Fuzzy Systems (Volym:3): Meeting the grand challenge: Machines that serve people, New York, USA: IEEE conference proceedings, 2001, s. 700-703Konferansepaper (Fagfellevurdert)
    Abstract [en]

    We consider the analysis and design of three different types of nonlinear observers for dynamic Takagi-Sugeno fuzzy systems. Our approach is based on extending existing nonlinear observer schemes, namely Thau-Luenberger and sliding mode observers, to the case of interpolated multiple local affine linear models. Then linear matrix inequality based techniques are used for observer analysis and design.

  • 12.
    Dimitrov, Dimitar N.
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Wieber, P. -B.
    Stasse, O.
    Ferreau, H. J.
    Diedam, H.
    An optimized linear model predictive control solver for online walking motion generation2009Inngår i: IEEE International Conference on Robotics and Automation (ICRA '09), IEEE conference proceedings, 2009, s. 1171-1176Konferansepaper (Annet vitenskapelig)
    Abstract [en]

    This article addresses the fast solution of a Quadratic Program underlying a Linear Model Predictive Control scheme that generates walking motions. We introduce an algorithm which is tailored to the particular requirements of this problem, and therefore able to solve it efficiently. Different aspects of the algorithm are examined, its computational complexity is presented, and a numerical comparison with an existing state of the art solver is made. The approach presented here, extends to other general problems in a straightforward way. © 2009 IEEE.

  • 13.
    Driankov, Dimiter
    et al.
    Linköping University, Linköping, Sweden.
    Palm, Rainer
    Siemens Corporate Research, Munich, Germany.
    Rehfuess, Ulrich
    Siemens Corporate Research, Munich, Germany.
    A Takagi-Sugeno fuzzy gain-scheduler1996Inngår i: Proceedings of the Fifth IEEE International Conference on Fuzzy Systems: Fuzz-IEEE '96, New York, USA: IEEE conference proceedings, 1996, s. 1053-1059Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In the present paper we describe the design of a fuzzy gain scheduler for tracking a reference trajectory of a nonlinear autonomous system. The proposed fuzzy gain scheduling method has two major advantages over the existing crisp gain scheduling methods. First, it provides a general and formally motivated method for the interpolation of available local control laws into a global gain scheduling control law. Second, the method for determining the weights of the local control laws in the global gain scheduling control law is general and computationally efficient. It is shown that a fuzzy gain scheduler can be designed such that robust asymptotic stability is met. Finally, an LQR control design based method is presented

  • 14.
    Fodor, George
    et al.
    ABB Industrial Systems AB, Västerås, Sweden.
    Grantner, Janos L.
    Western Michigan University, Department of Electrical and Computer Engineering, Kalamazoo, USA.
    Driankov, Dimiter
    Linköping University, Linköping, Sweden.
    Modeling the real-time recovery of complex control systems: A fuzzy approach1997Inngår i: 1997 IEEE International Conference on Systems, Man, and Cybernetics: Computational Cybernetics and Simulation (Volume:3), New York, USA: IEEE conference proceedings, 1997, s. 2163-2168Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper presents an approach to complex system recovery based on a fuzzy specification method. The method can be applied when controllers of different types and makes are connected in a common control architecture. The method allows a controller B to trigger a recovery operation on a controller A when B has the recovery specification of A. The approach has important potential applications in industry, e.g. as a possible complement to PLC standards such as IEC1131, and to the design of hybrid and complex control systems

  • 15.
    Garipov, Emil
    et al.
    Technical University of Sofia, Bulgaria.
    Stoilkov, Teodor
    Technical University of Sofia, Bulgaria.
    Kalaykov, Ivan
    Örebro universitet, Institutionen för naturvetenskap.
    Multiple regressive model adaptive control2008Inngår i: New developments in robotics automation and control / [ed] Aleksandar Lazinica, Rijeka, Croatia: InTech , 2008, s. 59-84Kapittel i bok, del av antologi (Fagfellevurdert)
  • 16.
    Grantner, J.L.
    et al.
    Western Michigan University, Kalamazoo, USA.
    Fodor, George
    George Fodor, Al3B Industrial Systems AB, ISY/AMC, Västerås.
    Driankov, Dimiter
    University of Linköping, Linköping.
    Hybrid fuzzy-Boolean automata for ontological controllers1998Inngår i: The 1998 IEEE International Conference on Fuzzy Systems Proceedings: IEEE World Congress on Computational Intelligence  (Volume:1), New York, USA: IEEE conference proceedings, 1998, s. 400-404Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper introduces a hybrid fuzzy-Boolean finite state machine (HFB FSM) model for ontological control. Ontological control is a novel type supervisory control that deals with the problems of error detection and recovery in complex control systems. The HFB FSM is used as a specification method for the problem of recovery when an autonomous control system encounters unexpected changes in its environment. The method allows a controller B (the ontological controller) to trigger a recovery operation on controller A when B has the recovery specification of A. The approach has important potential applications in industry

