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  • 251.
    NAKHOSTIN, SINA
    Örebro University, School of Science and Technology.
    Toward Simulation of Violin Sound Based on BowingGestures2012Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    This Master’s thesis work presents an algorithmic approach for automatic synthesis

    of the violin’s instrumental gesture controls. Focusing on

    ” Détaché”,

    as a sustained bow motion technique, this work aims to give an instrumental

    gesture model generator (a physical performer model) to learn an appropriate

    representative function based on a group of already available contours that

    belong to different performances of the same bowing technique. Contours are

    main physical parameters of bowing which can be used as inputs of a physical

    sound model, i.e virtual violin, in order to produce the expected sound. During

    this work the primary physical parameters are under study, In particular

    bow

    transversal velocity

    (v), bow pressing force(f) and bow-bridge distance(d).

    The result of this work then can be generalized to cover the other bowing

    techniques, in particular sustained techniques like different derivatives of

    legato. B-splines were used in order to devise a parametric, flexible and robust

    model which is capable in capturing subtle variations in the time continuum

    of input parameters. A series of test experiments has been conducted in order

    to evaluate the learned model, where people with strong background in music

    and a considerable proficiency in playing musical instruments were asked to

    evaluate the sounds produced by the synthetic model.

    The results of evaluation were to high extent satisfactory, indicating that

    the quality of the sound produced as the result of artificial gestures (outputs of

    performer model) were close enough to the sound produced by the gestures of

    experienced violin players.

    i

  • 252.
    Neander, Jonas
    et al.
    ABB Corporate Research, ,India.
    Lennvall, Tomas
    ABB Corporate Research, ,India.
    Gidlund, Mikael
    ABB Corporate Research, ,India.
    Prolonging wireless HART network lifetime using packet aggregation2011In: 2011 IEEE International Symposium on Industrial Electronics, Institute of Electrical and Electronics Engineers (IEEE), 2011, p. 1230-1236Conference paper (Refereed)
    Abstract [en]

    Wireless sensor networks are becoming more and more adopted into industrial plants and Wireless HART is the first wireless sensor network standard to emerge, which specifically is designed to support the specific requirements posed by the industry. Automation industry requires wireless sensor network devices to have a very long lifetime, often up to 5 - 10 years without a battery change. This puts requirements on how the wireless sensor network technology should be designed to minimize energy consumption while still fulfilling the application requirements. Packet aggregation is an essential technique in mission critical wireless sensor networks for achieving effective transmission and hence better power conservation.

    In this article we propose a flexible packet aggregation scheme for Wireless HART which reduces energy consumption of each device. The proposed scheme only requires a minor change to the Wireless HART standard but still preserves the end-to-end security and retains backward compatibility with non aggregating devices. We show by calculations that our proposed packet aggregation solution reduces energy consumption for a network by up to 50%, which will result in a significant increase in lifetime of Wireless HART devices.

  • 253.
    Neander, Jonas
    et al.
    Mälardalen University, Västerås, Sweden.
    Sjödin, Mikael
    Mälardalen University, Västerås, Sweden.
    Björkman, Mats
    Mälardalen University, Västerås, Sweden.
    Svensson, Stefan
    ABB AB, Västerås, Sweden.
    Lennvall, Tomas
    ABB AB, Västerås, Sweden .
    Wireless Vibration Monitoring (WiVib) - An Industrial Case Study2007In: 2007 IEEE Conference on Emerging Technologies and Factory Automation (EFTA 2007), Institute of Electrical and Electronics Engineers (IEEE), 2007, p. 920-923Conference paper (Refereed)
    Abstract [en]

    Testing in realistic environments is often overlooked in the early development of new technology. This paper describes a test to evaluate the whole chain from an accelerometer mounted on a motor to a sensor node sending wireless data to an access point. A pilot gives a great opportunity to get input from end-users (which could be very useful at the initial stages of a project), and provide potential contacts for next pilots.

    The goal of the pilot was to get a better understanding of the targeted environment and possible interference It may also lead to the discovery of issues not yet thought of, issues important for the resulting design of the end product.

  • 254.
    Nemati, Farhang
    et al.
    Mälardalen Real-Time Research Centre, Mälardalen University, Västerås, Sweden.
    Behnam, Moris
    Mälardalen Real-Time Research Centre, Mälardalen University, Västerås, Sweden.
    Nolte, Thomas
    Mälardalen Real-Time Research Centre, Mälardalen University, Västerås, Sweden.
    An Investigation of Synchronization under Multiprocessors Hierarchical Scheduling2009In: Proceedings of the Work-In-Progress (WIP) session of the 21st Euromicro Conference on Real-Time Systems (ECRTS'09), 2009Conference paper (Refereed)
    Abstract [en]

    In the multi-core and multiprocessor research community, considerable work has been done on real-time multiprocessor scheduling algorithms where it is assumed the tasks are independent. However in practice a typical real-time system includes tasks that share resources. On the other hand, synchronization in the multiprocessor context has not received enough attention.

    In this paper we propose an extension to multiprocessor hierarchical scheduling to support resource sharing. We extend the scheduling framework with an existing synchronization protocol for global scheduling in multi-core systems.

