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The following topics are dealt with: control systems; power electronics; electrical drives; machines; factory automation; industrial informatics; robotics; mechatronics; sensors; actuators; system integration; signal processing; and computational intelligence.
An alternative way to control a nonlinear system, such as a two Degree Of Freedom helicopter, is the linearization of the model around an equilibrium point, in this case, an equilibrium point around the Pitch angle. Subsequently, the design a Robust Controller for this system is done, using a the DK iteration method. However, when a variation of an angle such as its uncertainty is modeled, the performance...
This paper presents a nonlinear fault detection and isolation system that is able to distinguish single faults that have the same fault signatures. The detection mechanism is based on nonlinear state estimation. Fuzzy set theory followed by parameter estimation of certain parameters of the fault-free model are applied for fault isolation. This parameter estimation step is used to differentiate between...
The areal density of the Hard Disk Drive (HDD) is expected to reach 10 Tb/in2 by 2014. At such high density, the fly height of the HDD heads have to be lowered, even to the point of contact with the media in order to have good signal to noise ratio. As such, contact recording, where the slider and HDD surface are in contact through lubricant surface, is the one of several possible technologies that...
This paper proposes adaptive motion-copying system, which is capable of storage and reproduction of human motion. In the conventional method, force and position are not reproduced accurately, when the environment in the reproduction phase is different from the environment in the storage phase. To solve this problem, the proposed method reproduces the human motion according to search results provided...
Robots are taken attention as one of key solutions for nursing care field along with aging of population. In the nursing care field, the robots have to work in the limited space and contact with humans directly. Therefore miniaturization and precise force control are two important issues for nursing care robots. Then a tendon-driven rotary actuator with thrust wires and a polyethylene (PE) line was...
This paper treats a disturbance cancellation problem for minimizing the effects of reaction forces on position accuracy of a clean-room robot applied with magnetic bearings. The robot is composed of a main body and a ladder arm, and moves without friction at joints owing to magnetic support. The support stiffness is, however, weaker than the conventional bearings, and the ladder arm moves in reaction...
In this paper, a realistic simulation of extraterrestrial legged robot in trade-off between accuracy and simulation time is presented which provides an enough accuracy to simulate the dynamical properties and locomotions of the legged robot as well as simplified models in a possible timing rate for the realtime simulation. To simplify the complex joint actuator model, an abstract joint actuator model...
This paper demonstrates the feasibility of controlling motion and vibration of a class of flexible systems with inaccessible or unknown outputs through measurements taken from their actuators which are used as single platforms for measurements, whereas flexible dynamical systems are kept free from any attached sensors. Based on the action reaction law of dynamics, the well-known disturbance observer...
This paper presents the design and validation of a high speed reluctance actuator for a soccer robot. The actuator is used to shoot a regular sized soccer ball by applying different force levels directly to the ball. As the application requires force in only one direction, a plunger type reluctance actuator is selected. A capacitor is used to buffer energy from the battery of the robot. Through an...
This article presents an optimized thermal stepper system which is used to align the critical parts of high-performance smart sensors, such as capacitive sensors. In order to apply the system in harsh and inaccessible industrial environments, improvements have been made, such as reduced power consumption (1mW during measurement mode), increased alignment accuracy (within 0.1um), increased interconnect...
In recent years there has been increasing interest in manipulators presenting animal muskuloskeletal characteristics such as bi-articular actuators. Manipulators driven by bi-articular actuators usually have more actuators than joints, presenting therefore actuator redundancy. In this paper a new approach based on ∞-norm to resolve actuators redundancy is proposed. The proposed method is compared...
In order to achieve electrostatic suspension, it is necessary to control the voltage. The authors have proposed a control system using a variable capacitor. This paper describes a self-sensing control method for this system. In the previous control system, the variable capacitor was connected with an electrostatic actuator and a constant power supply. The voltage applied to the actuator can be adjusted...
Wireless sensor networks (WSNs) have gained widespread acceptance during the last decade, largely due to the greatly increased flexibility, lower costs and scalability that they have been shown to provide. The pace of application in the context of wireless networked control systems (WNCSs) has been somewhat impeded, however, by the reluctance of industry to accept the risks of allowing wireless paths...
It has been observed that the history of industrial process control development is also a history of reducing the number of wires necessary for effecting the control. Control over wireless is the end of this evolution. Wireless control faces a lot of challenges such as security, reliability, feedback latency, battery longevity, etc. In this paper we report some experience with implementing control...
Wireless sensor and actuator networks bring many benefits to industrial automation systems. However, unreliable wireless and multihop communications among sensors and actuators cause challenges in designing such systems. Wireless HART is the first standard for wireless real-time industrial applications. However, current Wireless HART standard does not provide services for efficient usage of actuators,...
Currently, manufacturing system is being restructured to face the global competitiveness. As result, new manufacturing strategies need to be considered, taking into account aspects such as costs, quality, delivery times and flexibility, among other. However, in practice, none of these strategies can be effectively implemented if they disconsider the occurrence of faults in the manufacturing system...
In this paper we deal with one of the most challenging control problems - controlling a class of underactuated systems with uncertainties. A synthesized integral sliding mode controller (ISMC) is proposed. The ISMC, constructed with a suitably chosen integral sliding surface, is able to completely nullify the influence from any matched factors, especially the matched uncertainties. As a consequence,...
This work investigates the design of reset control systems with reset actions at fixed reset instants, and their application to a class of Networked Control Systems. The reset law is simplified for the reset instants to be periodic, but on the other hand a key idea is the use of a variable reset value at each instant that minimizes the error between consecutive reset actions. Stability conditions...
Saving energy has become one of the most challenging issues these days. The most waste of energy comes from the inefficient use of the electrical energy consumed by artificial light devices (lamps or light bulbs). This paper presents a system with detailed design for saving electrical energy by controlling the intensity of artificial light to a satisfactory level and getting use of the day light when...
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