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  Subjects -> ENGINEERING (Total: 1963 journals)
    - CHEMICAL ENGINEERING (151 journals)
    - CIVIL ENGINEERING (149 journals)
    - ELECTRICAL ENGINEERING (82 journals)
    - ENGINEERING (1120 journals)
    - ENGINEERING MECHANICS AND MATERIALS (290 journals)
    - HYDRAULIC ENGINEERING (45 journals)
    - INDUSTRIAL ENGINEERING (52 journals)
    - MECHANICAL ENGINEERING (74 journals)

ENGINEERING (1120 journals)            First | 2 3 4 5 6 7 8 9 | Last

International Journal of Intelligent Engineering Informatics     Hybrid Journal  
International Journal of Intelligent Systems and Applications in Engineering     Open Access   (Followers: 1)
International Journal of Lifecycle Performance Engineering     Hybrid Journal  
International Journal of Machine Tools and Manufacture     Hybrid Journal   (Followers: 4)
International Journal of Manufacturing Research     Hybrid Journal   (Followers: 7)
International Journal of Manufacturing Technology and Management     Hybrid Journal   (Followers: 9)
International Journal of Materials and Product Technology     Hybrid Journal   (Followers: 4)
International Journal of Mathematical Education in Science and Technology     Hybrid Journal   (Followers: 6)
International Journal of Mathematics in Operational Research     Hybrid Journal   (Followers: 1)
International Journal of Medical Engineering and Informatics     Hybrid Journal   (Followers: 5)
International Journal of Micro Air Vehicles     Full-text available via subscription   (Followers: 3)
International Journal of Microwave and Wireless Technologies     Hybrid Journal   (Followers: 1)
International Journal of Microwave Science and Technology     Open Access   (Followers: 2)
International Journal of Mobile Network Design and Innovation     Hybrid Journal   (Followers: 3)
International Journal of Multiphase Flow     Hybrid Journal   (Followers: 2)
International Journal of Nanomanufacturing     Hybrid Journal   (Followers: 1)
International Journal of Nanoscience     Hybrid Journal   (Followers: 1)
International Journal of Nanotechnology     Hybrid Journal   (Followers: 4)
International Journal of Navigation and Observation     Open Access   (Followers: 5)
International Journal of Network Management     Hybrid Journal  
International Journal of Nonlinear Sciences and Numerical Simulation     Full-text available via subscription   (Followers: 1)
International Journal of Numerical Methods for Heat & Fluid Flow     Hybrid Journal   (Followers: 7)
International Journal of Optics     Open Access   (Followers: 1)
International Journal of Organisational Design and Engineering     Hybrid Journal   (Followers: 8)
International Journal of Pattern Recognition and Artificial Intelligence     Hybrid Journal   (Followers: 6)
International Journal of Pavement Engineering     Hybrid Journal   (Followers: 2)
International Journal of Physical Modelling in Geotechnics     Hybrid Journal   (Followers: 3)
International Journal of Plasticity     Hybrid Journal   (Followers: 6)
International Journal of Plastics Technology     Hybrid Journal  
International Journal of Polymer Analysis and Characterization     Hybrid Journal   (Followers: 3)
International Journal of Polymer Science     Open Access   (Followers: 16)
International Journal of Precision Engineering and Manufacturing     Hybrid Journal   (Followers: 7)
International Journal of Precision Technology     Hybrid Journal  
International Journal of Pressure Vessels and Piping     Hybrid Journal   (Followers: 2)
International Journal of Production Economics     Hybrid Journal   (Followers: 10)
International Journal of Quality and Innovation     Hybrid Journal   (Followers: 2)
International Journal of Quality Engineering and Technology     Hybrid Journal   (Followers: 2)
International Journal of Quantum Information     Hybrid Journal  
International Journal of Rapid Manufacturing     Hybrid Journal   (Followers: 3)
International Journal of Reliability, Quality and Safety Engineering     Hybrid Journal   (Followers: 4)
International Journal of Renewable Energy Technology     Hybrid Journal   (Followers: 7)
International Journal of Robust and Nonlinear Control     Hybrid Journal   (Followers: 2)
International Journal of Science Engineering and Advance Technology     Open Access  
International Journal of Sediment Research     Full-text available via subscription   (Followers: 1)
International Journal of Self-Propagating High-Temperature Synthesis     Hybrid Journal   (Followers: 2)
International Journal of Signal and Imaging Systems Engineering     Hybrid Journal  
International Journal of Six Sigma and Competitive Advantage     Hybrid Journal  
International Journal of Social Robotics     Hybrid Journal   (Followers: 1)
International Journal of Software Engineering and Knowledge Engineering     Hybrid Journal   (Followers: 1)
International Journal of Space Science and Engineering     Hybrid Journal   (Followers: 2)
International Journal of Speech Technology     Hybrid Journal   (Followers: 2)
International Journal of Spray and Combustion Dynamics     Full-text available via subscription   (Followers: 5)
International Journal of Surface Engineering and Interdisciplinary Materials Science     Full-text available via subscription   (Followers: 1)
International Journal of Surface Science and Engineering     Hybrid Journal   (Followers: 7)
International Journal of Sustainable Engineering     Hybrid Journal   (Followers: 7)
International Journal of Sustainable Manufacturing     Hybrid Journal   (Followers: 4)
International Journal of Systems Assurance Engineering and Management     Hybrid Journal  
International Journal of Systems, Control and Communications     Hybrid Journal   (Followers: 2)
International Journal of Technology Management and Sustainable Development     Hybrid Journal   (Followers: 1)
International Journal of Technology Policy and Law     Hybrid Journal   (Followers: 4)
International Journal of Telemedicine and Applications     Open Access   (Followers: 2)
International Journal of Thermal Sciences     Hybrid Journal   (Followers: 4)
International Journal of Thermodynamics     Open Access   (Followers: 1)
International Journal of Turbo & Jet-Engines     Full-text available via subscription  
International Journal of Ultra Wideband Communications and Systems     Hybrid Journal  
International Journal of Vehicle Autonomous Systems     Hybrid Journal   (Followers: 1)
International Journal of Vehicle Design     Hybrid Journal   (Followers: 6)
International Journal of Vehicle Information and Communication Systems     Hybrid Journal   (Followers: 2)
International Journal of Vehicle Noise and Vibration     Hybrid Journal   (Followers: 3)
International Journal of Vehicle Safety     Hybrid Journal   (Followers: 4)
International Journal of Vehicular Technology     Open Access   (Followers: 1)
International Journal of Virtual Technology and Multimedia     Hybrid Journal   (Followers: 4)
International Journal of Wavelets, Multiresolution and Information Processing     Hybrid Journal  
International Journal on Artificial Intelligence Tools     Hybrid Journal   (Followers: 4)
International Nano Letters     Open Access   (Followers: 5)
International Review of Applied Sciences and Engineering     Full-text available via subscription  
Inverse Problems in Science and Engineering     Hybrid Journal   (Followers: 2)
Ionics     Hybrid Journal  
IPTEK The Journal for Technology and Science     Open Access  
IRBM News     Full-text available via subscription  
Ironmaking & Steelmaking     Hybrid Journal   (Followers: 2)
Irrigation and Drainage Systems     Hybrid Journal  
ISA Transactions     Full-text available via subscription  
ISRN - International Scholarly Research Notices     Open Access   (Followers: 69)
ISRN Nanotechnology     Open Access  
ISRN Signal Processing     Open Access  
ISRN Thermodynamics     Open Access  
IT Professional     Full-text available via subscription   (Followers: 2)
Journal of Biosensors & Bioelectronics     Open Access   (Followers: 1)
Journal of Advanced Manufacturing Systems     Hybrid Journal   (Followers: 8)
Journal of Aerosol Science     Hybrid Journal   (Followers: 2)
Journal of Aerospace Engineering     Full-text available via subscription   (Followers: 112)
Journal of Alloys and Compounds     Hybrid Journal   (Followers: 6)
Journal of Analytical and Applied Pyrolysis     Hybrid Journal   (Followers: 3)
Journal of Analytical Science & Technology     Open Access   (Followers: 4)
Journal of Analytical Sciences, Methods and Instrumentation     Open Access   (Followers: 1)
Journal of Applied Analysis     Full-text available via subscription  
Journal of Applied and Industrial Sciences     Open Access  
Journal of Applied Logic     Full-text available via subscription  
Journal of Applied Physics     Hybrid Journal   (Followers: 138)