  • 255.
    Nemati, Farhang
    et al.
    Mälardalen Real-Time Research Centre, Mälardalen University, Sweden.
    Inam, Rafia
    Mälardalen Real-Time Research Centre, Mälardalen University, Sweden.
    Nolte, Thomas
    Mälardalen Real-Time Research Centre, Mälardalen University, Sweden.
    Sjödin, Mikael
    M ̈alardalen Real-Time Research Centre, Mälardalen University, Sweden.
    Towards Resource Sharing by Message Passing among Real-Time Components on Multi-cores2011In: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2011 / [ed] Mammeri, Z, IEEE, 2011Conference paper (Refereed)
    Abstract [en]

    In this paper we propose a message passing synchronization protocol for resource sharing among real-time applications on multi-core platforms where each application is allocated on a cluster of cores. In this protocol the resources that are only used within an application (local resources) are handled by shared memory synchronization while the resources shared cross applications (global resources) are accessed by means of message passing. In our protocol the global resources are safely accessed without requiring to lock the resources explicitly. The goal is to avoid resource locking using shared memory, since accessing shared memory in multi-cores is very time consuming, whereas message passing has the potential to be much more efficient in systems with deep memory hierarchies.

  • 256.
    Nemati, Farhang
    et al.
    Mälardalen Real-Time Research Centre, Mälardalen University, Västerås, Sweden.
    Nolte, Thomas
    Mälardalen Real-Time Research Centre, Mälardalen University, Västerås, Sweden.
    Resource Hold Times under Multiprocessor Static-Priority Global Scheduling2011In: 2011 IEEE 17th International Conference on Embedded and Real-Time Computing Systems and Applications. Volume 1: Proceedings, IEEE Computer Society , 2011, p. 197-206Conference paper (Refereed)
    Abstract [en]

    Recently there has been a lot of interest in coexisting of multiple independently-developed real-time applications on a shared open platform. On the other hand, emerging of multi-core platforms and the performance and possibilities they offer has attracted a lot of attention in multiprocessor real-time analysis, protocols and techniques. Co-executing independently- developedreal-time applications on a shared multiprocessor system, where each application executes on a dedicated sub set of processors, requires to overcome the problem of handling mutually exclusive shared resources among those applications. To handle resource sharing, it is important to determine the Resource Hold Time (RHT), i.e., the maximum duration of time that an application locks a shared resource.

    In this paper, we study resource hold times under multiprocessor static-priority global scheduling. We present how to compute RHT's for each resource in an application. We also show how to decrease the RHT's without compromising the schedulability of the application. We show that decreasing all RHT's for all shared resources is a multiobjective optimization problem and there can exist multiple Paretooptimal solutions.

  • 257.
    Neumann, Patrick P.
    et al.
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Hirschberger, Paul
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Baurzhan, Zhandos
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Tiebe, Carlo
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Hofmann, Michael
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Hüllmann, Dino
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Bartholmai, Matthias
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Indoor Air Quality Monitoring using flying Nanobots: Design and Experimental Study2019In: ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), IEEE, 2019, p. 1-3Conference paper (Refereed)
    Abstract [en]

    In this paper, we introduce a nano aerial robot swarm for Indoor Air Quality (IAQ) monitoring applications such as occupational health and safety of (industrial) workplaces. The robotic swarm is composed of nano Unmanned Aerial Vehicles (UAVs), based on the Crazyflie 2.0 quadrocopter, and small lightweight Metal Oxide (MOX) gas sensors for measuring the Total Volatile Organic Compound (TVOC), which is a measure for IAQ. An indoor localization and positioning system is used to estimate the absolute 3D position of the swarm similar to GPS. A test scenario was built up to validate and optimize the swarm for the intended applications. Besides calibration of the IAQ sensors, we performed experiments to investigate the influence of the rotor downwash on the gas measurements at different altitudes and compared them with stationary measurements. Moreover, we did a first evaluation of the gas distribution mapping performance. Based on this novel IAQ monitoring concept, new algorithms in the field of Mobile Robot Olfaction (MRO) are planned to be developed exploiting the abilities of an aerial robotic swarm.

  • 258.
    Neumann, Patrick P.
    et al.
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Hüllmann, Dino
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Bartholmai, Matthias
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Concept of a gas-sensitive nano aerial robot swarm for indoor air quality monitoring2018In: 35th Danubia-Adria Symposium on Advances in Experimental Mechanics: Extended abstracts / [ed] D. Ş Pastramă, D. M. Constantinescu, Bukarest, Romania, 2018, p. 139-140Conference paper (Refereed)
    Abstract [en]

    In industrial environments, airborne by-products such as dust and (toxic) gases, constitute a major risk for the worker’s health. Major changes in automated processes in the industry lead to an increasing demand for solutions in air quality management. Thus, occupational health experts are highly interested in precise dust and gas distribution models for working environments. For practical and economic reasons, high-quality, costly measurements are often available for short time-intervals only. Therefore, current monitoring procedures are carried out sparsely, both in time and space, i.e., measurement data are collected in single day campaigns at selected locations only. Real-time knowledge of contaminant distributions inside the working environment would also provide means for better and more economic control of air impurities. For example, the possibility to regulate the workspace’s ventilation exhaust locations can reduce the concentration of airborne contaminants by 50%. To improve the occupational health and safety of (industrial) workplaces, this work aims for developing a swarm of gas-sensitive aerial nano robots for monitoring indoor air quality and for localizing potential emission sources.

  • 259.
    Neumann, Patrick P.
    et al.
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Hüllmann, Dino
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Krentel, Daniel
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Kluge, Martin
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Kohlhoff, Harald
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Gas Tomography Up In The Air!2018In: Proceedings of the IEEE Sensors 2018, IEEE, 2018Conference paper (Refereed)
    Abstract [en]

    In this paper, we present an autonomous aerial robot to reconstruct tomographic 2D slices of gas plumes in outdoor environments. Our platform, the so-called Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS) combines a lightweight Tunable Diode Laser Absorption Spectroscopy (TDLAS) sensor with a 3-axis aerial stabilization gimbal for aiming on a versatile octocopter. The TDLAS sensor provides integral gas concentration measurements but no information regarding the distance traveled by the laser diode's beam or the distribution of the gas along the optical path. We complemented the set-up with a laser rangefinder and apply principles of Computed Tomography (CT) to create a model of the spatial gas distribution from these integral concentration measurements. To allow for a rudimentary ground truth evaluation of the applied gas tomography algorithm, we set up a unique outdoor test environment based on two 3D ultrasonic anemometers and a distributed array of 10 infrared gas transmitters. We present first results showing the 2D plume reconstruction capabilities of the system under realistic conditions.

