The Experts below are selected from a list of 8844 Experts worldwide ranked by ideXlab platform
Min Tan - One of the best experts on this subject based on the ideXlab platform.
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reaction wheel based roll stabilization for a robotic fish using neural network sliding mode control
IEEE-ASME Transactions on Mechatronics, 2020Co-Authors: Pengfei Zhang, Huijie Dong, Min TanAbstract:The intrinsically reciprocating motion in fishlike propulsion causes severe attitude instability of a robotic fish, which poses enormous challenges for environmental perception and autonomous operation. To address this issue, in this article, we propose a reaction-wheel-based control framework for guaranteeing the roll stability of the robotic fish. The Mechatronic Design and dynamic model of the Designed robotic fish with an internal rotor are presented. By means of the simplified model and frequency domain analysis, the effect factors about roll stability are concretely analyzed. More importantly, a hybrid controller that combines a sliding mode controller with a neural network feedforward compensator is developed to reject the severe disturbance on roll angle. Then, the Lyapunov stability theory is utilized to analyze the stability and convergence property of the closed-loop system. Finally, the experimental results show that the proposed methods possess more significant performances than the passive stabilization method, which provides a valuable reference for attitude stabilization control and robust environmental perception of underwater robots.
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towards a gliding robotic dolphin Design modeling and experiments
IEEE-ASME Transactions on Mechatronics, 2019Co-Authors: Jun Yuan, Min TanAbstract:This paper presents the Mechatronic Design and implementation of a gliding robotic dolphin. To pursue both high maneuverability and long endurance simultaneously, the gliding robotic dolphin novelly integrates propulsion modes of real dolphins and traditional underwater gliders, through importing a practical buoyancy-driven mechanism on the basis of a bio-inspired robotic dolphin. The hybrid Mechatronic Design for actual application environments is first holistically provided. In comparison with traditional underwater gliders, the robotic dolphin particularly possesses a pair of controllable flippers and a flatten flukes, which can effectively assist in regulating the gliding attitude. Consequently, a full-state dynamic model with particular consideration of these controllable fins for three-dimensional (3-D) gliding motion is established. Meanwhile, two typical controllers are built to realize these two propulsive modes, e.g., an active disturbance rejection control-based controller for the gliding motion and a central pattern generator-based controller for dolphin-like swimming. Numerical simulations are conducted to analyze 3-D gliding motions of the robotic dolphin as well as the gliding maneuvers based on the controllable fins. Finally, extensive experiments involving gently gliding motion and several dolphin-like propulsive modes illustrate the great locomotion ability of the developed gliding robotic dolphin and also validate the effectiveness of the formulated dynamic model. These hybrid motion modes offer promising prospects of robot applications in complex deep-sea conditions.
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Mechatronic Design and implementation of a novel gliding robotic dolphin
Robotics and Biomimetics, 2015Co-Authors: Jun Yuan, Min Tan, Jianwei ZhangAbstract:This paper provides an innovative Design for a gliding robotic dolphin. In order to realize high maneuverability and long endurance, the robotic dolphin combines the advantages of both robotic dolphins and underwater gliders. It can not only realize fast and flexible dolphin-like swimming depending on the powerful propulsive posterior body and fluke, but also implement gently and durable gliding motion due to the buoyancy-driven system. More importantly, the controllable pectoral fins and horizontal fluke can effectively complete the attitude adjustment, so traditional internal movable masses could be removed for saving a considerable space. Besides, the hydrodynamic analysis in the steady gliding motion is executed and hydrodynamic coefficients including lift, drag, and pitching moment are also obtained through Computational Fluid Dynamics (CFD) method. Finally, extensive experiments including dolphin-like swimming, spiraling motion and gently gliding motion illustrate the great locomotion ability of the developed gliding robotic dolphin.
Clarence W. De Silva - One of the best experts on this subject based on the ideXlab platform.