  First | 2 3 4 5 6 7 8 9 | Last

Journal of Dynamic Systems, Measurement, and Control
   [9 followers]  Follow    
   Full-text available via subscription Subscription journal
     ISSN (Print) 1528-9028 - ISSN (Online) 0022-0434
     Published by ASME International Homepage  [25 journals]   [SJR: 0.701]   [H-I: 53]
  • Conceptual Design and Composition Principles Analysis of a Novel
           Collaborative Rectification Structure Pump
    • Authors: Li Y; Jiao Z, Yan L, et al.
      Abstract: In order to provide a solution of active rectification for linear pumps in pump control system, a novel collaborative rectification structure is conceptually designed in this paper. The fundamental subsystem is the direct drive pump cell (DDPC). A DDPC consists of a cylinder and a valve, and the piston rod and the valve spool are integrated together. The DDPC could be driven by a linear oscillating motor directly. The DDPC working process is logically modeled as a state machine. Certain theorems are given and proved to illustrate the composition principles of a pump system with collaborative rectification. The kinematic flow rate of the collaborative rectification pump is studied. According to the comparison to the existing linear pumps, the novel pump has more structure compactness and control flexibility.
      PubDate: Thu, 10 Jul 2014 00:00:00 GMT
       
  • Global Tracking Controller for Underactuated Ship via Switching Design
    • Authors: Wu Y; Zhang Z, Xiao N.
      Abstract: This paper studies the complete state tracking control of an underactuated ship with only two controls, namely, surge force and yaw moment. A novel finite-time switching controller is developed guaranteeing that the ship can track a reference trajectory generated by a virtual ship. The solution is based on the inherent cascaded interconnected structure of the ship dynamics. As opposed to the previous works, the assumptions used in this work are more relaxed in the sense that the reference surge and yaw velocities are allowed to be zero at the same time. Simulation results are given to serve the purpose of demonstrating and validating the proposed tracking methodology.
      PubDate: Thu, 10 Jul 2014 00:00:00 GMT
       
  • Robust Nonfragile Stabilizing Controller for an Uncertain Stochastic
           Nonlinear System With Interval Time-Varying State-Delays: Prescribed H
           ∞ Performance Level
    • Authors: Ramakrishnan KK; Ray GG.
      Abstract: In this technical brief, delay-dependent nonfragile H∞ control problem of a class of stochastic nonlinear systems with interval time-varying state-delays has been considered using Lyapunov–Krasovskii (LK) functional approach. By exploiting a candidate LK functional and using free-weighting matrix technique, a less conservative delay-dependent stabilization criterion is presented for the existence of a nonfragile memoryless state-feedback controller, which ensures stochastic stability as well as a prescribed H∞ performance level of the closed-loop system in the presence admissible parametric uncertainties in the system as well as in the controller gains and exogenous input signal. Since the resulting stabilization criterion is in terms of nonlinear matrix inequalities (NLMIs), it is solved using cone complementarity algorithm (CCA) to obtain a stabilizing controller. A numerical example is presented to illustrate the effectiveness of the proposed result.
      PubDate: Thu, 10 Jul 2014 00:00:00 GMT
       