  • 17. Hristozov, Iasen
    et al.
    Iliev, Boyko
    Örebro universitet, Institutionen för teknik.
    Eskiizmirliler, Selim
    A combined feature extraction method for an electronic nose2006Inngår i: Modern information processing: from theory to applications / [ed] Bernadette Bouchon-Meunier, Giulianella Coletti, Ronald Yager, Amsterdam: Elsevier, 2006, s. 453-466Kapittel i bok, del av antologi (Annet vitenskapelig)
  • 18.
    Hüllmann, Dino
    et al.
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Kohlhoff, Harald
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Erdmann, Jessica
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Neumann, Patrick P.
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Current-independent torque control of permanent-magnet synchronous motors2017Inngår i: Materials Today: Proceedings, E-ISSN 2214-7853, Vol. 4, nr 5, s. 5821-5826Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    A current-independent torque equation for the permanent-magnet synchronous motor (PMSM) aiming at direct-drive servo applications is derived from a first principles model. Instead of measuring currents, all required control parameters are derived from optical incremental encoder measurements. The results are verified on a real system in test series showing the effect of static friction and proving the obtained torque model.

  • 19.
    Iliev, Boyko
    Örebro universitet, Institutionen för teknik.
    Minimum-time sliding mode control of robot manipulators2002Licentiatavhandling, monografi (Annet vitenskapelig)
  • 20.
    Iliev, Boyko
    Örebro universitet, Institutionen för teknik.
    Minimum-time sliding mode control of robot manipulators2004Doktoravhandling, monografi (Annet vitenskapelig)
    Abstract [en]

    Robot manipulators have a complex and highly nonlinear dynamics, accompanied with a high degree of uncertainty. These properties make them difficult for time-optimal control. The theory of sliding mode control can provide methods, able to cope with the uncertainty and nonlinearity in the system. However, besides the chattering problem it does not provide

    time-optimal behavior. The optimal control theory provides the appropriate design methodology for minimum-time control, but the designed system lacks robustness. In this thesis we combine these two approaches to obtain new control techniques, which have the robust properties of the sliding mode control and a performance, close to the time-optimal control. Two methods for minimum-time sliding mode control based on the concept of maximum slope sliding line are developed with a theoretical proof of their properties.

    In the time-optimal sliding mode control we prove that the time-optimal switching line of a simple linear system (double integrator) can be used as a sliding surface for a complex second order nonlinear system (robot manipulator) if the control gain is sufficiently high. Optimal

    performance is achieved by scaling the surface in such way that the maximum control action is efficiently used.

    The fuzzy minimum-time sliding mode control is developed employing a Takagi-Sugeno

    fuzzy model for the sliding surface. We demonstrate that designs, based on a single sliding line tend to be conservative, due to the nonlinearities in the robot's dynamics. The Takagi-Sugeno model represents the maximum slope sliding lines for different values of the joint angles taking into account the variation in the gravity and inertia terms. This gives a convenient way to provide adaptation and incorporate additional knowledge in the controller design.

    Design procedures for all the methods are developed and evaluated in simulation and in experiments with real robot manipulators.

  • 21.
    Iliev, Boyko
    et al.
    Örebro universitet, Institutionen för teknik.
    Kalaykov, Ivan
    Örebro universitet, Institutionen för teknik.
    Minimum-time sliding mode control for second-order systems2004Inngår i: Proceedings of the 2004 American control conference, 2004: vol 1, 2004, s. 626-631Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Our approach for near time-optimal control is based on Takagi-Sugeno fuzzy model of the maximum slope SMC sliding surface as an adaptive technique for tuning the current slope of the sliding surface to the maximum feasible slope depending on the current state of system. The stability conditions of this method are proved and respective measures about the feasible maximum slope are presented. Experimental results demonstrate the system behaviour.

  • 22.
    Iliev, Boyko
    et al.
    Örebro universitet, Institutionen för teknik.
    Lindquist, Malin
    Örebro universitet, Institutionen för teknik.
    Robertsson, Linn
    Örebro universitet, Institutionen för teknik.
    Wide, Peter
    Örebro universitet, Institutionen för teknik.
    A fuzzy technique for food- and water quality assessment with an electronic tongue2006Inngår i: Fuzzy sets and systems (Print), ISSN 0165-0114, E-ISSN 1872-6801, Vol. 157, nr 9, s. 1155-1168Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    The problem of food- and water quality assessment is important for many practical applications, such as food industry and environmental monitoring. In this article we present a method for fast online quality assessment based on electronic tongue measurements. The idea is implemented in two steps. First we apply a fuzzy clustering technique to obtain prototypes corresponding to good and bad quality from a set of training data. During the second, online step we evaluate the membership of the current measurement to each cluster and make a decision about its quality. The result is presented to the user in a simple and understandable way, similar to the concept of traffic light signals. Namely, good quality is indicated with by a green light, bad quality with a red one, and a yellow light is a warning signal. The approach is demonstrated in two case studies: quality assessment of drinking water and baby food.