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Mechatronic Design Evolution Using Bond Graphs and Hybrid Genetic Algorithm With Genetic Programming
IEEE ASME Transactions on Mechatronics, 2013Co-Authors: Saeed Behbahani, Clarence W. De SilvaAbstract:A typical Mechatronic problem (modeling, identification, and Design) entails finding the best system topology as well as the associated parameter values. The solution requires concurrent and integrated methodologies and tools based on the latest theories. The experience on natural evolution of an engineering system indicates that the system topology evolves at a much slower rate than the parametric values. This paper proposes a two-loop evolutionary tool, using a hybrid of genetic algorithm (GA) and genetic programming (GP) for Design optimization of a Mechatronic system. Specifically, GP is used for topology optimization, while GA is responsible for finding the elite solution within each topology proposed by GP. A memory feature is incorporated with the GP process to avoid the generation of repeated topologies, a common drawback of GP topology exploration. The synergic integration of GA with GP, along with the memory feature, provides a powerful search ability, which has been integrated with bond graphs (BG) for Mechatronic model exploration. The software developed using this approach provides a unified tool for concurrent, integrated, and autonomous topological realization of a Mechatronic problem. It finds the best solution (topology and parameters) starting from an abstract statement of the problem. It is able to carry out the process of system configuration realization, which is normally performed by human experts. The performance of the software tool is validated by applying it to Mechatronic Design problems.
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System-Based and Concurrent Design of a Smart Mechatronic System Using the Concept of Mechatronic Design Quotient (MDQ)
IEEE ASME Transactions on Mechatronics, 2008Co-Authors: Saeed Behbahani, Clarence W. De SilvaAbstract:A Mechatronic system needs an integrated, concurrent, and system-based Design approach due to the existence of interactions among its subsystems, and also the existence of interactions between the criteria involved in a realistic evaluation of a Mechatronic product. This paper presents a systematic methodology for a detailed Mechatronic Design based on a Mechatronic Design quotient (MDQ). MDQ is a multicriteria index, reflecting a system-based evaluation of a Mechatronic Design, which is calculated using soft computing techniques, thereby accommodating interactions between criteria and human experience. A niching genetic algorithm is utilized to explore the huge search space raised due to concurrent and integrated Design approach, with the aim to find the elite representatives of different possible configurations. To demonstrate the method, it is applied to an industrial fish cutting machine called the Iron Butcher-an electromechanical system that falls into the class of mixed or multidomain systems.
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Mechatronic Design Quotient as the Basis of a New Multicriteria Mechatronic Design Methodology
IEEE ASME Transactions on Mechatronics, 2007Co-Authors: Saeed Behbahani, Clarence W. De SilvaAbstract:A concurrent, integrated, and multicriteria methodology is presented for the conceptual Design of Mechatronic systems. It uses an evaluation model called Mechatronic Design quotient (MDQ) to facilitate decision-making in the Design process. A nonlinear fuzzy integral is used for the aggregation of criteria in MDQ, thereby accommodating possible correlations among them. The performance of the developed methodology is validated by applying it to an industrial fish cutting machine called Iron Butcher-an electromechanical system that falls into the class of mixed or multidomain systems
Saeed Behbahani - One of the best experts on this subject based on the ideXlab platform.
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A Design paradigm for Mechatronic systems
Mechatronics, 2013Co-Authors: Saeed BehbahaniAbstract:Abstract Concepts of Mechatronics are applicable in the Design of complex and multi-domain dynamic systems. This paper presents an approach based on the Mechatronic Design quotient (MDQ) for systematic Design of a Mechatronic system. Traditional procedures of Design are hierarchically separated into topological Design and parametric Design. Extending this concept, an MDQ may be “structured” into a multi-layered hierarchy. The approach and significance of the application of MDQ in Mechatronic Design are indicated using illustrative examples.
