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An important goal for the Japanese economy involves increasing the export of fruits. Especially, the export of peaches to Taiwan is an important part of trade for Japan. However, the peach fruit moth poses a serious problem. The moth is not native to Taiwan. Therefore, the moths that are exported with peaches may cause ecological damage in Taiwan. We are in the process of developing a peach fruit...
In this paper, novel mechanical mechanism and control method using SEA are suggested for natural gait pattern and effective gait rehabilitation. Conventional body weight support system (BWS) focuses on static position lifting and has limitation for a subject to constrain natural gait pattern especially in the vertical and medial-lateral movement. To overcome such abnormal gait pattern during BWS rehabilitation,...
In this paper, motion-reproduction system for picking by multiple-DoFs manipulator with a stereo camera is proposed. The conventional motion-reproduction is able to pick different sized objects because of considering force in the control system. However, the conventional system has difficulty in picking the positional changed objects in motion-reproduction. The proposed method compensates the positional...
To improve the mobility of locomotive devices on loose, sandy terrain, protrusions or convex patterns called lugs (i.e., grousers) are attached to the surface of a locomotive modulus. Following our previous study, in which the effects of angular speed, lug sinkage length, and soil cumulative deformation on lug-soil interaction forces during the fixed-axis rotational motion were experimentally confirmed,...
A novel single-winding bearingless switched reluctance motor with wider rotor teeth (BSRMWRW) is proposed in this article, which can realize the decoupled control of torque and levitation force and thus simplify the motor's control in the starter/generator system. First, the working principles and decoupling characteristic of BSRMWR are explained; Second, the mathematical model of torque and levitation...
Collision avoidance subject to operator's intention is needed for power-assisted omni-directional mobile robots. In order to realize collision avoidance on operator's initiative, the system which makes the operator notice the existence of an obstacle is necessary. In this paper, existence of the obstacle is notified through a change in operation feeling by adjusting viscosity coefficients of the power-assist...
Stator and translator pole width have a great effect on the LSRM's performance. However machining error and assembly error usually cause some dimensional difference among stators and translators. Thus a speed control method immune to dimensional difference is proposed for a four-phase linear switched reluctance motor (LSRM) with different pole width in this paper. The LSRM designed in such a structure...
The flight of unmanned aerial vehicle (UAV) is vulnerable to various disturbances and faults. In this paper, the small damage of the wing of an unmanned aerial vehicle is taken into consideration. The UAV control framework consists of force loop and torque loop, where the nonlinear disturbance observer (NDO) based dynamic inverse (DI) control and the extended state observer (ESO) based dynamic inverse...
The compliant control of the robot is widely used in the Human-Machine Interface (HMI) and robot bionics. Because the system and the environment are mutually constrained, when the external environment changes, the control environment of the system will change with it, which deteriorates the control performance of the system. This article solves the problem of how to realize the compliant control with...
The induction motor with skewed rotor bars is an effective motor structure for eliminating the slot harmonic fields, and the resulting noise and vibration. 2-D multi-slice finite element method (FEM) is typically used to analyze the performance of the induction motor with skewed rotor bars. However, in order to achieve high accuracy, the number of the slices is generally very high, which is also a...
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...
In this paper, three different models of friction in presliding regime on linear motor platform are deduced according to basic physical laws, which are named as the Kelvin model, the modified Kelvin model and the four-element model. To validate the effectiveness of these models, the particle swarm optimization is applied to determine the coefficients in each model. Then experiments of ramp input force...
In the paper, a nonlinear modeling approach for a class of unmanned-aerial-vehicle (UAV) helicopters is presented. The applied approach adopts a component buildup method to calculate the component forces and moments. In order to improve the modeling accuracy and applicability, the rotor dynamics are detailedly analyzed by taking into account the influences of airspeed in hub center and the coupling...
Magnetic suspension pumps have been attracted attention and actively developed. These pumps can realize magnetic suspension and rotation of a rotor shaft integrated with an impeller without mechanical contact. There is now a need to develop a magnetic suspension pump that is capable of 5-axis active control while retaining a small size and low power output. However, conventional structures capable...
This paper deals with the automated design of a Virtual Sensor used to estimate the vehicle planar motion states and the axle lateral forces. It is proposed to substitute the cumbersome and non-trivial manual task of tuning an Extended Kalman Filter by using meta-heuristic optimization, and in particular, employing the contrast-based Fruit Fly Optimization Algorithm (c-FOA). c-FOA is a recently developed...
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 deals with induction machines bearing failures detection and diagnosis using vibration and temperature signals. It proposes the use of a new Classical Mechanics-inspired Optimization (CMO) metaheuristic for data clustering. To ensure failure detection, transitions from a state to another is analyzed in order to form a transitional model between system states generated by the clustering...
In this paper, a novel current sharing control strategy, named module link, is used to realize multiple modules paralleled. To achieve this goal, there are three full-bridge phase-shift converters are used as three modules and connected in parallel to feed the load. In this study, three phase-shift control integrated circuits, named UCC28950 made by Texas Instruments Co., are used to control individual...
Mathematics courses are a major source of engineering student attrition. Many engineering students drop out before even taking an engineering course. While the mismatch between mathematics content and following engineering coursework is already a concern, it is often studied heuristically by talking to engineering faculty. Few rigorous studies empirically document when students actually need to use...
Flexible force sensor for rapid prototyping is designed and suggested with a suitable process for molding. A physical mixing of both CNT and PDMS shows lower percolation limit which shows proper electrical and mechanical properties. For 1% of CNT/PDMS composite, the mechanical and electrical properties were investigated up to 120kg and kilo-Ohm range of sensor resistance. By comparing with commercial...
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