  • 23.
    Jafari, Raheleh
    et al.
    Centre for Artificial Intelligence Research (CAIR), University of Agder, Grimstad, Norway.
    Razvarz, Sina
    Departamento de Control Automático, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Gegov, Alexander
    School of Computing, University of Portsmouth, Portsmouth, UK.
    Paul, Satyam
    Örebro universitet, Institutionen för naturvetenskap och teknik. School of Engineering and Sciences, Tecnológico de Monterrey, Monterrey, Mexico.
    Fuzzy Modeling for Uncertain Nonlinear Systems Using Fuzzy Equations and Z-Numbers2019Inngår i: Advances in Intelligent Systems and Computing / [ed] Lotfi, Ahmad; Bouchachia, Hamid; Gegov, Alexander; Langensiepen, Caroline; McGinnity, Martin, Springer, 2019, Vol. 840, s. 96-107Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In this paper, the uncertainty property is represented by Z-number as the coefficients and variables of the fuzzy equation. This modification for the fuzzy equation is suitable for nonlinear system modeling with uncertain parameters. Here, we use fuzzy equations as the models for the uncertain nonlinear systems. The modeling of the uncertain nonlinear systems is to find the coefficients of the fuzzy equation. However, it is very difficult to obtain Z-number coefficients of the fuzzy equations.

    Taking into consideration the modeling case at par with uncertain nonlinear systems, the implementation of neural network technique is contributed in the complex way of dealing the appropriate coefficients of the fuzzy equations. We use the neural network method to approximate Z-number coefficients of the fuzzy equations.

  • 24.
    Jafari, Raheleh
    et al.
    Agder University College, Grimstad, Norway.
    Razvarz, Sina
    National Polytechnic Institute, Mexico City, Mexico.
    Gegov, Alexander
    University of Portsmouth, Portsmouth, UK.
    Paul, Satyam
    National Polytechnic Institute, Mexico City, Mexico.
    Modeling and Control of Uncertain Nonlinear Systems2018Konferansepaper (Fagfellevurdert)
    Abstract [en]

    A survey of the methodologies associated with the modeling and control of uncertain nonlinear systems has been given due importance in this paper. The basic criteria that highlights the work is relied on the various patterns of techniques incorporated for the solutions of fuzzy equations that corresponds to fuzzy controllability subject. The solutions which are generated by these equations are considered to be the controllers. Currently, numerical techniques have come out as superior techniques in order to solve these types of problems. The implementation of neural networks technique is contributed in the complex way of dealing the appropriate coefficients and solutions of the fuzzy systems.

  • 25.
    Kadmiry, Bourhane
    et al.
    Linköping University, Linköping, Sweden.
    Driankov, Dimiter
    Linköping University, Linköping, Sweden.
    Fuzzy control of an autonomous helicopter2001Inngår i: Joint 9th IFSA World Congress and 20th NAFIPS International Conference / [ed] Smith, M.H., Gruver, W.A. & Hall, L.O., New York, USA: IEEE conference proceedings, 2001, s. 2797-2802Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This work presents a horizontal velocity controller for the unmanned helicopter APID MK-III developed by Scandicraft AB in Sweden. We use a novel approach to the design consisting of two steps: 1) Mamdani-type of fuzzy rules to compute each of the desired horizontal velocity corresponding to the desired values for the attitude angles and the main rotor collective pitch; and 2) a Takagi-Sugeno controller is used to regulate the attitude angles so that the helicopter achieves its desired horizontal velocities at a desired altitude. The performance of the combined linguistic/model-based controller is evaluated in simulation and shows that the proposed design method achieves its intended purpose

  • 26.
    Kadmiry, Bourhane
    et al.
    Linköping University, Linköping, Sweden.
    Driankov, Dimiter
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Takagi-Sugeno fuzzy gain scheduling with sampling-time uncertainties2004Inngår i: Proceedings 2004 IEEE International Conference on Fuzzy Systems, New York, USA: IEEE conference proceedings, 2004, Vol. 2, s. 1087-1091Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper addresses the robust fuzzy control problem for discrete-time nonlinear systems in the presence of sampling time uncertainties. The case of the discrete T-S fuzzy system with sampling-time uncertainty is considered and a robust controller design method is proposed. The sufficient conditions and the design procedure are formulated in the form of linear matrix inequalities (LMI). The effectiveness of the proposed controller design methodology is demonstrated of a visual-servoing control problem.

