scholarly journals Position control for hybrid infinite-continuous hyper-redundant robot

2021 ◽  
Vol 343 ◽  
pp. 08009
Author(s):  
Cristina Pană ◽  
Cristian Vladu ◽  
Daniela Pătraşcu-Pană ◽  
Florina Besnea (Petcu) ◽  
Çtefan Cismaru ◽  
...  
Keyword(s):  
Position Control ◽  
Control Strategies ◽  
Hybrid Structure ◽  
Control Algorithms ◽  
Robot Design ◽  
Hydraulic Control ◽  
Lightweight Construction ◽  
Redundant Robot ◽  
Redundant Robots ◽  
And Control

This paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed. The chosen hyper-redundant robot has a continuous infinite hybrid structure (HHRIC), based on hydraulic control with a rheological element. This system combines the advantage of a joint-level drive with a lightweight construction similar to the base-driven robots. It is suitable for tasks such as wiring in hard-toreach areas (caves, subaccounts, steep areas), transportation of fluids or food to areas affected by natural disasters (people buried under ruins), exploration in difficult areas (speleological research). Generally, the control algorithms for hyper-redundant robots are specific to the robots’ constructive particularities to which they have applied and the environment in which they operate. Experimental results validate the proposal robot design and control strategies in virtual reality. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an essential role soon in automated and teleoperation applications.

scholarly journals Design and Physical Prototyping of a Novel Braking System for a Helicopter Rotor

Designs ◽  
2019 ◽  
Vol 3 (3) ◽  
pp. 40
Author(s):  
Julian D. Booker ◽  
Richard J. Lock ◽  
David Drury
Keyword(s):  
Position Control ◽  
Control Strategies ◽  
Main Rotor ◽  
Technology Readiness Level ◽  
Readiness Level ◽  
Electromechanical Device ◽  
And Performance ◽  
Helicopter Main Rotor ◽  
And Control ◽  
And Storage

The aim of this paper was to demonstrate the improved functionality and performance of an electromechanical brake for a helicopter main rotor, which to date has been hydraulically actuated using a disc brake and caliper arrangement. Increasingly, designers seek higher performing solutions to traditional problems through the integration of modern actuation and control strategies. This electromechanical device is required to constrain the helicopter tail rotor shaft protruding from the main rotor gearbox to allow safe taxiing and storage of the helicopter. A systematic and rigorous design methodology was used to converge on an effective solution which satisfied a very demanding specification. The design was further detailed and optimized, leading to the development of a prototype at a high technology readiness level that was tested within a bespoke rig, simulating the torque requirements found on a helicopter main rotor using the torque and position control. The design was shown to meet the required holding torque whilst providing additional functionality of continuous holding capability and meeting the challenging volumetric constraints.

The Development of an Experimental Force Feedback Dynamometer to Investigate the Real Time Control of an Oscillating Wave Surge Converter

2013 ◽  
Author(s):  
Daniel Banks ◽  
Jos van ’t Hoff ◽  
Kenneth Doherty
Keyword(s):  
Force Feedback ◽  
Position Control ◽  
Experimental Testing ◽  
Control Strategies ◽  
Small Scale ◽  
Real Time Control ◽  
Time Control ◽  
Scale Models ◽  
Damping Torque ◽  
And Control

An Oscillating Wave Surge Converter (OWSC) is a Wave Energy Converter (WEC) that consists of a bottom-hinged flap which oscillates due to wave action. Extensive research has been performed on this type of WEC through small scale experimental wave tank tests. One of the key challenges of experimental testing is replicating the characteristics of the Power Take-Off (PTO) system of the equivalent full scale WEC. Many scale models rely on simplified mechanical designs to simulate a PTO system. This can often restrict the experimental research into the influence of PTO design and control strategies of WECs. In order to model PTO systems and control strategies more accurately other tools are needed. This paper describes the design and build of a PLC controlled Force Feedback Dynamometer (FFD) system that enables the testing of more sophisticated control strategies applicable to an OWSC through fast application of a variable PTO damping torque. A PLC system is shown to be a viable control for PTO strategy investigations through velocity triggered damping levels. Examples of both PTO and position control strategies are presented.

A Review of Static Synchronous Compensators (STATCOM)

2012 ◽  
Vol 268-270 ◽  
pp. 1389-1392 ◽  
Author(s):  
You Jie Ma ◽  
Yi Li ◽  
Xue Song Zhou
Keyword(s):  
Intelligent Control ◽  
Distribution System ◽  
Reactive Power ◽  
Control Strategies ◽  
Control Algorithms ◽  
Static Synchronous Compensator ◽  
Converter Topologies ◽  
And Control ◽  
Transmission And Distribution ◽  
Fast Acting

This paper reviews the development of static synchronous compensator (STATCOM), and analylizes the structure of its main circuit, its working principles and control strategies. At last, this paper comes to a conclusion of technical characteristics of STATCOM and outlook of its development trends. Fast acting STATCOM, a representative of FACTS family, is a promising technology which is extensively used as state-of-the-art dynamic shunt compensator for reactive power control in transmission and distribution system. STATCOM controller employs various solid-state converter topologies, magnetics configurations, control algorithms, and switching techniques and so on. The development of STATCOM controller has been well reported in literature with its versatile application in power system. Thus deep investigation of STATCOM from the perspective of its intelligent control and the configuration of STATCOM’s main circuit is valuable.