  • Global Identification of Joint Drive Gains and Dynamic Parameters of
           Robots
    • Authors: Gautier M; Briot S.
      Abstract: Off-line robot dynamic identification methods are based on the use of the inverse dynamic identification model (IDIM), which calculates the joint forces/torques that are linear in relation to the dynamic parameters, and on the use of linear least squares technique to calculate the parameters (IDIM-LS technique). The joint forces/torques are calculated as the product of the known control signal (the input reference of the motor current loop) by the joint drive gains. Then it is essential to get accurate values of joint drive gains to get accurate estimation of the motor torques and accurate identification of dynamic parameters. The previous works proposed to identify the gain of one joint at a time using data of each joint separately. This is a sequential procedure which accumulates errors from step to step. To overcome this drawback, this paper proposes a global identification of the drive gains of all joints and the dynamic parameters of all links. They are calculated altogether in a single step using all the data of all joints at the same time. The method is based on the total least squares solution of an overdetermined linear system obtained with the inverse dynamic model calculated with available input reference of the motor current loop and joint position sampled data while the robot is tracking some reference trajectories without load on the robot and some trajectories with a known payload fixed on the robot. The method is experimentally validated on an industrial Stäubli TX-40 robot.
      PubDate: Thu, 10 Jul 2014 00:00:00 GMT
       
  • Nonlinear Modeling and Analysis of Direct Acting Solenoid Valves for
           Clutch Control
    • Authors: Walker PD; Zhu B, Zhang N.
      Abstract: The purpose of this paper is to develop a comprehensive nonlinear model of a typical direct acting solenoid valves utilized for clutch control in wet dual clutch transmissions. To do so, mathematical models of the integrated electrohydraulic solenoid valve and wet clutch piston assembly are developed in the Simulink environment of Matlab. Through simulation the operating characteristics of the control valve are analyzed, demonstrating that the valve achieves dual functionalities of high flow and accurate pressure control depending on demands. This is realized through the designed force balancing of the valve spool. The dependency of the system to system variables on input pressure and the influence of air content on dynamic response of the valve are investigated. The resilience of output pressure is demonstrated to these variables, indicating strong system reliability. Finally, the model is then validated using in situ experimental testing on a powertrain test rig. The comparison of experimental and simulated results for steady state pressure as well as step and ramp input responses demonstrate good agreement.
      PubDate: Thu, 10 Jul 2014 00:00:00 GMT
       
  • A Single Forward-Velocity Control Signal for Stochastic Source Seeking
           With Multiple Nonholonomic Vehicles
    • Authors: Frihauf P; Liu S, Krstic M.
      Abstract: With a single stochastic extremum seeking control signal, we steer multiple autonomous vehicles, modeled as nonholonomic unicycles, toward the maximum of an unknown, spatially distributed signal field. The vehicles, whose angular velocities are constant and distinct, travel at the same forward velocity, which is controlled by the stochastic extremum seeking controller. To determine the vehicles’ velocity, the controller uses measurements of the signal field at the respective vehicle positions and excitation based on filtered white noise. The positions of the vehicles are not measured. We prove local exponential convergence, both almost surely and in probability, to a small neighborhood near the source and provide a numerical example to illustrate the effectiveness of the algorithm.
      PubDate: Thu, 10 Jul 2014 00:00:00 GMT
       
  • Spark Ignition Feedback Control by Means of Combustion Phase Indicators on
           Steady and Transient Operation
    • Authors: Emiliano P.
      Abstract: In order to reduce fuel cost and CO2 emissions, modern spark ignition (SI) engines need to lower as much as possible fuel consumption. A crucial factor for efficiency improvement is represented by the combustion phase, which in an SI engine is controlled acting on the spark advance. This fundamental engine parameter is currently controlled in an open-loop by means of maps stored in the electronic control unit (ECU) memory: such kind of control, however, does not allow running the engine always at its best performance, since optimal combustion phase depends on many variables, like ambient conditions, fuel quality, engine aging, and wear, etc. A better choice would be represented by a closed-loop spark timing control, which may be pursued by means of combustion phase indicators, i.e., parameters mostly derived from in-cylinder pressure analysis that assume fixed reference values when the combustion phase is optimal. As documented in literature (Pestana, 1989, “Engine Control Methods Using Combustion Pressure Feedback,” SAE Paper No. 890758; BERU Pressure Sensor Glow Plug (PSG) for Diesel Engines, http://beru.federalmogul.com; Sensata CPOS SERIES—Cylinder Pressure Only Sensors, http://www.sensata.com/download/cpos.pdf; Malaczynski et al., 2013, “Ion-Sense-Based Real-Time Combustion Sensing for Closed-Loop Engine Control,” SAE Int. J. Eng., 6(1), pp. 267–277; Yoshihisa et al., 1988, “MBT Control Through Individual Cylinder Pressure Detection,” SAE Paper 881779; Powell, 1993, “Engine Control Using Cylinder Pressure: Past, Present, and Future,” J. Dyn. Syst., Meas. Control, 115, pp. 343–350; Muller et al., 2000, “Combustion Pressure Based Engine Management System,” SAE Paper 2000-01-0928; Yoon et al., 2000, “Closed-Loop Control of Spark Advance and Air-Fuel Ratio in SI Engines Using Cylinder Pressure,” SAE Paper 2000-01-0933; Eriksson, 1999, “Spark Advance Modeling and Control,” Dissertation N° 580, Linkoping Studies in Science and Technology, Linköping, Sweden; Samir et al., 2011, “Neural Networks and Fuzzy Logic-Based Spark Advance Control of SI Engines,” Expert Syst. Appl., 38, pp. 6916–6925; Cook et al., 1947, “Spark-Timing Control Based on Correlation of Maximum-Economy Spark Timing, Flame-Front Travel, and Cylinder Pressure Rise,” NACA Technical Note 1217; Bargende, 1995, “Most Optimal Location of 50% Mass Fraction Burned and Automatic Knock Detection,” MTZ, 10(56), pp. 632–638.), the use of combustion phase indicators allows the determination of the best spark advance, apart from any variable or boundary condition. The implementation of a feedback spark timing control, based on the use of these combustion phase indicators, would ensure the minimum fuel consumption in every possible condition. Despite the presence of many literature references on the use combustion phase indicators, there is no evidence of any experimental comparison on the performance obtainable, in terms of both control accuracy and transient response, by the use of such indicators in a spark timing feedback control. The author, hence, carried out a proper experimental campaign comparing the performances of a proportional-integral spark timing control based on the use of five different in-cylinder pressure derived indicators. The experiments were carried out on a bench test, equipped with a series production four cylinder spark ignition engine and an eddy current dynamometer, using two data acquisition (DAQ) systems for data acquisition and spark timing control. Pressure sampling was performed by means of a flush mounted piezoelectric pressure transducer with the resolution of one crank angle degree. The feedback control was compared to the conventional map based control in terms of response time, control stability, and control accuracy in three different kinds of tests: steady-state, step response, and transient operation. All the combustion phase indicators proved to be suitable for proportional-integral feedback spark advance control, allowing fast and reliable control even in transient operations.
      PubDate: Wed, 09 Jul 2014 00:00:00 GMT
       