  • 27.
    Kalaykov, Ivan
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Ananiev, Anani
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Iliev, Boyko
    Örebro universitet, Akademin för naturvetenskap och teknik.
    SME robotics demand flexible grippers and fixtures2008Inngår i: Proc. 39th Int. Symposium on Robotics, Seoul, Korea, 2008, s. 62-65Konferansepaper (Fagfellevurdert)
  • 28.
    Kalaykov, Ivan
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Ananiev, Anani
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Iliev, Boykov
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Flexible grippers and fixtures2008Konferansepaper (Fagfellevurdert)
  • 29. Liao, Qianfang
    et al.
    Sun, Da
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Sparse and Decoupling Control Strategies based on Takagi-Sugeno Fuzzy Models2019Inngår i: IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, ISSN 1083-4419, E-ISSN 1941-0492Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In order to better handle the coupling effects when controlling multiple-input multiple-output (MIMO) systems, taking the decentralized control structure as the basis, this paper proposes a sparse control strategy and a decoupling control strategy. Type-1 and type-2 Takagi-Sugeno (T-S) fuzzy models are used to describe the MIMO system, and the relative normalized gain array (RNGA) based criterion is employed to measure the coupling effects. The main contributions include: i). compared to the previous studies, a manner with less computational cost to build fuzzy models for the MIMO systems is provided, and a more accurate method to construct the so-called effective T-S fuzzy model (ETSM) to express the coupling effects is developed; ii). for the sparse control strategy, four indexes are defined in order to extend a decentralized control structure to a sparse one. Afterwards, an ETSM-based method is presented that a sparse control system can be realized by designing multiple independent single-input single-output (SISO) control-loops; iii). for the decoupling control strategy, a novel and simple ETSM-based decoupling compensator is developed that can effectively compensate for both steady and dynamic coupling effects. As a result, the MIMO controller design can be transformed to multiple non-interacting SISO controller designs. Both of the sparse and decoupling strategies allow to use linear SISO control algorithms to regulate a closely coupled nonlinear MIMO system without knowing its exact mathematical functions. Two examples are used to show the effectiveness of the proposed strategies

  • 30.
    Liao, Qianfang
    et al.
    School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore.
    Sun, Da
    Department of Biomedical Engineering, National University, Singapore, Singapore.
    Cai, Wen-Jian
    School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore.
    Li, Shao-Yuan
    Department of Automation, Shanghai Jiao Tong University, Shanghai, PR China.
    Wang, You-Li
    School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore.
    Type-1 and Type-2 effective Takagi-Sugeno fuzzy models for decentralized control of multi-input-multi-output processes2017Inngår i: Journal of Process Control, ISSN 0959-1524, E-ISSN 1873-2771, Vol. 52, s. 26-44Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    tEffective model is a novel tool for decentralized controller design to handle the interconnected inter-actions in a multi-input-multi-output (MIMO) process. In this paper, Type-1 and Type-2 effectiveTakagi-Sugeno fuzzy models (ETSM) are investigated. By means of the loop pairing criterion, simple cal-culations are given to build Type-1/Type-2 ETSMs which are used to describe a group of non-interactingequivalent single-input-single-output (SISO) systems to represent an MIMO process, consequently thedecentralized controller design can be converted to multiple independent single-loop controller designs,and enjoy the well-developed linear control algorithms. The main contributions of this paper are: i)Compared to the existing T-S fuzzy model based decentralized control methods using extra terms tocharacterize interactions, ETSM is a simple feasible alternative; ii) Compared to the existing effectivemodel methods using linear transfer functions, ETSM can be carried out without requiring exact mathe-matical process functions, and lays a basis to develop robust controllers since fuzzy system is powerful tohandle uncertainties; iii) Type-1 and Type-2 ETSMs are presented under a unified framework to provideobjective comparisons. A nonlinear MIMO process is used to demonstrate the ETSMs’ superiority overthe effective transfer function (ETF) counterparts as well as the evident advantage of Type-2 ETSMs interms of robustness. A multi-evaporator refrigeration system is employed to validate the practicabilityof the proposed methods.

  • 31.
    Palm, Rainer
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Iliev, Boyko
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kadmiry, Bourhane
    Grasp recognition by fuzzy modeling and hidden Markov models2010Inngår i: Robot intelligence: an advanced knowledge processing approach / [ed] Honghai Liu, Dongbing Gu, Robert J. Howlett, Yonghuai Liu, New York: Springer , 2010, s. 25-47Kapittel i bok, del av antologi (Annet vitenskapelig)
    Abstract [en]

    Grasp recognition is a major part of the approach for Programming-by-Demonstration (PbD) for five-fingered robotic hands. This chapter describes three different methods for grasp recognition for a human hand. A human operator wearing a data glove instructs the robot to perform different grasps. For a number of human grasps the finger joint angle trajectories are recorded and modeled by fuzzy clustering and Takagi-Sugeno modeling. This leads to grasp models using time as input parameter and joint angles as outputs. Given a test grasp by the human operator the robot classifies and recognizes the grasp and generates the corresponding robot grasp. Three methods for grasp recognition are compared with each other. In the first method, the test grasp is compared with model grasps using the difference between the model outputs. The second method deals with qualitative fuzzy models which used for recognition and classification. The third method is based on Hidden-Markov-Models (HMM) which are commonly used in robot learning.

