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This paper realizes the tactile and slip perception of prostheses finger by using of PVDF (Polyvinylidene Fluoride) piezoelectric membrane. The mathematics model of brushless DC motor is constructed and the characteristics of PVDF tactile and slipping sensor are analyzed. The PID controller is adaptive by designing the control system with tactile and slip feedback. The feedback system implements adaptive...
This article presents the development of an architecture for a remote educational experiment concerning the speed control applied to a direct current motor. The proposed architecture is based on the use of an Arduino Uno and Ethernet Shield, whose function is to interface between the experiment and the Internet. The user can access the control experiment through an application developed in Java, which...
A step-by-step program learning scheme to study mechatronics is presented in this paper. We are developing a small electric vehicle development kit for solar energy education courses. The scheme was applied to develop the control program for ultra-small electric vehicles using small rechargeable batteries. This paper will present the learning scheme and the application results to a small electric...
In this paper, an embedded control unit based on the System on Programmable Chip (SoPC) technology is designed, using advanced FPGA chip with embedded processors. Ready to use Intellectual Property (IP) modules including open-source cores are integrated into FPGA in hardware design. Furthermore, a modular idea based on a commercial and open-source Real-Time Operating System (RTOS) is applied to software...
This paper presents the application of specific type of neural network — ADALINE (Adaptive Linear Neuron) model for speed control of the drive with elastic coupling. Weights coefficients of this speed controller are adapted on-line during the drive system operation. Described control structure is robust against changes of the inertia moment of the loading machine. Besides, important advantage of the...
In order to improve the photoelectric conversion efficiency of photovoltaic (PV) generation systems, commonly used the solar automatic tracking control system to maximize the system get more solar energy and Increase the conversion efficiency. To make fully utilizing full the solar energy and improve the traditional solar tracking control effect, Designed a novel digital solar automatic tracking controller...
This paper uses LPC2138 of ARM 7 as the core controller in the smart vehicle so as to achieve a real-time operation system (OS) µC/OS-II. This controller works as the control system to operate the entire vehicle. The real-time µC. OS-II enhances the performance of control and simplifies the design and management of software. In addition, this system uses voice-driven principle, improving the human...
This paper shows the behavior of the buck power converter — DC-motor coupled system. The controller is designed using Zero Average Dynamic (ZAD) and Fixed Point Inducting Control (FPIC) techniques. The variable to be controlled is the motor speed. The designs have been tested in a Rapid Control Prototyping (RCP) system based on Digital Signal Processing (DSP) for dSPACE platform. The results show...
In this paper, the mechanism and basic driving function of a wheeled inverted pendulum-type personal mobility with a pedal (Wi-PMP) are described. The mobility consists of a wheeled inverted pendulum-type mobile platform and a leg rowing mechanism, and thus it can be driven by a rider's leg rowing motion. Moreover, to retain the merits of pivot turning of a parallel two-wheeled mobility, a differential...
An ultra-small electric vehicle competition using small rechargeable batteries was held at the Kanagawa Institute of Technology in Japan. The competition was called the pico-EV Eco Challenge 2012, and participants competed based on distance travelled within 30 minutes of operation using only six small rechargeable Ni-MH (nickel metal hydride) batteries (7.2V, 1900mAh). Eleven vehicles and about 60...
This paper described a method to estimate the transfer function of the system by applying DFT(Discrete Fourier Transform) to obtained time series data, and also presented a controller design method. Major parameters included in output signal were estimated using DFT. In addition, using the estimated parameters, we estimated the transfer function of the system and designed a controller. A system model...
This paper focuses on a design of two-degree-of-freedom (2DOF) controller by Coefficient Diagram Method (CDM) for position control of a DC motor. It is known that the 2DOF control system can be designed to meet both tracking and disturbance rejection performances, which are the most important for the position control system. Nevertheless, it requires tuning of many parameters. The CDM is an efficient...
This paper describes a new robot capable of inspecting pipes with different diameters. The robot is composed of units and connecting links. One unit is used for the robot to move in a straight pipe, while two or more units are needed to move and turn in a divergent pipe. Several experiments are conducted in the pipes with different diameters, and the effectiveness of the mechanism of the robot is...
The goal of this paper is to provide a control design methodology that can assure the closed-loop performances of a physical plant, while compensating the time-varying delays introduced by the communication network that links the controller with the remote process. Firstly, the error caused by the time-varying delays is modeled as a disturbance and a method of bounding the disturbances is presented...
In this paper we propose a hybrid control system performing set-point regulation of an Exhaust Gas Recirculation (EGR) valve of a Diesel engine. The control technique is based on a First Order Reset Element (FORE) embedded with an adaptive feedforward action whose aim is to provide asymptotic rejection of disturbances acting at the plant input. The feedforward action is adapted by suitable resetting...
Tuning of PID controller parameters is one of the usual tasks of the control engineers due to the wide applications of this class of controllers in industry. In this paper the Iterative Feedback Tuning (IFT) method is applied to tune the PID parameters. The main advantage of this method is that there is no need to the model of the system, so that is useful in many processes which there is no obvious...
Solar energy has been accepted as an alternative source of energy worldwide recently. Current researches and markets have shown that Solar Photovoltaic (PV) is the fastest growing and most promising form of renewable energy used in generating electricity. Solar energy is rapidly advancing as an important means of renewable energy resource. More energy is produced by tracking the solar panel to remain...
Walking power assist leg (WPAL) [1]-[5] is designed for old people, patients with weak legs or normal humans power augmentation during walking. The control system of WPAL is mainly developed to enhance the mobility because the field of activities of WPAL assistance is expected to be like outdoors activities. So the portability is very important, and the control system of WPAL should be small, light...
Bit-stream based control technique uses a uniformly weighted single bit streams to control a system and is a new approach for controller design. This method is ideally suited for field programmable gate array (FPGA) or application specific integrated circuit (ASIC) implementation and offers numerous advantages due to its inherent parallel nature. The present paper proposes the design of bit-stream...
This paper focuses on a new electric and compact vehicle with a differential steering and a sensitive plantar as driving command. The mechanical, electronic and software architecture are presented. A special focus is given to the sensitive surface of the vehicle chassis which allows the user to drive the vehicle by unbalancing his or her center-of-gravity (COG). The design of the plantar is herein...
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