  • Formation Control Protocols for Nonlinear Dynamical Systems Via Hybrid
           Stabilization of Sets
    • Authors: Haddad WM; Nersesov SG, Hui Q, et al.
      Abstract: In this paper, we develop a hybrid control framework for addressing multiagent formation control protocols for general nonlinear dynamical systems using hybrid stabilization of sets. The proposed framework develops a novel class of fixed-order, energy-based hybrid controllers as a means for achieving cooperative control formations, which can include flocking, cyclic pursuit, rendezvous, and consensus control of multiagent systems. These dynamic controllers combine a logical switching architecture with the continuous system dynamics to guarantee that a system generalized energy function whose zero level set characterizes a specified system formation is strictly decreasing across switchings. The proposed approach addresses general nonlinear dynamical systems and is not limited to systems involving single and double integrator dynamics for consensus and formation control or unicycle models for cyclic pursuit. Finally, several numerical examples involving flocking, rendezvous, consensus, and circular formation protocols for standard system formation models are provided to demonstrate the efficacy of the proposed approach.
      PubDate: Wed, 09 Jul 2014 00:00:00 GMT
       
  • Design and Simulation of Pressure Coordinated Control System for Hybrid
           Vehicle Regenerative Braking System
    • Authors: Yang Y; Zou J, Yang YY, et al.
      Abstract: In order to solve the limitations and complexity of a pressure coordinated control system for hybrid regenerative braking, a new pressure coordinated control system applicable for a regenerative braking system of hybrid electric vehicles is proposed in this paper based on an appropriate transformation on a traditional hydraulic braking system equipped with an antilock braking system (ABS). The system can realize regenerative braking and traditional ABS braking simultaneously. It also has greatly improved driver's brake pedal feel. The system model has been simulated and analyzed based on AMESim-simulink cosimulation. The simulation results show the effectiveness and feasibility of the system, which lay the foundation for design and optimization of the regenerative braking system.
      PubDate: Wed, 09 Jul 2014 00:00:00 GMT
       
  • Optimal Decoupled Disturbance Observers for Dual-Input Single-Output
           Systems
    • Authors: Chen X; Tomizuka M.
      Abstract: The disturbance observer (DOB) has been a popular robust control approach for servo enhancement in single-input single-output systems. This paper presents a new extension of the DOB idea to dual- and multi-input single-output systems, and discusses an optimal filter design technique for the related loop-shaping. The proposed decoupled disturbance observer (DDOB) provides the flexibility to use the most suitable actuators for compensating disturbances with different spectral characteristics. Such a generalization is helpful, e.g., for modern dual-stage hard disk drives, where enhanced servo design is becoming more and more essential in the presence of vibration disturbances.
      PubDate: Wed, 09 Jul 2014 00:00:00 GMT
       
  • Observer Design for Axial Flow Compressor
    • Authors: Gao X; Huang T, Huang Y, et al.
      Abstract: Flow disturbance is the main cause which leads to the instability occurred in aero-engines, and it is an infinite-dimensional quantity that is impossible for a direct online measurement in reality. The unstable flow not only results in a drastic pressure reduction but also can damage to engine's components during the compressor operations. In this paper, we construct a local state observer which can deliver the full information of the flow disturbance by only sensing on an arbitrarily small area at the duct entrance in terms of averaging the flow disturbance, which provides a practical approach for real applications. The proposed observer makes possible in applications by using a feedback control to stabilize the system. The convergent gain is obtained through the approach of operator spectrum theory. Numerical simulations are provided to illustrate the effectiveness of the proposed observer by showing typical types of flow situations for aero-engine compressors.
      PubDate: Wed, 09 Jul 2014 00:00:00 GMT
       
  • Minimum Energy Control of Redundant Linear Manipulators
    • Authors: Halevi Y; Carpanzano E, Montalbano G.
      Abstract: In redundant manipulation systems, the end-effector path does not completely determine the trajectories of all the individual degrees of freedom (dof) and the additional dofs can be used to enhance the performance in some sense. The paper deals with utilizing the redundancy to minimize energy consumption. A full linear electromechanical model is used, and the exact energy consumption is calculated. The optimization includes also displacement limits via penalty functions that are included in the cost function. The optimal trajectory is feasible in the sense that it can be obtained by a finite input voltage and all the velocities are continuous. The solution is based on projections that separate the system and the input into two parts. One that is completely determined by the end-effector path and the other that is free for optimization. The important and delicate issue of boundary conditions is resolved accordingly. Simulation results show that redundancy, even with limited joint motion, can lead to a considerable reduction in energy consumption.
      PubDate: Wed, 09 Jul 2014 00:00:00 GMT
       
