International Journal of Mechatronics and Automation
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International Journal of Mechatronics and Automation (3 papers in press)
A Comparative Study for Balancing and Positioning of an Inverted Pendulum Robot Using Model-Based Controllers by Jasem Tamimi Abstract: This paper presents a comparison between four control approaches to solve the problem of balancing and positioning of the inverted pendulum robot (IPR). These control approaches are proportional-integral-derivative (PID), linear quadratic tracker (LQT), linear model predictive control (LMPC) and nonlinear model predictive control (NMPC). The first three approaches directly depend on the linear control theory and thus on the dynamic linearization around the stationary point. However, the last control approach depends on the original nonlinear dynamics, therefore, a superior control performance is obtained here.
In this study, we test the IPR using these control approaches. In particular, these control approaches are simulated using Simulink/Matlab dedicated toolboxes like optimal control toolbox and MPC toolbox to test the linear control approach, in addition, a combined multiple shooting with collocation on finite elements method for nonlinear approach. Moreover, some of these scenarios are tested experimentally using a simple lab-made prototype. Keywords: Inverted pendulum robot. Balancing inverted pendulum. Linear/Nonlinear model predictive control.
Automation of single cell surgery in real-time using a vision-based control system
by Armin Eshaghi, James K. Mills Abstract: Micromanipulation of biological cells is a challenging task that requires levels of precision and repeatability which are difficult to achieve by most human operators. Automation of these processes presents an alternative approach which is capable of high precision task execution and much higher throughput, yet with its own limitations. In this paper, we propose automation methods for the image-based visual servo control feedback and tracking of both blastomeres motion and the motion of micromanipulators, in real-time, for blastomere microinjection. An automation procedure is developed for the microinjection or blastomere biopsy of an early stage embryonic cell. These steps involve blastomere z-stack image acquisition, blastomere feature detection (x, y, z) location, and real-time image-based visual servo control of micropipettes to hold and immobilise the embryo while a micropipette injects or
biopsies the blastomere. Experimental results demonstrate acceptable precision evels while performing automation procedure in real-time.
Keywords: automated micromanipulation; single cell surgery; real-time manipulation; image segmentation; blastomere injection; image-based visual servoing. DOI: 10.1504/IJMA.2021.10036409
Model selection for servo control systems by Mathias Tantau, Lars Perner, Mark Wielitzka Abstract: Physically motivated models of electromechanical motion systems are required in
several applications related to control design. However, the effort of modelling is high and automatic modelling would be appealing. The intuitive approach to select the model with the best fit has the shortcoming that the chosen model may be one with high complexity in which some of the parameters are not identiifable or uncertain. Also, ambiguities in selecting the model structure would lead to false conclusions. This paper proposes a strategy for frequency domain model selection ensuring practical identifiability. Also, the paper describes distinguishability analysis of candidate models utilising transfer function coecients and Markov parameters. Model selection and distinguishability analysis are applied to a class of models as they are commonly used to describe servo control systems. It is shown in experiments on an industrial stacker crane that model selection works with little user interaction, except from defining normalised hyperparameters. Keywords: model selection; structure and parameter identification; frequency domain; distinguishability analysis; equivalence of structures; multiple mass resonators; servo control system; electromechanical motion systems; transfer function approach; Markov parameter approach. DOI: 10.1504/IJMA.2021.10038414