Study in this paper concerns the optimal H2 integral servo problems for linear crane model systems via the constraints of the derivatives of state variables added to the standard constraints. It is shown in the paper that the derivative state constrained optimal H2 integral servo problems can be reduced to the standard optimal H2 control problem. The main subject of the paper is to apply the results of derivative state constrained H2 integral servo theorem in crane system. The effect of our proposed controller with respect to mitigate an under damping for crane model system is also verified.

/pdf/derivative-state-constrained-optimal-h2-integral-controller-4ehfkshnb3.pdf

Derivative State Constrained Optimal H2 Integral Controller and its Application to Crane System

Hydraulic excavators have been popular devices in construction field because of its multi-workings and economic efficiency. The mathematical models of excavators have many nonlinearities because of nonlinear opening characteristics and dead zone of main control valve, oil temperature variation, etc. The objective of this paper is to develop a simulator for hydraulic excavator using AMESim. Components and whole circuit are expressed graphically. Parameters and nonlinear characteristics are inputted in text style. The simulator can be used to forecast excavator behavior when new components, new mechanical attachments, hydraulic circuit changes, and new control algorithm are applied. The simulator could be a kind of development platform for various new excavators.

/pdf/simulator-for-hydraulic-excavator-210eshkdpu.pdf

Simulator for Hydraulic Excavator

The aim of this paper is to compensate hysteresis phenomena in Shape Memory Alloy (SMA) actuators by using numerical inverse Preisach model. This is used to design a controller that correct hysteresis effects and improve accuracy for the displacement of SMA actuators. Firstly, hysteresis is identified by numerical Preisach model implementation. The geometrical interpretation from first order transition curves is used for hysteresis modeling. Secondly, the inverse Preisach model is formulated and incorporated in open-loop control system in order to obtain desired input- output relationship with hysteresis reducing. The experimental results for hysteresis compensation by using this method are also shown in this paper.

/pdf/hysterersis-compensation-in-sma-actuators-through-numerical-5gpm8l7562.pdf

Hysterersis Compensation in SMA Actuators Through Numerical Inverse Preisach Model Implementation

This paper presents an approach to evaluate the appropriate parameters for Piezoelectric ceramic utilization by adopting Impedance Method. Butterworth Van Dyke model (BVD) is considered to use as an equivalent circuit of Piezoelectric ceramic in case of no load. The experimental results from this model will be compared with the results from a circular Piezoelectric ceramic with 4.8 cm. diameter and 3 mm. thickness. The Thickness Mode vibration measured by Impedance Analyzer model 4192A can be analyzed from 1Hz to 13MHz for calculating and analyzing parameters at resonance frequency and anti-resonance frequency. These parameters are evaluated to design the efficient circuit for Piezoelectric ceramic utilization to obtain the optimal efficiency.

/pdf/analysis-of-appropriate-parameters-for-piezoelectric-ceramic-2cxvw0bef9.pdf

Analysis of Appropriate Parameters for Piezoelectric Ceramic Utilization by Using BVD Model

Many service robots which is interacting with human at home and in buildings have been developed. Few of them are shown in of the United States and of Japan. These robots are supposed to have a powerful indoor navigation performance in places where human beings live and work. The overall capability of service robots to move around in this environment is called environment correspondence, in which localization problem to find the accurate position and orientation is the most critical problem. While users set up a proper or a best environment for industrial robots, but for services robots at home and in buildings, it is very difficult to change the environment for robots. The expanded workspace due to mobility is difficult to be covered by means of those used for industrial robots because the cost increases and human beings do not want their environment to be changed for robots. This fact has made many researchers study efficient and effective environment correspondence problems. Among these problems, localization is the most difficult. Goal of localization study includes (1) Accurate detection of position and orientation (2) Minimum cost of the additional devices (3) Minimum change of human environment In this study, as a solution of the above, we propose "Artificial Stars" which are attached on room ceiling as landmarks. In addition, we solve an adoption problem raised when a robot is delivered to a customer site and before it can perform its full navigation capability. We call this as "Initialization Problem" of service robots. We solve the initialization problem for both cases of environment with the map and without map. The proposed system is experimented and has shown how well it handles the initialization problem.

http://2005.iccas.org/submission/paper/upload/114ICCAS2005.pdf

Young Sam Lee

Papers

Receding Horizon H∞ Predictive Control for Linear State-delay Systems