  • A Controller Framework for Autonomous Drifting: Design, Stability, and
           Experimental Validation
    • Authors: Hindiyeh RY; Christian Gerdes JJ.
      Abstract: This paper presents the development of a controller for autonomous, steady-state cornering with rear tire saturation (“drifting”) of a rear wheel drive vehicle. The controller is designed using a three-state vehicle model intended to balance simplicity and sufficient model fidelity. The model has unstable “drift equilibria” with large rear drive forces that induce deep rear tire saturation. The rear tire saturation at drift equilibria reduces vehicle stability but enables “steering” of the rear tire force through friction circle coupling of rear tire forces. This unique stability–controllability tradeoff is reflected in the controller design, through novel usage of the rear drive force for lateral control. An analytical stability guarantee is provided for the controller through a physically insightful invariant set around a desired drift equilibrium when operating in closed-loop. When implemented on a by-wire testbed, the controller achieves robust drifts on a surface with highly varying friction, suggesting that steady cornering with rear tire saturation can prove quite effective for vehicle trajectory control under uncertain conditions.
      PubDate: Wed, 09 Jul 2014 00:00:00 GMT
       
  • Projected Phase-Plane Switching Curves for Vibration Reduction Filters
           With Negative Amplitudes
    • Authors: Dhanda A.
      Abstract: In this paper, we extend the phase-plane based closed-loop scheme of implementing commands shaped with vibration-reduction filters. A generalized shaping filter is considered in this work which can have negative impulse intensities and different acceleration and deceleration limits. Switching conditions are derived in terms of the filter parameters for both convolution-based and closed-form based shaping techniques. Analytical expressions are provided for the switching curves and various schemes are discussed for selecting appropriate phase-planes and implementing shaped-commands on real-time servomechanisms.
      PubDate: Wed, 09 Jul 2014 00:00:00 GMT
       
  • On Constrained and Energy Efficient Balance Control of a Standing Biped:
           Experimentation and Stability Analysis
    • Authors: Sun Y; Alghooneh M, Sun Y, et al.
      Abstract: Balancing control is important for biped standing. In spite of large efforts, it is very difficult to design balancing control strategies satisfying three requirements simultaneously: maintaining postural stability, improving energy efficiency, and satisfying the constraints between the biped feet and the ground. To implement such a control, inclusion of the actuators' dynamics is necessary, which complicates the overall system, obstructs the control design, and makes stability analysis more difficult. In this paper, a constrained balancing control meeting all three requirements is designed for a standing bipedal robot. The dynamics of the selected actuators has been considered for developing the motion equations of the overall control system, which has usually been neglected in simulations. In addition, stability analysis of such a complex biped control system has been provided using the concept of Lyapunov exponents (LEs), which shows the significance of actuators' dynamics on the stability region. The paper contributes to balancing standing biped in both the theoretical and the practical sense.
      PubDate: Wed, 09 Jul 2014 00:00:00 GMT
       
  • Discussion: “A Simple Switching Control for Linear Systems to Assure
           Nonovershooting Step Responses” (Zhu, B., and Cai, K. Y., 2012, ASME
           J. Dyn. Syst. Meas., Control, 134, p. 034503)
    • Authors: Schmid R.
      Abstract: This paper offers some comments on the article by Zhu and Cai (2012, “A Simple Switching Control for Linear Systems to Assure Nonovershooting Step Responses,” ASME J. Dyn. Syst. Meas., Control, 134, p. 034503). The authors offered a nonlinear switching scheme to obtain a nonovershooting step response from a linear plant, and motivated their method by showing that no linear Proportional-Integral-Derivative (PID) controller could achieve a nonovershooting response for a plant in the form of a triple integrator. In this paper, we show via an example that a linear state feedback controller in conjunction with a Luenberger observer can be found to achieve a nonovershooting response for a triple integrator.
      PubDate: Wed, 09 Jul 2014 00:00:00 GMT
       
  • Innovative Active Vehicle Safety Using Integrated Stabilizer Pendulum and
           Direct Yaw Moment Control
    • Authors: Goodarzi A; Diba F, Esmailzadeh E.
      Abstract: Basically, there are two main techniques to control the vehicle yaw moment. First method is the indirect yaw moment control, which works on the basis of active steering control (ASC). The second one being the direct yaw moment control (DYC), which is based on either the differential braking or the torque vectoring. An innovative idea for the direct yaw moment control is introduced by using an active controller system to supervise the lateral dynamics of vehicle and perform as an active yaw moment control system, denoted as the stabilizer pendulum system (SPS). This idea has further been developed, analyzed, and implemented in a standalone direct yaw moment control system, as well as, in an integrated vehicle dynamic control system with a differential braking yaw moment controller. The effectiveness of SPS has been evaluated by model simulation, which illustrates its superior performance especially on low friction roads.
      PubDate: Wed, 09 Jul 2014 00:00:00 GMT
       
  • H ∞ and Sliding Mode Observers for Linear Time-Invariant
           Fractional-Order Dynamic Systems With Initial Memory Effect
    • Authors: Lee S; Li Y, Chen Y, et al.
      Abstract: The H∞ and sliding mode observers are important in integer-order dynamic systems. However, these observers are not well explored in the field of fractional-order dynamic systems. In this paper, the H∞ filter and the fractional-order sliding mode unknown input observer are developed to estimate state of the linear time-invariant fractional-order dynamic systems with consideration of proper initial memory effect. As the first result, the fractional-order H∞ filter is introduced, and it is shown that the gain from the noise to the estimation error is bounded in the sense of the H∞ norm. Based on the extended bounded real lemma, the H∞ filter design is formulated in a linear matrix inequality form, and it will be seen that numerical methods to solve convex optimization problems are feasible in fractional-order systems (FOSs). As the second result of this paper, not only state but also unknown input disturbance are estimated by fractional-order sliding-mode unknown input observer, simultaneously. In this paper, it is shown that the design and stability analysis of the two estimation techniques are not related with the initial history. Through two numerical examples, the performance of the fractional-order H∞ filter and the fractional-order sliding-mode observer is illustrated with consideration of the initialization functions.
      PubDate: Wed, 09 Jul 2014 00:00:00 GMT
       
