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This paper proposes a novel rotor angular position estimation method based on self-inductance rectangle for doubly salient electro-magnetic motor (DSEM). It starts with injecting three test voltage pulses A+C-, B+A- and C+B-with the same width in order. At the end of each test pulse, the response currents iac, iba and icb are sampled and detected to identify the two-phase series inductances Lac, L...
This study presents an intelligent hybrid energy management system for electric scooters. The proposed power distribution approach is controlled by a bi-directional converter. The management system is designed according to the property of the battery, supercapacitor, and motion control requirements. The proposed approach keeps the battery working in an effective zone and hence extends the lifespan...
This paper presents a new variable admittance control scheme for improving physical human-robot interaction. For achieving effective assistance, an intuitive cooperation must be achieved by the human operator, in which the detection of the human inference is required. The proposed controller employs a new algorithm for inferring human intention, i.e., acceleration or deceleration, by monitoring the...
Adaptive Neural Fractional Order Proportional Integral Derivative (FOPID) controller is designed to control a missile using Proportional Navigation Guidance PNG system. The proposed FOPID controller is intended to improve the performance of PNG system in terms of miss distance accuracy and stability. A new tuning procedure has been proposed by applying hybrid neural genetic algorithm in order to align...
This paper considers speed estimation for contactless electromagnetic (EM) encoder system with a moving read-head and spatially periodic placed reflectors. We first introduce a new signal model to capture reflected signals from these spatially periodic placed reflectors. Then an instantaneous phase-based speed estimator is proposed by using the phase unwrapping technique followed by a nonlinear least...
This paper presents a virtual sensor to estimate the vertical tire forces timely and accurately using Linear Kalman Filtering and Adaptive Neuro-Fuzzy Inference Systems (ANFIS). Specifically, the suspension dynamics are captured from suspension deflection and vertical acceleration measurements, while the suspension damping, elastic, and kinematic characteristics are approximated by ANFIS models. The...
In contrast to precise position control of the robot arms and manipulators, the force control has been studied recently. The robust position control does not allow the robots to share the same space with humans because the robots faithfully follow the position command, and it may lead to break the contacted environments. The impedance and compliance control could set impedances of robots so that the...
In-circuit tests play a key role in manufacturing electronic devices with a high level of reliability. One of the most flexible technology for the tests is based on flying probes, in which a set of conductive needles is automatically positioned on multiple test points of the device under test. The probes are controlled at high speed within the working space, to increase the production rate, Position...
This paper proposes a controller design approach to achieve the high reproducibility of earthquake acceleration waveforms in multi-axis shaking table systems. The target shaking table system has an shaking mechanism to excite vibrations in multiple directions, where the cooperation control of each actuator is required to realize precise table motion. In order to conduct an accurate seismic test using...
A cruise control strategy of electric automobile was investigated by means of hierarchical control architecture in this paper, which can comprehensively address issues of tracking capability and driver longitudinal ride comfort. As an actor of driver, the upper controller gives optimal acceleration depending on the actual speed received and the desired value preset by driver. Lower controller compensates...
To study the failure mechanism of LED driver and predict the life of it, this paper analyzes the LED driver possible failure forms and the causes which make the driver fail. Three accelerated life model are introduced in this paper and how to get the parameter is discussed. LED diver high accelerated life testing platform is built to test the sample driver life and get the parameter in the accelerated...
This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and...
This paper proposes a new continuous terminal sliding mode guidance law for three-dimensional missile guidance system under maneuvering target with consideration of second-order autopilot dynamics. The proposed guidance law not only guarantees the azimuth rate and elevation rate of guidance system converge to zero in finite time but also ensures the continuity of control action. Simulations of a practical...
In this paper, to achieve the fault-tolerant capability for redundant manipulators, a dimension-reduction method is presented and investigated at the joint-acceleration level. By incorporating such a dimension-reduction method and the limits of joint angle, joint velocity as well as joint acceleration (i.e., the physical constraints on joints), an acceleration fault-tolerant scheme for redundant manipulator...
Nowadays, hybrid electric vehicles are becoming a major trend of future vehicle industry due to emission reduction and energy conversation requirements. As a key technology, the related energy management strategy is one of the research focus for the purpose of prolonging battery life and increasing the vehicle endurance. This paper proposed a fuzzy control based energy management strategy for precise...
Wireless bilateral control based haptic teleoperation is a potential and challenging technique that extends human beings' sensing to a remote environment. However, communication delay in a bilateral control system directly influences the performance and even produces instability. This paper presents a stable and high performance bilateral control with a switching algorithm. This proposal uses the...
Precise force control and position control is essential for many robotic applications. During unilateral or bilateral object handling remote applications, human operators apply excess forces on the actuators with the intention of better grip and it is possible to damage the handled objects. This paper proposes position control and force control techniques when human applies excess force. The controllers...
This paper proposes the improvement method of operability in a bilateral control by using visual information. The bilateral control system consists of a master system which is manipulated by the operator and a slave system which contacts remove environment. Considering the actual use of the bilateral control, the operator manipulates the master system while watching the visual information from the...
In the world is about one billion of disabled people. About one third of these people are people with mobility or movements impairments. For most part of people, high precision prosthetic devices with neural control and feedback are very expensive. Almost all average price prosthetic devices have visual feedback system, which loads user vision. To solve these two problems decided develop prosthetic...
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