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This paper considers closed loop control of systems that are represented by the one dimensional wave equation with distributed damping. The model and the control algorithm are based on the traveling wave approach, which yields irrational and fractional order transfer functions in the frequency domain. In previously studied cases, with damping acting only at the boundaries and a conservative flexible...
In this paper, the estimation method of reaction force for electro-hydraulic servo system for movement is discussed. This reaction force estimation method is based on sliding perturbation observer that is robust observer technique. Before estimating reaction force, the modeling of electro-hydraulic servo system is processed. Before the fine modeling parameters of electro-hydraulic servo system, modeling...
In this paper, we propose a control technique that maximizes power absorption in point absorber wave energy converter systems. This technique involves the tuning of the Eigen-frequency of the converter system to meet the incident waves energy frequency, providing near-resonance operation. The system was modeled, where the effects of radiation forces due to oscillator-generated waves were considered...
In this paper the developed method for off-line compensation of tool deflections and vibration reduction when milling aluminum with an industrial robot is presented. The efficiency of this approach is verified with high precision measurements of deflections using a laser tracker. The compensation method is based on the static milling process model which can predict the mean value components of the...
This paper introduces a network formulation of bilateral teleoperation systems with admittance-type master interfaces to improve their stability range with Time Domain Passivity Approach (TDPA). Since traditional network representation of admittance-type teleoperation was not enough to detect the active energy, a new representation of admittance-type teleoperation system is formulated, using dependent...
This paper proposes a tunable vibration absorber (TVA) based on a smart material called magneto-rheological gel (MRGs) to suppress a wide range of vibration disturbance. The stiffness of MRG can be changed under external magnetic field, which is the desirable property to tune a vibration absorber. In this paper, the feasibility of applying the material on a TVA is studied by conducting several experiments...
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion/force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of freedom of the end-effector of the manipulator. Therefore, the focus is on this contact degree of freedom, and a switching position-force controller is proposed...
We study the stability of three-dimensional (3D) haptic interaction in Model-mediated Teleoperation (MMT) systems. In MMT, a simple object model is employed on the master side to approximate the remote environment. The haptic feedback is rendered locally on the master side based on model parameters which are estimated on the slave side. The main advantage of the MMT approach is that the haptic control...
The sampled-data nature and time delays induce complex dynamic behaviours in haptic systems which makes the stable, high performance force feedback challenging. Physiological factors, such as reflex delay, and the variable impedance of the human operator further complicate the modeling and analysis of these systems. Often the operator is neglected and only the dynamics of the uncoupled haptic device...
In controlling teleoperation systems subject to communication delays, unstable behavior is often prevented by injecting damping. A proper perception of hardness is required to efficiently interact with an object, but it is unknown if and how this injected damping influences the perceived hardness of objects. To investigate the effect of damping on the perceived hardness of an object, 12 participants...
Dynamic characteristics of movable electrode in MEMS variable capacitor using ANSYS software are studied. It is discovered that significant contribution to the vibration system damping is introduced by squeeze-film damping between serpentine spring arms. It is found that the vibration amplitude is inversely proportional to the stiffness coefficient and directly proportional to the number of the arms...
During an elevator emergency stop device operation, a large deceleration is generated at the elevator cage. Passengers in the elevator cage sometimes get injured, because they suffer impact force from the elevator emergency stop device. (Refer to [1] and [2].) Therefore, the authors focused on the passengers' safety in elevators and proposed an emergency stop device with a spring and a magnetic rheological...
For the last thirty years or so, the reduction of structural response caused by dynamic effects has become a subject of intensive research. Many structural control concepts have been evolved for this purpose, and quite a few of them have been implemented in practice. There are a number of mechanisms by which the structural control action is achieved. For example, in the category of passive control...
Series elastic actuator (SEA) has been widely used in rehabilitation robotics, where human-robot interaction is required. Due to its intrinsic compliance, SEA can improve the usage of power for its motor, which leads to a compact and lightweight SEA design. The aim of this paper is to reduce the energy consumption and the power requirements of the motor of the SEA by optimizing the stiffness of its...
Amputation is a process of removing part of the body through surgery. Common reasons for limb amputations include diseases, poor blood circulation to the limb and severe injuries. In order to assist amputees to lead a normal life, prosthetic limb — the artificial device that replaces missing body part, needs to be designed as close as human limb. One way of achieving this is through the implementation...
Tension is the force required to pull the wire against the accumulation of all resistance, forces and loads. Tension is one of the important controlled parameters in winding process in order to determine the quality of the product. Winding process in electric discharge machine (EDM) wire manufacturing is the last process before the product is packed and sent to customers. In EDM wire manufacturing...
In suspension controller design, the ride comfort and handling characteristic of a vehicle reveal conflicting compromises. Due to the difference in working frequencies between the body and the wheel of the vehicle, the controller parameters are constrained by the performance of either ride or handling dynamic performance. In this paper, a newly proposed dual acting semi-active suspension system is...
This paper addresses the vibration control problem of a fuel transport system (FTS) in a nuclear power plant. The FTS transports the fuel rods in the nuclear reactor to desired locations in the fuel building or vice versa. The fuel rods must be transported under water to avoid radiation leaks to the environment. It has been observed that a quick maneuver of the trolley can cause vibrations that can...
When cranes lift heavy payloads off the ground, the payload may slide or swing sideways unexpectedly. This dangerous motion occurs when the payload is not directly beneath the overhead suspension point of the hoist cable. Given that cable suspension points are usually tens of feet, and perhaps hundreds of feet above the payload, it is very difficult for crane operators to know if the hoist cable is...
The impedance shaping control with robot base dynamics compensation is presented in this paper. The method has been conceived to avoid force overshoots in applications where the coupled dynamics of the global system (compliant robot base - controlled robot - interacting compliant environment) affects the force tracking task. Force tracking performance are obtained tuning on-line both the position...
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