  • 260.
    Neumann, Patrick P.
    et al.
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Kohlhoff, Harald
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Hüllmann, Dino
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Kluge, Martin
    Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
    Bringing Mobile Robot Olfaction to the Next Dimension - UAV-based Remote Sensing of Gas Clouds and Source Localization2017In: 2017 IEEE International Conference on Robotics and Automation (ICRA), Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 3910-3916Conference paper (Refereed)
    Abstract [en]

    This paper introduces a novel robotic platform for aerial remote gas sensing. Spectroscopic measurement methods for remote sensing of selected gases lend themselves for use on mini-copters, which offer a number of advantages for inspection and surveillance. No direct contact with the target gas is needed and thus the influence of the aerial platform on the measured gas plume can be kept to a minimum. This allows to overcome one of the major issues with gas-sensitive mini-copters. On the other hand, remote gas sensors, most prominently Tunable Diode Laser Absorption Spectroscopy (TDLAS) sensors have been too bulky given the payload and energy restrictions of mini-copters. Here, we introduce and present the Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS), which combines a novel lightweight TDLAS sensor with a 3-axis aerial stabilization gimbal for aiming on a versatile hexacopter. The proposed system can be deployed in scenarios that cannot be addressed by currently available robots and thus constitutes a significant step forward for the field of Mobile Robot Olfaction (MRO). It enables tomographic reconstruction of gas plumes and a localization of gas sources. We also present first results showing the gas sensing and aiming capabilities under realistic conditions.

  • 261.
    Nevatia, Yashodhan
    et al.
    Univ Bremen, Dept EECS, Robot Lab, D-28725 Bremen, Germany.
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Rathnam, Ravi
    Univ Bremen, Dept EECS, Robot Lab, D-28725 Bremen, Germany.
    Pfingsthorn, Max
    Markov, Stefan
    Ambrus, Rares
    Birk, Andreas
    Augmented Autonomy: Improving human-robot team performance in Urban Search and Rescue2008In: 2008 IEEE/RSJ International Conference on Robots and Intelligent Systems, vols 1-3, conference proceedings, New York: IEEE Robotics and Automation Society, 2008, p. 2103-2108Conference paper (Refereed)
    Abstract [en]

    Exploration of unknown environments remains one of the fundamental problems of mobile robotics. It is also a prime example for a task that can benefit significantly from multi-robot teams. We present an integrated system for semi-autonomous cooperative exploration, augmented by an intuitive user interface for efficient human supervision and control. In this preliminary study we demonstrate the effectiveness of the system as a whole and the intuitive interface in particular. Congruent with previous findings, results confirm that having a human in the loop improves task performance, especially with larger numbers of robots. Specific to our interface, we find that even untrained operators can efficiently manage a decently sized team of robots.

  • 262.
    Niechwiadowicz, Karol
    et al.
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Behavior-based Control of Robot and Trailer in Hospitals2010In: 18th al Mediterranean Conference on Control and Automation, New York, USA: IEEE, 2010, p. 1549-1554Conference paper (Refereed)
    Abstract [en]

    A behavior-based control system for mobile robot with trailer for navigating in constrained and dynamically changing environment in the presence of humans is presented. Constraints and features of such environment and critical situations in maneuvering are highlighted. An example scenario is discussed and shown. Two approaches of robot-trailer control, conventional controller and fuzzy logic based controller, are presented. A behavior-based control algorithm for safe and stable maneuvering in hospitals is proposed.

  • 263.
    Niemand, Mathias
    Örebro University, School of Science and Technology.
    Using sonic interaction in drivervehicleinterfaces to reducevisual distraction2014Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This thesis has been executed at AB Volvo Advanced Technology and Research-Driver

    Environment & Human Factors as a part of the FFI (Strategic Vehicle Research) project SICS

    (Safe Interaction Connectivity and State). It describes a study which examined if adding

    sound will reduce the visual distraction in menu interfaces. Two concepts have been studied

    in comparison to each other and to a baseline without sounds. The sound added to the

    interface was spearcons (time compressed speech sounds) and earcons (musical sounds). A

    simulator study was carried out containing 14 participants between the ages of 36-59 who had

    to, while driving, perform 6 different tasks that involved interacting with the interface menus.

    Results showed that the performed tasks caused much less visual distraction from the road

    while having the spearcons as assistance. The earcons results showed no improvement.

    Download full text (pdf)
    fulltext
  • 264.
    Nordehammar, Karl-Oskar
    et al.
    Örebro University, Department of Technology.
    Bergquist, Per
    Örebro University, Department of Technology.
    UTVECKLING AV EN KONDENSATORMIKROFON2009Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This degree thesis has been conducted at the University of Örebro and Västerdalarnas Mekaniska Industri AB (VMI) in Malung on behalf of Ehrlund Microphones. Ehrlund Microphones produce microphones with their patented capsule, containing a triangular membrane.During the course of this thesis, a new microphone model was under construction. The aim was to assist Ehrlund Microphones conducting tests, measurements and also coming up with ideas of how to improve the construction of the new microphone model.

    At VMI, where the capsules are produced, there is a lab designed to measure the frequency response of the capsules. The equipment in this lab has been installed and configured for the measurement method used, to verify the frequency response of the capsules.

    The conclusion of the examination whether the grille of the microphone influence the frequency response of the microphone in a noticeable way, is that the volume of air enclosed by the grille has greater influence on the frequency response than the shape of the grille.