  • Adaptive Tracking in Mobile Robots With Input-Output Linearization
    • Authors: Raimúndez C; Villaverde AF, Barreiro A.
      Abstract: This paper presents a neural network adaptive controller for trajectory tracking of nonholonomic mobile robots. By defining a point to follow (look-ahead control), the path-following problem is solved with input-output linearization. A computed torque plus derivative (PD) controller and a dynamic inversion neural network controller are responsible for reducing tracking error and adapting to unmodeled external perturbations. The adaptive controller is implemented through a hidden layer feed-forward neural network, with weights updated in real time. The stability of the whole system is analyzed using Lyapunov theory, and control errors are proven to be bounded. Simulation results demonstrate the good performance of the proposed controller for trajectory tracking under external perturbations.
      PubDate: Wed, 09 Jul 2014 00:00:00 GMT
       
  • Robust Adaptive Tracking Control of Autonomous Underwater
           Vehicle-Manipulator Systems
    • Authors: Santhakumar M; Kim J.
      Abstract: This paper proposes a new tracking controller for autonomous underwater vehicle-manipulator systems (UVMSs) using the concept of model reference adaptive control. It also addresses the detailed modeling and simulation of the dynamic coupling between an autonomous underwater vehicle and manipulator system based on Newton–Euler formulation scheme. The proposed adaptation control algorithm is used to estimate the unknown parameters online and compensate for the rest of the system dynamics. Specifically, the influence of the unknown manipulator mass on the control performance is indirectly captured by means of the adaptive control scheme. The effectiveness and robustness of the proposed control scheme are demonstrated using numerical simulations.
      PubDate: Thu, 12 Jun 2014 00:00:00 GMT
       
  • Modeling and Experimental Validation of the Effective Bulk Modulus of a
           Mixture of Hydraulic Oil and Air
    • Authors: Gholizadeh H; Bitner D, Burton R, et al.
      Abstract: It is well known that the presence of entrained air bubbles in hydraulic oil can significantly reduce the effective bulk modulus of hydraulic oil. The effective bulk modulus of a mixture of oil and air as pressure changes is considerably different than when the oil and air are not mixed. Theoretical models have been proposed in the literature to simulate the pressure sensitivity of the effective bulk modulus of this mixture. However, limited amounts of experimental data are available to prove the validity of the models under various operating conditions. The major factors that affect pressure sensitivity of the effective bulk modulus of the mixture are the amount of air bubbles, their size and the distribution, and rate of compression of the mixture. An experimental apparatus was designed to investigate the effect of these variables on the effective bulk modulus of the mixture. The experimental results were compared with existing theoretical models, and it was found that the theoretical models only matched the experimental data under specific conditions. The purpose of this paper is to specify the conditions in which the current theoretical models can be used to represent the real behavior of the pressure sensitivity of the effective bulk modulus of the mixture. Additionally, a new theoretical model is proposed for situations where the current models fail to truly represent the experimental data.
      PubDate: Thu, 12 Jun 2014 00:00:00 GMT
       
  • An Indirect Adaptive Velocity Controller for a Novel Steer-by-Wire System
    • Authors: Daher N; Ivantysynova M.
      Abstract: Increased environmental awareness and skyrocketing fuel prices have pressed researchers and engineers to find energy efficient alternatives to traditional approaches. A novel steer-by-wire technology, which is based on pump displacement control actuation, has been proposed by the authors and was shown to improve the fuel efficiency of a wheel loader steering system by 43.5%. Building on this realization, the work in this paper deals with designing an adaptive velocity controller, which takes the form of an indirect self-tuning regulator that has the facility to cope with parametric uncertainties and uncertain nonlinearities associated with hydraulically actuated systems. The indirect self-tuning regulator algorithm is selected given that the uncertain plant parameters are estimated in the process, which is a useful byproduct that gives insight into system properties that will be considered in future investigation. Furthermore, a discrete adaptive control law with low computational cost is required for the application on hand. The designed self-tuning regulator and the estimation algorithm were validated in numerical simulations as well as experimentally on a designated prototype test vehicle, demonstrating the effectiveness of the proposed adaptive scheme in the face of uncertainties. The controller was able to adapt to varying load mass and inertia, which correlate to varying operating conditions that influence the system dynamics. Hence, besides offering improved fuel efficiency, the new steering technology also results in smarter machines.
      PubDate: Thu, 12 Jun 2014 00:00:00 GMT
       
  • Investigation of Local Stability Transitions in the Spectral Delay Space
           and Delay Space
    • Authors: Gao Q; Zalluhoglu U, Olgac N.
      Abstract: The stability boundaries of LTI time-delayed systems with respect to the delays are studied in two different domains: (i) delay space (DS) and (ii) spectral delay space (SDS), which contains pointwise frequency information as well as the delay. SDS is the preferred domain due to its advantageous boundedness properties and simple construct of stability transition boundaries. These transitions at the mentioned boundaries, however, present some conceptual challenges in SDS. This transition property enables us to extract the corresponding local stability variation properties in the DS, while it does not have any implication in the preferred SDS. The novel aspect of the investigation is to introduce a comparison mechanism between these two domains, DS and SDS, from the stability transition perspective. Interestingly, we are able to prove their equivalency, which provides complementary insight to the parametric stability variations.
      PubDate: Thu, 12 Jun 2014 00:00:00 GMT
       
  • Extended Kalman Filter Based In-Cylinder Temperature Estimation for Diesel
           Engines With Thermocouple Lag Compensation
    • Authors: Chen S; Yan F.
      Abstract: The in-cylinder temperature information is critical for auto-ignition combustion control in diesel engines, but difficult to be directly accessed at low cost in production engines. Through investigating the thermodynamics of Tivc, cycle-by-cycle models are proposed in this paper for the estimation of in-cylinder temperature at the crank angle of intake valve closing (IVC), referred to as Tivc. An extended Kalman filter (EKF) based method was devised by utilizing the measurable temperature information from the intake and exhaust manifolds. Due to the fact that measured temperature signals by typical thermocouples have slow responses which can be modeled as first-order lags with varying time-constants, temperature signals need to be reconstructed in transient conditions. In the proposed EKF estimation method, this issue can be effectively addressed by analyzing the measurement errors and properly selecting the noises covariance matrices. The proposed estimation method was validated through a high-fidelity GT-power engine model.
      PubDate: Thu, 12 Jun 2014 00:00:00 GMT
       