  • 32.
    Palm, Rainer
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Iliev, Boyko
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kadmiry, Bourhane
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Recognition of human grasps by time-clustering and fuzzy modeling2009Inngår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 57, nr 5, s. 484-495Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In this paper we address the problem of recognition of human grasps for five-fingeredrobotic hands and industrial robots in the context of programming-by-demonstration. The robot isinstructed by a human operator wearing a data glove capturing the hand poses. For a number ofhuman grasps, the corresponding fingertip trajectories are modeled in time and space by fuzzyclustering and Takagi-Sugeno (TS) modeling. This so-called time-clustering leads to grasp modelsusing time as input parameter and fingertip positions as outputs. For a sequence of grasps thecontrol system of the robot hand identifies the grasp segments, classifies the grasps andgenerates the sequence of grasps shown before. For this purpose, each grasp is correlated with atraining sequence. By means of a hybrid fuzzy model the demonstrated grasp sequence can bereconstructed.

  • 33.
    Palm, Rainer
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kadmiry, Bourhane
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Iliev, Boyko
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Driankov, Dimiter
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Recognition and teaching of robot skills by fuzzy time-modeling2009Inngår i: Proceedings of the Joint 2009 international fuzzy systems association world congress and 2009 European society of fuzzy logic and technology conference / [ed] J. P. Carvalho, D. U. Kaymak, J. M. C. Sousa, Linz, Austria: Johannes Kepler university , 2009, s. 7-12Konferansepaper (Annet vitenskapelig)
    Abstract [en]

    Robot skills are low-level motion and/or grasping capabilities that constitute the basic building blocks from which tasks are built. Teaching and recognition of such skills can be done by Programming-by-Demonstration approach. A human operator demonstrates certain skills while his motions are recorded by a data-capturing device and modeled in our case via fuzzy clustering and Takagi-Sugeno modeling technique. The resulting skill models use the time as input and the operator's actions and reactions as outputs. Given a test skill by the human operator the robot control system recognizes the individual phases of skills and generates the type of skill shown by the operator.

  • 34.
    Paul, Satyam
    Department of Mechanical Engineering, Sir Padampat Singhania university, Udaipur, Rajasthan, India.
    Automatic control and monitoring system for safer working environment in oil collecting station2013Inngår i: International Journal of Emerging Technology and Advanced Engineering, ISSN 2250-2459, E-ISSN 2250-2459, Vol. 3, nr 4, s. 553-558Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In order to automate the operations involved in the industries, the implementation of sensors, actuators and logic controllers has become an utter necessity. In this paper, the stress has been laid on the safety of the working personnel by implementing the technique of automation using automated devices and Programmable Logic Controller (PLC). In Oil refineries, we have analyzed the specific zone of an oil collection station and found the necessity of implementing a safer working environment for the working personnel. An oil collecting station is an area in an oil refinery where oil in various forms after refining is stored in large oil tanks. It is from here that the stocks of oil are dispatched to various locations. The oil collecting stations contains large cylindrical tanks which are used to store oil. Oil in various form are sent from the digging zone after refining to the oil collecting station through long pipelines. Taking into account these aspects, safety system have been designed and developed in order to secure that area. In any industry the safety of the working personnel is of first priority. The productivity and efficiency of any organization depends on the efficiency of the working personnel. Hence it is very important to provide a better working environment for the working personnel. So, this project is a trend towards the better productivity and work output of any organization which has been made possible with the implementation of automation.

  • 35. Paul, Satyam
    et al.
    Gupta, Pawan
    Singh, Milan
    Singh, Navmesh
    Conceptual design and development of automated drilling system2013Inngår i: International Journal of Scientific & Engineering Research, ISSN 2229-5518, Vol. 4, nr 7, s. 1138-1141Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Involvement of automation in manufacturing technology plays an important role in enhancing the quality of process and products. An automated device which replaces manual involvement is an extraordinary contribution to the mankind. In this paper, stress is laid on the designing of an automated drilling system so to perform drilling operation automatically in efficient way. So for this purpose, initially the design of the drilling system setup is crafted using PRO-E software based on the design considerations. Then the actuation and control part is taken care with the help of actuating elements like DC motor, mechanical wheels and by programming it effectively using PLC. Finally the prototype model is developed in order to facilitate drilling operation with ease and accuracy. The drilling operation is performed by the combination of the movements of the drilling system and the base on which workpiece is kept for drill operations.In this paper innovative design and efficient programming have been merge to generate a device which will significantly contribute to the field of production.