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Mechatronic Design Evolution Using Bond Graphs and Hybrid Genetic Algorithm With Genetic Programming
IEEE ASME Transactions on Mechatronics, 2013Co-Authors: Saeed Behbahani, Clarence W. De SilvaAbstract:A typical Mechatronic problem (modeling, identification, and Design) entails finding the best system topology as well as the associated parameter values. The solution requires concurrent and integrated methodologies and tools based on the latest theories. The experience on natural evolution of an engineering system indicates that the system topology evolves at a much slower rate than the parametric values. This paper proposes a two-loop evolutionary tool, using a hybrid of genetic algorithm (GA) and genetic programming (GP) for Design optimization of a Mechatronic system. Specifically, GP is used for topology optimization, while GA is responsible for finding the elite solution within each topology proposed by GP. A memory feature is incorporated with the GP process to avoid the generation of repeated topologies, a common drawback of GP topology exploration. The synergic integration of GA with GP, along with the memory feature, provides a powerful search ability, which has been integrated with bond graphs (BG) for Mechatronic model exploration. The software developed using this approach provides a unified tool for concurrent, integrated, and autonomous topological realization of a Mechatronic problem. It finds the best solution (topology and parameters) starting from an abstract statement of the problem. It is able to carry out the process of system configuration realization, which is normally performed by human experts. The performance of the software tool is validated by applying it to Mechatronic Design problems.
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System-Based and Concurrent Design of a Smart Mechatronic System Using the Concept of Mechatronic Design Quotient (MDQ)
IEEE ASME Transactions on Mechatronics, 2008Co-Authors: Saeed Behbahani, Clarence W. De SilvaAbstract:A Mechatronic system needs an integrated, concurrent, and system-based Design approach due to the existence of interactions among its subsystems, and also the existence of interactions between the criteria involved in a realistic evaluation of a Mechatronic product. This paper presents a systematic methodology for a detailed Mechatronic Design based on a Mechatronic Design quotient (MDQ). MDQ is a multicriteria index, reflecting a system-based evaluation of a Mechatronic Design, which is calculated using soft computing techniques, thereby accommodating interactions between criteria and human experience. A niching genetic algorithm is utilized to explore the huge search space raised due to concurrent and integrated Design approach, with the aim to find the elite representatives of different possible configurations. To demonstrate the method, it is applied to an industrial fish cutting machine called the Iron Butcher-an electromechanical system that falls into the class of mixed or multidomain systems.
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Mechatronic Design Quotient as the Basis of a New Multicriteria Mechatronic Design Methodology
IEEE ASME Transactions on Mechatronics, 2007Co-Authors: Saeed Behbahani, Clarence W. De SilvaAbstract:A concurrent, integrated, and multicriteria methodology is presented for the conceptual Design of Mechatronic systems. It uses an evaluation model called Mechatronic Design quotient (MDQ) to facilitate decision-making in the Design process. A nonlinear fuzzy integral is used for the aggregation of criteria in MDQ, thereby accommodating possible correlations among them. The performance of the developed methodology is validated by applying it to an industrial fish cutting machine called Iron Butcher-an electromechanical system that falls into the class of mixed or multidomain systems
Jun Yuan - One of the best experts on this subject based on the ideXlab platform.
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towards a gliding robotic dolphin Design modeling and experiments
IEEE-ASME Transactions on Mechatronics, 2019Co-Authors: Jun Yuan, Min TanAbstract:This paper presents the Mechatronic Design and implementation of a gliding robotic dolphin. To pursue both high maneuverability and long endurance simultaneously, the gliding robotic dolphin novelly integrates propulsion modes of real dolphins and traditional underwater gliders, through importing a practical buoyancy-driven mechanism on the basis of a bio-inspired robotic dolphin. The hybrid Mechatronic Design for actual application environments is first holistically provided. In comparison with traditional underwater gliders, the robotic dolphin particularly possesses a pair of controllable flippers and a flatten flukes, which can effectively assist in regulating the gliding attitude. Consequently, a full-state dynamic model with particular consideration of these controllable fins for three-dimensional (3-D) gliding motion is established. Meanwhile, two typical controllers are built to realize these two propulsive modes, e.g., an active disturbance rejection control-based controller for the gliding motion and a central pattern generator-based controller for dolphin-like swimming. Numerical simulations are conducted to analyze 3-D gliding motions of the robotic dolphin as well as the gliding maneuvers based on the controllable fins. Finally, extensive experiments involving gently gliding motion and several dolphin-like propulsive modes illustrate the great locomotion ability of the developed gliding robotic dolphin and also validate the effectiveness of the formulated dynamic model. These hybrid motion modes offer promising prospects of robot applications in complex deep-sea conditions.