  • Minimum Time Kinematic Motions of a Cartesian Mobile Manipulator for a
           Fruit Harvesting Robot
    • Authors: Mann MP; Zion B, Rubinstein D, et al.
      Abstract: This paper describes an analytical procedure to calculate the time-optimal trajectory for a mobile Cartesian manipulator to traverse between any two fruits it picks up it. The goal is to minimize the time required from the retrieval of one fruit to that of the next while adhering to velocity, acceleration, location, and endpoint constraints. This is accomplished using a six stage procedure, based on Bellman's Principle of Optimality and nonsmooth optimization that is completely analytical and requires no numerical computations. The procedure sequentially calculates all relevant parameters, from which side of the mobile platform to place the fruit on to the velocity profile and drop-off point, that yield a minimum time trajectory. In addition, it provides a time window under which the mobile manipulator can traverse from any fruit to any other, which can be used for a globally optimal retrieving sequence algorithm.
      PubDate: Thu, 12 Jun 2014 00:00:00 GMT
       
  • A Systematic Approach for Dynamic Analysis of Vehicles With Eight or More
           Speed Automatic Transmission
    • Authors: Lee S; Zhang Y, Jung D, et al.
      Abstract: In this study, a dynamic model of a vehicle with eight or more speed automatic transmission (A/T) has been developed for the analysis of shift quality and dynamic behavior of the vehicle during shift events. Subsystem models for engine, torque converter, automatic transmission, drivetrain, transmission control unit (TCU), and vehicle are developed and integrated with signal information interface. The subsystems included in the model were carefully selected to improve the accuracy of the model by comparing the simulation results with the test data. The systematic modeling approach based on matrix operation proposed in the study enables calibrating and fine-tuning the transmission control unit for shift quality in a virtual vehicle environment. The model presented in the study is validated with the vehicle test data and the comparison shows very good agreement. This paper presents a generalized modeling methodology for multiratio automatic transmissions that require both direct and indirect shifts. The model developed in the study provides a valuable analytical tool for the calibration and tuning of the transmission control unit by allowing quantitative analysis on the dynamic behavior and the performance metrics of an automatic transmission.
      PubDate: Thu, 12 Jun 2014 00:00:00 GMT
       
  • Noise Induced Loss of Tracking in Systems With Saturating Actuators and
           Antiwindup
    • Authors: Eun Y; Hamby ES.
      Abstract: This technical note is devoted to a recently discovered phenomenon that takes place in feedback systems with saturating actuators, proportional-integral (PI) control, and antiwindup. Namely, in such systems, measurement noise induces steady-state error in step tracking, which is incompatible with the standard error coefficients. We quantify this phenomenon using stochastic averaging theory and show that the noise induced loss of tracking occurs only if antiwindup is present. An indicator that predicts this phenomenon is derived, and a rule-of-thumb, based on this indicator, is formulated. An illustration using a digital printing device is provided.
      PubDate: Wed, 28 May 2014 00:00:00 GMT
       
  • An Adjustable Model Reference Adaptive Control for a Time Delay System
    • Authors: Khoshnood AM.
      Abstract: Current developments in signal processing tools for hardware and software applications have led to employment of these approaches for vibration control in flexible structures. The main challenge of this method is the delay directly generated from the processing in the closed-loop of the vibration control system. This delay causes considerable degradation of the stability of the dynamic system. This study uses the Smith predictor (SP) of common time delay systems to propose an adjustable model reference, where the delay generated from the signal processing block is compensated for vibration control. The vibration control system based on signal processing is applied on a flexible launch vehicle in which the bending vibration modes are modeled as undesirable sinusoidal signals. The results of a numerical simulation of a linear model of the vehicle with the adjustable model reference adaptive system show that the delay in the closed-loop control system is adequately compensated. This approach allows the use of the signal processing tools for vibration analysis and control without substantial delay.
      PubDate: Wed, 28 May 2014 00:00:00 GMT
       
  • Two Degree of Freedom Control Synthesis With Applications to Agricultural
           Systems
    • Authors: Xie Y; Alleyne A.
      Abstract: This paper presents a two degree of freedom (DOF) controller for combine harvester header height control (HHC). Fundamental limitations to the tracking and disturbance rejection bandwidth for feedback control designs exist in the HHC system due to the considerable actuator delay and underactuated and noncollocated mechanical design. In this work, we utilize H∞ optimal control design to ensure closed-loop stability and robust performance, and augment the feedback loop with a feedforward control structure based on readily available global positioning system (GPS) information. The GPS provides anticipatory information of the field map elevation; albeit with noise, resolution limits, and latency. The elevation changes result in disturbances to the header height control problem and the feedforward controller uses the knowledge of the field to increase the overall disturbance rejection bandwidth. Simulation and experimental results illustrate the performance improvements resulting from the 2-DOF design over the stand alone feedback controller, which removes a long standing obstacle in increasing the harvesting productivity. Additionally, an error analysis examines the effect of uncertainties from system modeling and field map measurements on the system performance.
      PubDate: Wed, 28 May 2014 00:00:00 GMT
       