  • 36.
    Paul, Satyam
    et al.
    School of Engineering and Sciences, Tecnologico de Monterrey, Monterrey, Nuevo Leon, Mexico.
    Jafari, Raheleh
    Centre for Artificial Intelligence Research (CAIR), University of Agder, Grimstad, Norway.
    Recent Advances in Intelligent-Based Structural Health Monitoring of Civil Structures2018Inngår i: Advances in Science, Technology and Engineering Systems Journal (ASTESJ), E-ISSN 2415-6698, Vol. 3, nr 5, s. 339-353Artikkel, forskningsoversikt (Fagfellevurdert)
    Abstract [en]

    This survey paper deals with the structural health monitoring systems on the basis of methodologies involving intelligent techniques. The intelligent techniques are the most popular tools for damage identification in terms of high accuracy, reliable nature and the involvement of low cost. In this critical survey, a thorough analysis of various intelligent techniques is carried out considering the cases involved in civil structures. The importance and utilization of various intelligent tools to be mention as the concept of fuzzy logic, the technique of genetic algorithm, the methodology of neural network techniques, as well as the approaches of hybrid methods for the monitoring of the structural health of civil structures are illustrated in a sequential manner.

  • 37.
    Paul, Satyam
    et al.
    School of Engineering and Science, Tecnológico de Monterrey, Monterrey, Mexico.
    Morales-Menendez, Ruben
    School of Engineering and Science, Tecnológico de Monterrey, Monterrey, Mexico.
    Active Control of Chatter in Milling Process Using Intelligent PD/PID Control2018Inngår i: IEEE Access, E-ISSN 2169-3536, Vol. 6, s. 72698-72713Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Chatter is an obstacle for achieving high-quality machining process and high production rate in industries. Chatter is an unstable self-exciting phenomenon that leads to tool wear, poor surface finish, and downgrade the milling operations. A novel active control strategy to attenuate the chatter vibration is proposed. PD/PID controllers in combination with Type-2 Fuzzy logic were utilized as a control strategy. The main control actions were generated by PD/PID controllers, whereas the Type-2 Fuzzy logic system was used to compensate the involved nonlinearities. The Lyapunov stability analysis was utilized to validate the stability of Fuzzy PD/PID controllers. The theoretical concepts and results are proved using numerical simulations. Although PD/PID controllers have been used for chatter control in machining process, the importance of stability along with the implementation of Type-2 Fuzzy logic system for nonlinearity compensation was the main contribution. In addition, active control using an Active Vibration Damper placed in an effective position is entirely a new approach with promising practical results.

  • 38.
    Paul, Satyam
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Morales-Menendez, Ruben
    School of Engineering and Sciences, Tecnológico de Monterrey, Monterrey, NL, Mexico.
    Chatter Mitigation in Milling Process Using Discrete Time Sliding Mode Control with Type 2-Fuzzy Logic System2019Inngår i: Applied Sciences: APPS, ISSN 1454-5101, E-ISSN 1454-5101, Vol. 9, nr 20, artikkel-id 4380Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In order to achieve a high-quality machining process with superior productivity, it is very important to tackle the phenomenon of chatter in an effective manner. The problems like tool wear and improper surface finish affect the milling process and are caused by self-induced vibration termed as chatter. A strategy to control chatter vibration actively in the milling process is presented. The mathematical modeling of the process is carried out initially. In this paper, an innovative technique of discrete time sliding mode control (DSMC) is blended with the type-2 fuzzy logic system. The proposed active controller results in a significantly high mitigation of vibration. The DSMC is linked to the time-varying gain which is an innovative approach to mitigate chattering. The theorem is laid down which validates that the system states are bounded in the case of DSMC-type-2 fuzzy. Stability analysis is carried out using Lyapunov candidate. The nonlinearities linked with the cutting forces and damper friction are handled effectively by using the type-2 fuzzy logic system. The performance of the DSMC-type-2 fuzzy concept is compared with the discrete time PID (D-PID) and discrete time sliding mode control for validating the effectiveness of the controller. The better performance of DSMC-type-2 fuzzy over D-PID and DSMC-T1 fuzzy in the minimization of milling chatter are validated by a numerical analysis approach.

  • 39.
    Paul, Satyam
    et al.
    Departamento de Control Automatico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Yu, Wen
    Departamento de Control Automatico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    A method for bidirectional active control of structures2018Inngår i: Journal of Vibration and Control, ISSN 1077-5463, E-ISSN 1741-2986, Vol. 24, nr 15, s. 3400-3417Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Proportional-derivative (PD) and proportional-integral-derivative (PID) controllers are popular control algorithms in industrial applications, especially in structural vibration control. In this paper, the designs of two dampers, namely the horizontal actuator and torsional actuator, are combined for the lateral and torsional vibrations of the structure. The standard PD and PID controllers are utilized for active vibration control. The sufficient conditions for asymptotic stability of these controllers are validated by utilizing the Lyapunov stability theorem. An active vibration control system with two floors equipped with a horizontal actuator and a torsional actuator is installed to carry out the experimental analysis. The experimental results show that bidirectional active control has been achieved.