    It’s most likely that the new transistor based microphone model will have an improved signal/noise-ratio, considering that the tests conducted in this essay were made on a prototype under development.

    Download full text (pdf)
    FULLTEXT01
  • 265.
    NOZARI, GOLNAZ
    Örebro University, School of Science and Technology.
    Category-based Object PoseEstimation with Pose OrientedSEmi-global Feature Histograms2012Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    In this thesis we propose a novel, fast and accurate 3D descriptor for use in

    pose estimation of objects. To achieve this, we develop algorithm to identify

    the pose of any instance of a particular object category without having its exact

    model. Our aim is to estimate the object pose given only information about

    its category. To achieve this, we focus on the impact of the choice of the reference

    frame on the performance of a 3D descriptor. We propose a method that

    estimates a reference coordinate system using a single viewpoint of the object

    scene. We use an additional reference vector in order to define our reference

    coordinate system uniquely. The main idea is to use the information retrieved

    from a perception system collecting real world data. This information is neglected

    in most of the state-of-the-art pose estimation methods. In this work,

    we use the information which is given by the support plane that the objects

    are lying on. Based on the reference coordinate system, we define the Pose Oriented

    SEmi-global Feature Histogram (POSEFH) as an efficient 3D semi-global

    descriptor which encodes the geometrical properties of the object surface. We

    perform extensive qualitative and quantitative evaluation of our method on the

    subset of the RGB-D Stereo Object Category database which is collected by the

    7-joint Armar III robotic head with foveal and peripheral stereo cameras We

    compare it with the state-of-the-art 3D descriptors, the Viewpoint Featrue Histogram

    (VFH) and the Clustered Viewpoint Feature Histogram (CVFH). Our

    method works for incomplete 3D pointclouds of objects. The results show a

    significant improvement in the accuracy of one degree-of-freedom orientation

    estimation while dealing with partial and real noisy data.

    i

  • 266.
    Nyberg, Viktor
    Örebro University, School of Science and Technology.
    Ljudlokalisator2011Independent thesis Basic level (university diploma), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This is a report of my thesis work carried out for Motion Control AB in Västerås. The task was to

    develop a prototype for a handheld sound localizator for the deaf. The project has involved working

    with everything from market research to soldering. The project includes both analog electronics as

    well as programming.

    Much time was spent on the preparatory work, maybe a little too much when it seemed like half the

    time was spent before I could get started and work. I managed to get a functional prototype except

    for the microphones, as they proved to be too sensitive to solder by hand. However, the project has

    been very educational and interesting.

    Download full text (pdf)
    Viktor Nyberg - Examensarbete, Ljudlokalisator
  • 267.
    Olsson, Mikael
    et al.
    Örebro University, School of Science and Technology.
    Söderberg, Anders
    Örebro University, School of Science and Technology.
    Design guideline for audible warning signal and determination of sound pressure characteristics: Second version2011Independent thesis Basic level (university diploma), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Today Atlas Copco Rock Drills AB hasn’t got any method to determine how many warning alarms they need on their machines and how they should be mounted to use their full potential. At the moment a travel alarm is usually placed in the front of the machine and a reverse alarm in the back. Then a measurement of the sound pressure level around the machine is performed to see if it is enough to pass the limit according to different ISO-standards. Otherwise they have to mount some extra alarms and then do the measurements again until the standards are fulfilled.

    The aim of this thesis work is to develop a method for determine how many alarms Atlas Copco Rock Drills AB need on the machines, and also how they should be mounted to fulfil the different criteria according to ISO-standards in the early phase of construction.

    From the different divisions within Atlas Copco Rock Drills AB (LHD, SDE and TME) arrived four different alarms, which are used on their machines. Sound pressure level measurements were conducted on these, in the anechoic chamber at audiological research centre at the university hospital in Örebro. In the LMS Test.Lab software a measurement sphere was built around the horns and based on the data obtained at the anechoic chamber sound directivity plots were made. Together with earlier machine measurement data from Atlas Copco Rock Drills AB, an Excel program was made constituting an example of how the horns should be mounted.

    LHD = Loaders and trucks/underground rock excavation

    SDE = Surface drilling equipment

    TME = Tunnelling and mining equipment

    Download full text (pdf)
    fulltext
  • 268.
    Otterskog, Magnus
    Örebro University, Department of Technology.
    Altering the amplitude statistics inside a scattered field chamberManuscript (preprint) (Other academic)
  • 269.
    Otterskog, Magnus
    Örebro University, Department of Technology.
    Antenna reflection coefficient measurements in a scattered field chamber2001Manuscript (preprint) (Other academic)
  • 270.
    Otterskog, Magnus
    Örebro University, Department of Technology.
    Environment simulations for MEG measurements inside reverberation chamberManuscript (Other academic)
  • 271.
    Otterskog, Magnus
    Örebro University, Department of Technology.
    Modelling of propagation environments inside a scattered field chamber2005In: IEEE 61st Vehicular technology conference, 2005. VTC 2005-Spring: Volume 1, 2005, p. 102-105Conference paper (Refereed)
    Abstract [en]

    Measurements on communication devices for evaluation of diversity and/or MIMO concepts must be made in the real environment or in a model of the real propagation environment. As a first step towards a complex, physical environment model the plane wave angular distribution, incident on the device under test (DUT), is altered in order to model plane wave angular distributions of real environments. Here a specialized reverberation chamber called the scattered field chamber (SFC) is used to create a source of Rayleigh faded plane waves and a shielded anechoic box with apertures is used to alter the angular distribution of the plane waves incident on the DUT. According to the measurements made, the model seems to be able to produce data that show agreement with measurements made on real propagation environments.