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Mechatronic Design and implementation of a novel gliding robotic dolphin
Robotics and Biomimetics, 2015Co-Authors: Jun Yuan, Min Tan, Jianwei ZhangAbstract:This paper provides an innovative Design for a gliding robotic dolphin. In order to realize high maneuverability and long endurance, the robotic dolphin combines the advantages of both robotic dolphins and underwater gliders. It can not only realize fast and flexible dolphin-like swimming depending on the powerful propulsive posterior body and fluke, but also implement gently and durable gliding motion due to the buoyancy-driven system. More importantly, the controllable pectoral fins and horizontal fluke can effectively complete the attitude adjustment, so traditional internal movable masses could be removed for saving a considerable space. Besides, the hydrodynamic analysis in the steady gliding motion is executed and hydrodynamic coefficients including lift, drag, and pitching moment are also obtained through Computational Fluid Dynamics (CFD) method. Finally, extensive experiments including dolphin-like swimming, spiraling motion and gently gliding motion illustrate the great locomotion ability of the developed gliding robotic dolphin.
Kok Kiong Tan - One of the best experts on this subject based on the ideXlab platform.
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parameter space optimization towards integrated Mechatronic Design for uncertain systems with generalized feedback constraints
Automatica, 2019Co-Authors: Silu Chen, Chek Sing Teo, Arthur Tay, A A Mamun, Kok Kiong TanAbstract:Abstract There is an increasing trend to apply integrated Mechatronic Design approaches in precision engineering to synthesize key mechanical and controller parameters simultaneously. However, such technique is yet to be mature, due to the constraints imported by mechanical Design and feedback control, as well as the existence of model uncertainties. In this work, we treat the integrated Mechatronic Design problem as a controller optimization problem with structural constraints. We start from the case when the composite feedback gain matrix (CFGM) has some elements either being zero or with equal or opposite relationships. First, algorithms are proposed to factorize the CFGM. Secondly, the feedback constraints are transformed from the state space to an extended parameter space. In this way, the Design problem is reformulated as minimizing the ℋ 2 -norm upper bound of the closed-loop system transmittance from the exogenous disturbance to the regulated variables over the intersection of convex and non-convex domains. Eventually, cutting-plane-based numerical procedures are developed to obtain a global optimal solution, and the closed-loop robust stability is ensured with guaranteed performance. An illustrative example on a flexure-linked biaxial gantry stage is presented to reveal the practical appeal of the proposed approach. This approach is extensively applicable to a class of optimal control problems, such as controller synthesis problem with prescribed sparsity pattern, decentralized control problem with/without structural constraints, etc.
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integrated Mechatronic Design in the flexure linked dual drive gantry by constrained linear quadratic optimization
IEEE Transactions on Industrial Electronics, 2018Co-Authors: Silu Chen, Chek Sing Teo, Arthur Tay, A A Mamun, Nazir Kamaldin, Kok Kiong TanAbstract:A dual-drive H-gantry is commonly used in many industrial processes to meet the requirement of high-precision Cartesian motion. Unlike the rigid-linked gantry stage, the flexure-linked counterpart allows a small degree of rotation of the crossarm to prevent possible damages. However, by this Design, the chattering of control signals and inappropriate stiffness of the flexure may induce the resonant modes of the gantry. Hence, to maintain the precision tracking of the midpoint position and the orientation of the gantry, as well as to minimize the vibration on the end effector, we seek the most suitable flexure stiffness and controller parameters by formulating a constrained linear–quadratic optimization problem. Since such a Mechatronic Design problem is not solvable via standard linear–quadratic regulator formulas, we convert it to a constrained projection gradient-based optimization problem, which can be efficiently solved by direct computation of projection gradient and line search of optimal step length. A fast convergence of parameters is achieved after first several iterations. Through a series of comparative experiments, the effectiveness of the proposed method is validated.