  • 40.
    Paul, Satyam
    et al.
    Departamento de Control Automatico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Yu, Wen
    Departamento de Control Automatico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Advances in bidirectional modeling and structural control2015Inngår i: 2015 Resilience Week (RWS), IEEE, 2015, s. 1-6Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper provides an overview of building structure modeling and control under bidirectional seismic waves. It focuses on different types of bidirectional control devices, control strategies, and bidirectional sensors used in structural control systems. This paper also highlights the various issues like system identification techniques, the time-delay in the system, estimation of velocity and position from acceleration signals, and optimal placement of the sensors and control devices.

  • 41.
    Paul, Satyam
    et al.
    Departamento de Control Automatico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Yu, Wen
    Departamento de Control Automatico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Bidirectional fuzzy PD control for active vibration control of building structure2017Inngår i: 2017 IEEE International Conference on Industrial Technology (ICIT), IEEE, 2017, s. 749-754Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Proportional-derivative (PD) is a popular algorithm in the field of building structure vibration control, but there are infrequent broadcasted theory results of PD controller in connection to structural vibration control applications. In order to maintain minimum regulation error, a PD control requires sufficiently high proportional and derivative gains. The effect of these diminishes the transient performances of the vibration control. In this paper, a straight forward combination of PD control with fuzzy compensation is laid down. We state comprehensive sufficient conditions for choosing the PD gains. The stability theories are verified through numerical simulations and a two-story building prototype. The extracted results validates our theory analysis.

  • 42.
    Paul, Satyam
    et al.
    Departamento de Control Automatico, CINVESTAV-IPN, Mexico City, Mexico.
    Yu, Wen
    Departamento de Control Automatico, CINVESTAV-IPN, Mexico City, Mexico.
    Intelligent Techniques for Bidirectional Structural Health Monitoring2016Inngår i: Proceedings of the 5th International Conference on Mechatronics and Control Engineering, Association for Computing Machinery (ACM), 2016, s. 52-56Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper provides an overview of structural health monitoring systems based on the intelligent methodology that can be implemented on the buildings that has undergone damage under the impact of bidirectional seismic forces.

  • 43.
    Paul, Satyam
    et al.
    Departamento de Control Automático, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Yu, Wen
    Departamento de Control Automático, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Stable active vibration control of building structure subjected to bidirectional earthquake2016Inngår i: 2016 13th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), IEEE, 2016, s. 1-6Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Proportional-derivative (PD) is highly favored algorithms in terms of industrial applications. Although, there are infrequent broadcasted theory results of PD controller in connection to structural vibration control applications. In this paper, we analyze the stability of the active vibration control system for both the linear model and nonlinear model of building structures under bidirectional seismic excitation taking into consideration lateral-torsional vibrations. We state comprehensive sufficient conditions for choosing the PD gains. The stability theories are verified through numerical simulations and a two-storey building prototype. The extracted results validates our theory analysis.

  • 44.
    Paul, Satyam
    et al.
    Departamento de Control Automático, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Yu, Wen
    Departamento de Control Automático, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Type-2 fuzzy PID for active control of bidirectional structures2017Inngår i: 2017 14th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), IEEE, 2017, s. 1-4Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Proportional-integral-derivative (PID) controller is popular algorithm in structure vibration control. In order to maintain minimum regulation error, the PID control require big proportional and derivative gains. The control performances are not satisfied because of the big uncertainties in the buildings. In this paper, the type-2 fuzzy system is applied to compensate the unknown uncertainties, and is combined with the PID control. We prove the stability of these fuzzy PID controllers. The sufficient conditions can be used for choosing the gains of PID. The theory results are verified by a two-story building prototype. The experimental results validates our analysis.

  • 45.
    Paul, Satyam
    et al.
    Departamento de Control Automático, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Yu, Wen
    Departamento de Control Automático, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Jafari, Raheleh
    Department of Information and Communication Technology, Agder University College, Grimstad, Norway.
    A method for bidirectional active vibration control of structure using discrete-time sliding mode2018Inngår i: IFAC-PapersOnLine, E-ISSN 2405-8963, Vol. 51, nr 13, s. 361-365Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In this paper, a novel discrete-time sliding mode control is proposed in order to attenuate structural vibration due to earthquake forces. The analysis is based on the lateral-torsional vibration under the bidirectional waves. The proposed fuzzy modeling based sliding mode control can reduce chattering due to its time-varying gain. In the modeling equation of the structural system, the uncertainty exists in terms of sti¤ness, damping forces and earthquake. Fuzzy logic model is used to identify and compensate the uncertainty associated with the modeling equation. We prove that the closed-loop system is uniformly stable using Lyapunov stability analysis. The experimental result reveals that discrete-time sliding mode controller offers significant vibration attenuation with active mass damper and torsional actuator.