  • 272.
    Otterskog, Magnus
    Örebro University, Department of Technology.
    Polarization control in an scattered field chamberManuscript (preprint) (Other academic)
  • 273.
    Otterskog, Magnus
    Örebro University, Department of Technology.
    Propagation environment modeling using scattered field chamber2006Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    This thesis covers the development of the Reverberation Chamber as a measurement tool for cell phone tests in electronic production. It also covers the development of the Scattered Field Chamber as a measurement tool for simulations of real propagation environments.

    The first part is a more ”general knowledge about Reverberation Chambers”-part that covers some important phenomena like unstirred power and position dependence that might occour in a small Reverberation Chamber used for cell phone tests. Knowing how to deal with these phenomenas, give the possibility to use the chamber as a measurement tool for production tests even though it is too complex for a simple test of the antenna function.

    The second part shows how to alter some important propagation parameters inside the chamber to fit some real world propagation environments. The 3D plane wave distribution, the polarization and the amplitude statistics of the plane waves are all altered with simple techniques that are implementable all together. A small, shielded anechoic box with apertures is used to control 3D plane wave distribution and polarization. Antennas that introduce unstirred power in the chamber are used to control the statistics.

    List of papers
    1. Antenna reflection coefficient measurements in a scattered field chamber
    Open this publication in new window or tab >>Antenna reflection coefficient measurements in a scattered field chamber
    2001 (English)Manuscript (preprint) (Other academic)
    National Category
    Other Electrical Engineering, Electronic Engineering, Information Engineering
    Research subject
    Electronics
    Identifiers
    urn:nbn:se:oru:diva-3157 (URN)
    Note
    The 2001 Reverberation Chamber, Anechoic Chamber and OATS Users MeetingAvailable from: 2006-10-27 Created: 2006-10-27 Last updated: 2017-10-18Bibliographically approved
    2. Cell phone performance testing and propagation environment modelling in a reverberation chamber
    Open this publication in new window or tab >>Cell phone performance testing and propagation environment modelling in a reverberation chamber
    2003 (English)In: Proceedings of The 2003 Reverberation Chamber, Anechoic Chamber and OATS Users Meeting, 2003Conference paper, Published paper (Refereed)
    National Category
    Other Electrical Engineering, Electronic Engineering, Information Engineering
    Research subject
    Electronics
    Identifiers
    urn:nbn:se:oru:diva-3158 (URN)
    Conference
    The 2003 Reverberation Chamber, Anechoic Chamber and OATS Users Meeting, Austin, Texas
    Available from: 2006-10-27 Created: 2006-10-27 Last updated: 2017-10-18Bibliographically approved
    3. On creating a nonisotropic propagation environment inside a scattered field chamber
    Open this publication in new window or tab >>On creating a nonisotropic propagation environment inside a scattered field chamber
    2004 (English)In: Microwave and optical technology letters (Print), ISSN 0895-2477, E-ISSN 1098-2760, Vol. 43, no 3, p. 192-195Article in journal (Refereed) Published
    Abstract [en]

    A traditional reverberation chamber creates a statistically isotropic test environment. Tests of communication devices may demand different environments to be able to test, for example, the influence of a diversity antenna. Here, a simple way of altering the distribution of plane waves incident on the device under test is presented. © 2004 Wiley Periodicals, Inc.

    National Category
    Other Electrical Engineering, Electronic Engineering, Information Engineering
    Research subject
    Electronics
    Identifiers
    urn:nbn:se:oru:diva-3159 (URN)10.1002/mop.20417 (DOI)
    Available from: 2006-10-27 Created: 2006-10-27 Last updated: 2017-12-14Bibliographically approved
    4. Environment simulations for MEG measurements inside reverberation chamber
    Open this publication in new window or tab >>Environment simulations for MEG measurements inside reverberation chamber
    (English)Manuscript (Other academic)
    National Category
    Other Electrical Engineering, Electronic Engineering, Information Engineering
    Research subject
    Electronics
    Identifiers
    urn:nbn:se:oru:diva-3160 (URN)
    Available from: 2006-10-27 Created: 2006-10-27 Last updated: 2017-10-18Bibliographically approved
    5. The influence of stirrer size and chamber load on the number of uncorrelated samples created in a reverberation chamber
    Open this publication in new window or tab >>The influence of stirrer size and chamber load on the number of uncorrelated samples created in a reverberation chamber
    2005 (English)Manuscript (preprint) (Other academic)
    National Category
    Other Electrical Engineering, Electronic Engineering, Information Engineering
    Research subject
    Electronics
    Identifiers
    urn:nbn:se:oru:diva-3161 (URN)
    Note
    Proceedings of EMC Zürich 2005Available from: 2006-10-27 Created: 2006-10-27 Last updated: 2017-10-18Bibliographically approved
    6. Modelling of propagation environments inside a scattered field chamber
    Open this publication in new window or tab >>Modelling of propagation environments inside a scattered field chamber
    2005 (English)In: IEEE 61st Vehicular technology conference, 2005. VTC 2005-Spring: Volume 1, 2005, p. 102-105Conference paper, Published paper (Refereed)
    Abstract [en]

    Measurements on communication devices for evaluation of diversity and/or MIMO concepts must be made in the real environment or in a model of the real propagation environment. As a first step towards a complex, physical environment model the plane wave angular distribution, incident on the device under test (DUT), is altered in order to model plane wave angular distributions of real environments. Here a specialized reverberation chamber called the scattered field chamber (SFC) is used to create a source of Rayleigh faded plane waves and a shielded anechoic box with apertures is used to alter the angular distribution of the plane waves incident on the DUT. According to the measurements made, the model seems to be able to produce data that show agreement with measurements made on real propagation environments.