scholarly journals The Development of Mapping, Covering and Control Strategies for a Vacuum Cleaner Robot 

2020 ◽  
Vol 31 (1) ◽  
pp. 59-68
Keyword(s):  
Operating System ◽  
Real World ◽  
Control Strategies ◽  
New Technology ◽  
Control Algorithms ◽  
Infrared Sensor ◽  
Vacuum Cleaner ◽  
Robot Operating System ◽  
Single Pass ◽  
And Control

Modern households are becoming more and more convenient and intelligent by applying new technology to reduce the time spent on house chores. In this study, the authors proposed the mapping, covering strategies, and control algorithms for vacuum cleaner robot. The robot will automatically implement the cleaning task in a single pass. The sensor system includes infrared sensor, 9 Dof MPU 9250, Delta Lidar 2A, ultrasonic sensor to help robots navigate, build maps and detect obstacles. ROS system (Robot Operating System) is used to control and simulate vacuuming operation in real-world environments. The experiments are conducted in order to illustrate the superiority of the proposed approach.

scholarly journals Automated modelling of building energy systems with mode-based control algorithms in Modelica

2021 ◽  
Vol 2042 (1) ◽  
pp. 012067
Author(s):  
Xiaoye Cai ◽  
Junyi Xue ◽  
Alexander Kümpel ◽  
Dirk Müller
Keyword(s):  
Planning Process ◽  
Control Strategies ◽  
Energy Systems ◽  
Building Energy ◽  
Control Algorithms ◽  
Operating Modes ◽  
Building Energy Systems ◽  
Core Elements ◽  
And Control ◽  
Future Work

Abstract The increasing use of renewable energy in building energy systems has brought considerable challenges for the traditional planning process to develop appropriate control strategies. In previous work, we have introduced the MODI method to support the structured development of mode-based control algorithms, in which operating modes are core elements. However, modeling of energy systems and control algorithms for control tests is time-consuming and error-prone. Identification of permissible operating modes is also unfeasible. The paper introduces a methodology to identify permissible operating modes and model energy systems with mode-based control algorithms in the modeling language Modelica automatically. In the case study, we apply the methodology for an energy supply network and verify the functionality of the methodology. In future work, automated optimization of control algorithms will be integrated into the methodology.

scholarly journals Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2181 ◽  
Author(s):  
Andrés Martín-Barrio ◽  
Juan Jesús Roldán-Gómez ◽  
Iván Rodríguez ◽  
Jaime del Cerro ◽  
Antonio Barrientos
Keyword(s):  
Degrees Of Freedom ◽  
Mixed Reality ◽  
Control Strategies ◽  
Redundant Robots ◽  
Spatial Understanding ◽  
Custom Made ◽  
Inspection Tasks ◽  
High Level ◽  
And Control ◽  
Immersive Technologies

Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It is comprised of 7 sections actuated by cables and 14 degrees of freedom. It has been optimized to be very robust, accurate and capable of moving payloads with high dexterity. Furthermore, it has been efficiently controlled from the actuators to high-level strategies based on the management of its shape. However, these highly articulated systems often exhibit complex shapes that frustrate their spatial understanding. Immersive technologies emerge as a good solution to remotely and safely teleoperate the presented robot for an inspection task in a hazardous environment. Experimental results validate the proposed robot design and control strategies. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an important role in the near future of automated and remote applications.

Design and Control of a Fully-Actuated Hexrotor for Aerial Manipulation Applications

2018 ◽  
Vol 10 (4) ◽  
Author(s):  
Jameson Y. S. Lee ◽  
Kam K. Leang ◽  
Woosoon Yim
Keyword(s):  
Special Class ◽  
Control Strategies ◽  
Optimal Solution ◽  
Control Algorithms ◽  
Modular Control ◽  
Orientation Model ◽  
Aerial Manipulator ◽  
Analytical Development ◽  
And Control ◽  
Am Applications

This paper addresses the issue of controller complexity for multirotor aerial manipulator (AM) implementation by utilizing a special class of fully actuated hexrotor within the framework of a firmware, which allows standard multirotor actuation modes. Using this platform, manipulator and vehicle dynamics are decoupled, making the airframe inherently more robust than standard multirotor for trajectory tracking in AM applications. Furthermore, its unique design allows for the implementation of modular control strategies. The proposed rotor orientation model makes it possible to decouple the dynamics, allowing full analytical development of the optimal solution. A methodology for analysis, control allocation, and design of this special class of hexrotor is presented, and the implementation of a custom flight stack is demonstrated using a hexrotor prototype in closed-loop flight testing. The flight stack developed is compliant with the open-source ArduPilot Mega (APM) firmware, allowing it to take advantage of all generic multirotor control algorithms. Experimental results are presented to demonstrate feasibility of the system.

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