  • 46.
    Paul, Satyam
    et al.
    Departamento de Control Automatico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Yu, Wen
    Departamento de Control Automatico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Li, Xiaoou
    Departamento de Computacion, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Bidirectional active control of structures with type-2 fuzzy PD and PID2018Inngår i: International Journal of Systems Science, ISSN 0020-7721, E-ISSN 1464-5319, Vol. 49, nr 4, s. 766-782Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Proportional-derivative and proportional-integral-derivative (PD/PID) controllers are popular algorithms in structure vibration control. In order to maintain minimum regulation error, the PD/PID control require big proportional and derivative gains. The control performances are not satisfied because of the big uncertainties in the buildings. In this paper, type-2 fuzzy system is applied to compensate the unknown uncertainties, and is combined with the PD/PID control. We prove the stability of these fuzzy PD and PID controllers. The sufficient conditions can be used for choosing the gains of PD/PID. The theory results are verified by a two-storey building prototype. The experimental results validate our analysis.

  • 47.
    Paul, Satyam
    et al.
    Departamento de Control Automatico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Yu, Wen
    Departamento de Control Automatico, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Li, Xiaoou
    Departamento de Computacion, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Discrete-time sliding mode for building structure bidirectional active vibration control2019Inngår i: Transactions of the Institute of Measurement and Control, ISSN 0142-3312, E-ISSN 1477-0369, Vol. 41, nr 2, s. 433-446Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In terms of vibrations along bidirectional earthquake forces, several problems are faced when modelling and controlling the structure of a building, such as lateral-torsional vibration, uncertainties surrounding the rigidity and the difficulty of estimating damping forces.In this paper, we use a fuzzy logic model to identify and compensate the uncertainty which does not require an exact model of the building structure. To attenuate bidirectional vibration, a novel discrete-time sliding mode control is proposed. This sliding mode control has time-varying gain and is combined with fuzzy sliding mode control in order to reduce the chattering of the sliding mode control. We prove that the closed-loop system is uniformly stable using Lyapunov stability analysis. We compare our fuzzy sliding mode control with the traditional controllers: proportional?integral?derivative and sliding mode control. Experimental results show significant vibration attenuation with our fuzzy sliding mode control and horizontal-torsional actuators. The proposed control system is the most efficient at mitigating bidirectional and torsional vibrations.

  • 48.
    Paul, Satyam
    et al.
    Departamento de Control Automatico, CINVESTAV-IPN, Mexico City, DF, Mexico.
    Yu, Wen
    Departamento de Control Automatico, CINVESTAV-IPN, Mexico City, DF, Mexico.
    Li, Xiaoou
    Departamento de Control Automatico, CINVESTAV-IPN, Mexico City, DF, Mexico.
    Recent Advances in Bidirectional Modeling and Structural Control2016Inngår i: Shock and Vibration, ISSN 1070-9622, E-ISSN 1875-9203, Vol. 2016, artikkel-id 6275307Artikkel, forskningsoversikt (Fagfellevurdert)
    Abstract [en]

    This paper provides an overview of building structure modeling and control under bidirectional seismic waves. It focuses on different types of bidirectional control devices, control strategies, and bidirectional sensors used in structural control systems. This paper also highlights the various issues like system identification techniques, the time-delay in the system, estimation of velocity and position from acceleration signals, and optimal placement of the sensors and control devices. The importance of control devices and its applications to minimize bidirectional vibrations has been illustrated. Finally, the applications of structural control systems in real buildings and their performance have been reviewed.

  • 49.
    Razvarz, Sina
    et al.
    Departamento de Control Automático, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Jafari, Raheleh
    Department of Information and Communication Technology, Agder University College, Grimstad, Norway.
    Gegov, Alexander
    School of Computing, University of Portsmouth, Portsmouth, United States.
    Yu, Wen
    Departamento de Control Automático, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Paul, Satyam
    Departamento de Control Automático, CINVESTAV-IPN (National Polytechnic Institute), Mexico City, Mexico.
    Neural Network Approach to Solving Fully Fuzzy Nonlinear Systems2018Inngår i: Fuzzy Modeling and Control: Methods, Applications and Research / [ed] Terrell Harvey & Dallas Mullins, Nova Science Publishers, Inc., 2018, s. 46-68Kapittel i bok, del av antologi (Fagfellevurdert)
    Abstract [en]

    The value of fuzzy designs improves whenever a system cannot be validated in precise mathematical terminologies. In this book chapter, two types of neural networks are applied to obtain the approximate solutions of the fully fuzzy nonlinear system (FFNS). For obtaining the approximate solutions, a superior gradient descent algorithmis proposed in order to train the neural networks. Several examples are illustrated to disclosehigh precision as well as the effectiveness of the proposed methods. The MATLAB environment is utilized to generate the simulations.

  • 50.
    Skoglund, Alexander
    et al.
    Örebro universitet, Institutionen för teknik.
    Iliev, Boyko
    Örebro universitet, Institutionen för teknik.
    Programming by demonstration of robots using task primitives2007Inngår i: Servo magazine, Vol. 5, nr 12, s. 46-50Artikkel i tidsskrift (Annet (populærvitenskap, debatt, mm))
12 1 - 50 of 56
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