    National Category
    Other Electrical Engineering, Electronic Engineering, Information Engineering
    Research subject
    Electronics
    Identifiers
    urn:nbn:se:oru:diva-3162 (URN)10.1109/VETECS.2005.1543258 (DOI)0-7803-8887-9 (ISBN)
    Conference
    IEEE 61st Vehicular technology conference. VTC 2005-Spring, 30 May-1 June
    Available from: 2006-10-27 Created: 2006-10-27 Last updated: 2017-10-18Bibliographically approved
    7. Polarization control in an scattered field chamber
    Open this publication in new window or tab >>Polarization control in an scattered field chamber
    (English)Manuscript (preprint) (Other academic)
    National Category
    Other Electrical Engineering, Electronic Engineering, Information Engineering
    Research subject
    Electronics
    Identifiers
    urn:nbn:se:oru:diva-3163 (URN)
    Available from: 2006-10-27 Created: 2006-10-27 Last updated: 2017-10-18Bibliographically approved
    8. Altering the amplitude statistics inside a scattered field chamber
    Open this publication in new window or tab >>Altering the amplitude statistics inside a scattered field chamber
    (English)Manuscript (preprint) (Other academic)
    National Category
    Other Electrical Engineering, Electronic Engineering, Information Engineering
    Research subject
    Electronics
    Identifiers
    urn:nbn:se:oru:diva-3164 (URN)
    Available from: 2006-10-27 Created: 2006-10-27 Last updated: 2017-10-18Bibliographically approved
    Download full text (pdf)
    FULLTEXT01
  • 274.
    Otterskog, Magnus
    Örebro University, Department of Technology.
    The influence of stirrer size and chamber load on the number of uncorrelated samples created in a reverberation chamber2005Manuscript (preprint) (Other academic)
  • 275.
    Otterskog, Magnus
    et al.
    Örebro University, Department of Technology.
    Madsén, Kent
    Cell phone performance testing and propagation environment modelling in a reverberation chamber2003In: Proceedings of The 2003 Reverberation Chamber, Anechoic Chamber and OATS Users Meeting, 2003Conference paper (Refereed)
  • 276.
    Otterskog, Magnus
    et al.
    Örebro University, Department of Technology.
    Madsén, Kent
    On creating a nonisotropic propagation environment inside a scattered field chamber2004In: Microwave and optical technology letters (Print), ISSN 0895-2477, E-ISSN 1098-2760, Vol. 43, no 3, p. 192-195Article in journal (Refereed)
    Abstract [en]

    A traditional reverberation chamber creates a statistically isotropic test environment. Tests of communication devices may demand different environments to be able to test, for example, the influence of a diversity antenna. Here, a simple way of altering the distribution of plane waves incident on the device under test is presented. © 2004 Wiley Periodicals, Inc.

  • 277.
    Palm, Rainer
    et al.
    Örebro University, School of Science and Technology.
    Abdelbaki, Bouguerra
    Örebro University, School of Science and Technology.
    Market-based algorithms and fuzzy methods for the navigation of mobile robots2012Conference paper (Refereed)
    Abstract [en]

    An important aspect of the navigation of mobile robots is the avoidance of static and dynamic obstacles. This paper deals with obstacle avoidance using artificial potential fields and selected traffic rules. The potential field method is optimized by a mixture of fuzzy methods and market-based optimization (MBO) between competing potential fields of mobile robots. Here, depending on the local situation, some potential fields are strengthened and some are weakened. The optimization takes place especially when several mobile robots act in a small area. In addition, to avoid an undesired behavior of the mobile platform in the vicinity of obstacles, central symmetrical potential fields are `deformed' by using fuzzy rules.

    Download full text (pdf)
    fulltext
  • 278.
    Palm, Rainer
    et al.
    Siemens AG Corporate Technology Information and Communications, Munich, Germany.
    Driankov, Dimiter
    University of Linköping, Linköping, Sweden.
    Fuzzy switched hybrid systems: modeling and identification1998In: Proceedings of the 1998 IEEE Intelligent Control (ISIC)/CIRA/ISAS Joint Conference, Gaithersburg, MD, September 14-17, 1998, IEEE conference proceedings, 1998, p. 130-135Conference paper (Refereed)
    Abstract [en]

    The combination of hybrid systems and fuzzy multiple model systems is described. Further, a hierarchical identification of the resulting fuzzy switched hybrid system is outlined. The behavior of the discrete component is identified by black box fuzzy clustering and subsequent parameter identification taking into account some prior-knowledge about the discrete states. The identification of the continuous models for each discrete state is done based on local linear fuzzy models

  • 279.
    Palm, Rainer
    et al.
    Örebro University, School of Science and Technology.
    Driankov, Dimiter
    Örebro University, School of Science and Technology.
    Velocity potentials and fuzzy modeling of fluid streamlines for obstacle avoidance of mobile robots2015In: 2015 IEEE International Conference on Fuzzy Systems, (FUZZ-IEEE), IEEE Press, 2015, p. 1-8Conference paper (Refereed)
    Abstract [en]

    The use of the velocity potential of an incompressible fluid is an important and elegant tool for obstacle avoidance of mobile robots. Obstacles are modeled as cylindrical objects - combinations of cylinders can also form super obstacles. Possible trajectories of a vehicle are given by a set of streamlines around the obstacle computed by the velocity potential. Because of the number of streamlines and of data points involved therein, models of sets of streamlines for different sizes of obstacles are created first using dataset models and finally fuzzy models of streamlines. Once an obstacle appears in the sensor cone of the robot the set of streamlines is computed from which that streamline is selected that guarantees a smooth transition from/to the planned trajectory. Collisions with other robots are avoided by a combination of velocity potential and force potential and/or the change of streamlines during operation (lane hopping).