  • Teleoperation Systems Design Using Singular Perturbation Method and
           Sliding Mode Controllers
    • Authors: Ganjefar S; Sarajchi M, Mahmoud Hoseini SS.
      Abstract: The purpose of designing a controller for a teleoperation system is to achieve stability and optimal operation in the presence of factors such as time-delay, system disturbance, and modeling errors. This paper proposes a new method of controller design based on singular perturbation for the bilateral teleoperation of robots through Internet. This study provides sliding mode controller based on the singular perturbation model which is robust on time-varying delay. Using singular perturbation method, the teleoperation system is decomposed into fast and slow subsystems. Teleoperation systems usually have complex dynamic and controller designing is difficult for them. This method is a novel step toward reducing order modeling. In this paper, teleoperation system dynamic was decomposed into two states, slave and error (different from master and slave) and a sliding mode controller was designed for each state. Despite the communication channel in teleoperation systems, it is difficult and almost impossible to design controller based on full-order system. Therefore, many researchers have focused on controller design based on master and slave subsystems. This study shows that the singular perturbation is a proper method for controller design in master or slave, based on slave and error subsystem models with the effect on the total system. It is intended here to reduce the tracking error between the master and the slave. For different values of time-delay, the positions of master-slave were compared. This comparison was also applied for master and slave control signals based on singular perturbation. In all schemes, the effectiveness of the system was shown through simulations and comparisons between the various schemes were presented.
      PubDate: Thu, 22 May 2014 00:00:00 GMT
       
  • An Analytical Study of Dynamic Characteristics of Multi-Story Timoshenko
           Planar Frame Structures
    • Authors: Mei CC.
      Abstract: This paper concerns in-plane vibration analysis of coupled bending and longitudinal vibrations in multi-story planar frame structures based on the advanced Timoshenko bending theory. It takes into account the effects of both rotary inertia and shear distortion. A wave based vibration analysis approach is proposed. From a wave vibration standpoint, vibrations propagate along a uniform waveguide (or structural element), and are reflected and transmitted at discontinuities (such as joints and boundaries). Reflection matrices at various boundaries, as well as transmission and reflection matrices at joint discontinuities are derived. Natural frequencies of coupled bending and longitudinal in-plane vibrations are obtained by assembling these propagation, reflection, and transmission matrices. Numerical examples are presented along with comparisons to results available in literature. The examples show good agreement with the results presented in the available literature.
      PubDate: Mon, 19 May 2014 00:00:00 GMT
       
  • System Identification and Control Design of Vapor Compression Cycle
           Systems
    • Authors: Mahmoud MS; Baig MH.
      Abstract: In vapor compression cycle (VCC) systems, it is desirable to control the thermodynamic cycle effectively by controlling the thermodynamic states of the refrigerant. By controlling the thermodynamic states with an inner loop, supervisory algorithms can manage critical functions and objectives such as maintaining superheat and maximizing the coefficient of performance. This paper describes a novel two-stage control system design, in which the first stage considers the application of system identification techniques to obtain models using experimental data of a vapor compression plant. Several models were identified, wherein the output parameters within each model shared the same inputs and the one picked up for control design has the largest level of fitness. In the second stage, a set of improved control methods are implemented to design controllers for thermodynamic states of the VCC system based on the identified models. The methods include a new linear matrix inequality (LMI)-based guaranteed control, H∞ controller, Kalman filter and the Linear Quadratic Gaussian Regulator (LQGR). The ensuing results of typical simulation on a lab-scale vapor compression plant have illustrated the effectiveness of the developed approach.
      PubDate: Mon, 19 May 2014 00:00:00 GMT
       
  • Compound Velocity Synchronizing Control Strategy for Electro-Hydraulic
           Load Simulator and Its Engineering Application
    • Authors: Han S; Jiao Z, Yao J, et al.
      Abstract: An electro-hydraulic load simulator (EHLS) is a typical case of torque systems with strong external disturbances from hydraulic motion systems. A new velocity synchronizing compensation strategy is proposed in this paper to eliminate motion disturbances, based on theoretical and experimental analysis of a structure invariance method and traditional velocity synchronizing compensation controller (TVSM). This strategy only uses the servo-valve's control signal of motion system and torque feedback of torque system, which could avoid the requirement on the velocity and acceleration signal in the structure invariance method, and effectively achieve a more accurate velocity synchronizing compensation in large loading conditions than a TVSM. In order to facilitate the implementation of this strategy in engineering cases, the selection rules for compensation parameters are proposed. It does not rely on any accurate information of structure parameters. This paper presents the comparison data of an EHLS with various typical operating conditions using three controllers, i.e., closed loop proportional integral derivative (PID) controller, TVSM, and the proposed improved velocity synchronizing controller. Experiments are conducted to confirm that the new strategy performs well against motion disturbances. It is more effective to improve the tracking accuracy and is a more appropriate choice for engineering applications.
      PubDate: Mon, 12 May 2014 00:00:00 GMT
       
  • Bilateral Control and Stabilization of Asymmetric Teleoperators With
           Bounded Time-Varying Delays
    • Authors: Hilliard T; Pan Y.
      Abstract: A novel control scheme for asymmetric bilateral teleoperation systems is developed based on linear models of the hardware, with considerations in the existence of communication time delays. The master and slave manipulators were modeled as linear single degree of freedom systems. The human user force was modeled based on the band limited availability of human motion, and the environmental force was modeled as a spring and damper combination based on the slave position. The configuration of the whole system represents a relatively general framework for the teleoperation systems. The main contribution of the work can be concluded as follows. First to deal with asymmetric systems in teleoperation, an impedance matching approach was applied to the master side dynamics, while a static error feedback gain was used to stabilize the slave side dynamics. Second, in the existence of bounded random time-varying delays, approaches and techniques based on the Lyapunov method proposed for network controlled systems are now proposed for bilateral teleoperation systems. Specifically, a Lyapunov functional is proposed with consideration for the upper and lower bound of random delays. Linear matrix inequality (LMI) techniques are used with rigorous stability proof to design the slave side controller control gains. Furthermore, the cone complementarity algorithm is used to deal with nonlinear terms within the LMI under the new formulation. Finally, the applications of the proposed algorithm to haptic devices are described thoroughly, and experimental results with comparisons to simulation results are demonstrated to show the effectiveness of the proposed approach.
      PubDate: Mon, 12 May 2014 00:00:00 GMT
       
 
 
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