    Download full text (pdf)
    fulltext
  • 280.
    Palm, Rainer
    et al.
    Örebro University, School of Science and Technology.
    Iliev, Boyko
    Örebro University, School of Science and Technology.
    Kadmiry, Bourhane
    Grasp recognition by fuzzy modeling and hidden Markov models2010In: Robot intelligence: an advanced knowledge processing approach / [ed] Honghai Liu, Dongbing Gu, Robert J. Howlett, Yonghuai Liu, New York: Springer , 2010, p. 25-47Chapter in book (Other academic)
    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.

  • 281.
    Palm, Rainer
    et al.
    Örebro University, School of Science and Technology.
    Iliev, Boyko
    Örebro University, School of Science and Technology.
    Kadmiry, Bourhane
    Örebro University, School of Science and Technology.
    Recognition of human grasps by time-clustering and fuzzy modeling2009In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 57, no 5, p. 484-495Article in journal (Refereed)
    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.

  • 282.
    Palm, Rainer
    et al.
    Örebro University, School of Science and Technology.
    Kadmiry, Bourhane
    Örebro University, School of Science and Technology.
    Iliev, Boyko
    Örebro University, School of Science and Technology.
    Driankov, Dimiter
    Örebro University, School of Science and Technology.
    Recognition and teaching of robot skills by fuzzy time-modeling2009In: 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, p. 7-12Conference paper (Other academic)
    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.

  • 283.
    Palm, Rainer
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Fuzzy logic and control in Human-Robot Systems: geometrical and kinematic considerations2018In: WCCI 2018: 2018 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) / [ed] IEEE, IEEE, 2018, p. 827-834Conference paper (Refereed)
    Abstract [en]

    The interaction between humans and mobile robots in shared areas requires adequate control for both humans and robots.The online path planning of the robot depending on the estimated or intended movement of the person is crucial for the obstacle avoidance and close cooperation between them. The velocity obstacles method and its fuzzification optimizes the relationship between the velocities of a robot and a human agent during the interaction. In order to find the estimated intersection between robot and human in the case of positions/orientations disturbed by noise, analytical and fuzzified versions are presented. The orientation of a person is estimated by eye tracking, with the help of which the intersection area is calculated. Eye tracking leads to clusters of fixations that are condensed into cluster centers by fuzzy-time clustering to detect the intention and attention of humans.

  • 284.
    Palm, Rainer
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Long distance prediction and short distance control in Human-Robot Systems2017In: 2017 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), Institute of Electrical and Electronics Engineers (IEEE), 2017, article id 8015396Conference paper (Refereed)
    Abstract [en]

    The study of the interaction between autonomous robots and human agents in common working areas is an emerging field of research. Main points thereby are human safety, system stability, performance and optimality of the whole interaction process. Two approaches to deal with human-robot interaction can be distinguished: Long distance prediction which requires the recognition of intentions of other agents, and short distance control which deals with actions and reactions between agents and mutual reactive control of their motions and behaviors. In this context obstacle avoidance plays a prominent role. In this paper long distance prediction is represented by the identification of human intentions to use specific lanes by using fuzzy time clustering of pedestrian tracks. Another issue is the extrapolation of parts of both human and robot trajectories in the presence of scattered/uncertain measurements to guarantee a collision-free robot motion. Short distance control is represented by obstacle avoidance between agents using the method of velocity obstacles and both analytical and fuzzy control methods.

  • 285.
    Palmieri, Luigi
    et al.
    Computer Science Department, University of Freiburg, Freiburg im Breisgau, Germany.
    Kucner, Tomasz
    Örebro University, School of Science and Technology.
    Magnusson, Martin
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Arras, Kai
    Bosch Corporate Research, Stuttgart, Germany.
    Kinodynamic Motion Planning on Gaussian Mixture Fields2017In: IEEE International Conference on Robotics and Automation (ICRA 2017), IEEE, 2017, p. 6176-6181, article id 7989731Conference paper (Refereed)
    Abstract [en]

    We present a mobile robot motion planning ap-proach under kinodynamic constraints that exploits learnedperception priors in the form of continuous Gaussian mixturefields. Our Gaussian mixture fields are statistical multi-modalmotion models of discrete objects or continuous media in theenvironment that encode e.g. the dynamics of air or pedestrianflows. We approach this task using a recently proposed circularlinear flow field map based on semi-wrapped GMMs whosemixture components guide sampling and rewiring in an RRT*algorithm using a steer function for non-holonomic mobilerobots. In our experiments with three alternative baselines,we show that this combination allows the planner to veryefficiently generate high-quality solutions in terms of pathsmoothness, path length as well as natural yet minimum controleffort motions through multi-modal representations of Gaussianmixture fields.

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    Kinodynamic Motion Planning on Gaussian Mixture Fields
  • 286.
    Pashami, Sepideh
    et al.
    Örebro University, School of Science and Technology.
    Asadi, Sahar
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Integration of OpenFOAM Flow Simulation and Filament-Based Gas Propagation Models for Gas Dispersion Simulation2010Conference paper (Refereed)
    Abstract [en]

    In this paper, we present a gas dispersal simulation package which integrates OpenFOAM flow simulation and a filament-based gas propagation model to simulate gas dispersion for compressible flows with a realistic turbulence model. Gas dispersal simulation can be useful for many applications. In this paper, we focus on the evaluation of statistical gas distribution models. Simulated data offer several advantages for this purpose, including the availability of ground truth information, repetition of experiments with the exact same constraints and that intricate issue which come with using real gas sensors can be avoided.Apart from simulation results obtained in a simulated wind tunnel (designed to be equivalent to its real-world counterpart), we present initial results with time-independent and time-dependent statistical modelling approaches applied to simulated and real-world data.

    Download (pdf)
    OSCIC-10_PashamiSepideh.pdf
  • 287.
    Pashami, Sepideh
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    A trend filtering approach for change point detection in MOX gas sensors2013Conference paper (Refereed)
    Abstract [en]

    Detecting changes in the response of metal oxide (MOX) gas sensors deployed in an open sampling system is a hard problem. It is relevant for applicationssuch as gas leak detection in coal mines[1],[2] or large scale pollution monitoring [3],[4] where it is unpractical to continuously store or transfer sensor readings and reliable calibration is hard to achieve. Under these circumstances it is desirable to detect points in the signal where a change indicates a significant event, e.g. the presence of gas or a sudden change of concentration. The key idea behind the proposed change detection approach isthat a change in the emission modality of a gas source appears locally as an exponential function in the response of MOX sensors due to their long response and recovery times. The proposed method interprets the sensor responseby fitting piecewise exponential functions with different time constants for the response and recovery phase. The number of exponentials is determined automatically using an approximate method based on the L1-norm. This asymmetric exponential trend filtering problem is formulated as a convex optimization problem, which is particularly advantageous from the computational point of view. The algorithm is evaluated with an experimental setup where a gas source changes in intensity, compound, and mixture ratio, and it is compared against the previously proposed Generalized Likelihood Ratio (GLR) based algorithm [6].

    Download full text (pdf)
    Pashami_etal_2013-ISOEN.pdf
  • 288.
    Pashami, Sepideh
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    Change detection in an array of MOX sensors2012Conference paper (Refereed)
    Abstract [en]

    In this article we present an algorithm for online detection of change points in the response of an array of metal oxide (MOX) gas sensors deployed in an open sampling system.True change points occur due to changes in the emission modality of the gas source. The main challenge for change point detection in an open sampling system is the chaotic nature of gas dispersion, which causes fluctuations in the sensor response that are not related to changes in the gas source. These fluctuations should not be considered change points in the sensor response. The presented algorithm is derived from the well known Generalized Likelihood Ratio algorithm and it is used both on the output of a single sensor as well on the output of two or more sensors on the array. The algorithm is evaluated with an experimental setup where a gas source changes in intensity, compound, or mixture ratio. The performance measures considered are the detection rate, the number of false alarms and the delay of detection.

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    fulltext
  • 289.
    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 station2013In: International Journal of Emerging Technology and Advanced Engineering, ISSN 2250-2459, E-ISSN 2250-2459, Vol. 3, no 4, p. 553-558Article in journal (Refereed)
    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.

  • 290. Paul, Satyam
    et al.
    Gupta, Pawan
    Singh, Milan
    Singh, Navmesh
    Conceptual design and development of automated drilling system2013In: International Journal of Scientific & Engineering Research, ISSN 2229-5518, Vol. 4, no 7, p. 1138-1141Article in journal (Refereed)
    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.

  • 291.
    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 Structures2018In: Advances in Science, Technology and Engineering Systems Journal (ASTESJ), E-ISSN 2415-6698, Vol. 3, no 5, p. 339-353Article, review/survey (Refereed)
    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.

  • 292.
    Paul, Satyam
    et al.
    Örebro University, School of Science and Technology.
    Löfstrand, Magnus
    Örebro University, School of Science and Technology.
    Intelligent Fault Detection Scheme for Drilling Process2019In: ICCMA 2019: 2019 The 7th International Conference on Control, Mechatronics and Automation, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 347-351, article id 8988616Conference paper (Refereed)
    Abstract [en]

    Automatic fault detection system is an important aspect of industrial process and can contribute significantly for minimizing equipment downtime thus makingit a cost effective process. In this paper, an innovative model-based faultdetection (FD) system in combination with interval type-2 (IT2) Takagi-Sugeno(T-S) fuzzy system is developed for the detection of the faults in the drillbit of the drilling system. The proposed methodology validates the stabilityof the fault detection system in the presence of system uncertainties. Numerical analysis is carried out to prove the effectiveness of the theoretical approach. The effective methodology can be implemented in real time for detecting faults during downhole drilling operations.

  • 293.
    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 Control2018In: IEEE Access, E-ISSN 2169-3536, Vol. 6, p. 72698-72713Article in journal (Refereed)
    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.

  • 294.
    Paul, Satyam
    et al.
    Örebro University, School of Science and Technology.
    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 System2019In: Applied Sciences: APPS, ISSN 1454-5101, E-ISSN 1454-5101, Vol. 9, no 20, article id 4380Article in journal (Refereed)
    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.

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    Chatter Mitigation in Milling Process Using Discrete Time Sliding Mode Control with Type 2-Fuzzy Logic System
  • 295.
    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 structures2018In: Journal of Vibration and Control, ISSN 1077-5463, E-ISSN 1741-2986, Vol. 24, no 15, p. 3400-3417Article in journal (Refereed)
    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.

  • 296.
    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 control2015In: 2015 Resilience Week (RWS), IEEE, 2015, p. 1-6Conference paper (Refereed)
    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.

  • 297.
    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 structure2017In: 2017 IEEE International Conference on Industrial Technology (ICIT), IEEE, 2017, p. 749-754Conference paper (Refereed)
    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.

  • 298.
    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 Monitoring2016In: Proceedings of the 5th International Conference on Mechatronics and Control Engineering, Association for Computing Machinery (ACM), 2016, p. 52-56Conference paper (Refereed)
    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.

  • 299.
    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 earthquake2016In: 2016 13th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), IEEE, 2016, p. 1-6Conference paper (Refereed)
    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.

  • 300.
    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 structures2017In: 2017 14th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE), IEEE, 2017, p. 1-4Conference paper (Refereed)
    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.

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