A Hybrid Active-Passive Actuation and Control Approach for Kinesthetic Handheld Haptics

This study focused on quality improvement on ceramic tiles production process at PT Arwana Citramulia. This study used data defects for 12 months (May 2016 – April 2017) and only focus on one type of defect and it is chop corner. Six sigma with DMAIC (define, measure, analyze, improve, and control) approach was used to improve the process. Each step of DMAIC was conducted to carefully analyze and keep the process precisely. The ceramic tiles production process contains a number of 4375 products defects in million opportunities (DPMO), with sigma level of 4.13. In the improve step of DMAIC, FMEA form was used to propose some recommendations in order to improve the process, some of that that are provision of lubricant periodically by the operator, polishing on the surface of the liner to clean and clear, examination and maintenance periodically. Keyword : Quality, Six Sigma, DMAIC, Defects.

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Modeling and control of a new robotic deburring system

Robotica ◽

10.1017/s0263574705002067 ◽

2005 ◽

Vol 24 (2) ◽

pp. 229-237 ◽

Cited By ~ 2

Author(s):

Jae H. Chung ◽

Changhoon Kim

Keyword(s):

Comparative Study ◽

Decentralized Control ◽

Control Method ◽

Robotic Manipulator ◽

Coordination Control ◽

Pneumatic Actuators ◽

Modeling And Control ◽

Control Approach ◽

Simulation Results ◽

And Control

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

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Cascade control for heterogeneous multirotor UAS

International Journal of Intelligent Unmanned Systems ◽

10.1108/ijius-02-2021-0008 ◽

2021 ◽

Vol ahead-of-print (ahead-of-print) ◽

Author(s):

Ayaz Ahmed Hoshu ◽

Liuping Wang ◽

Alex Fisher ◽

Abdul Sattar

Keyword(s):

Control System ◽

Disturbance Rejection ◽

Unmanned Aircraft ◽

Cascade Control ◽

Underactuated System ◽

Content Type ◽

Control Approach ◽

Robust Control System ◽

And Control ◽

Stable Control

PurposeDespite of the numerous characteristics of the multirotor unmanned aircraft systems (UASs), they have been termed as less energy-efficient compared to fixed-wing and helicopter counterparts. The purpose of this paper is to explore a more efficient multirotor configuration and to provide the robust and stable control system for it.Design/methodology/approachA heterogeneous multirotor configuration is explored in this paper, which employs a large rotor at the centre to provide majority of lift and three small tilted booms rotors to provide the control. Design provides the combined characteristics of both quadcopters and helicopters in a single UAS configuration, providing endurance of helicopters keeping the manoeuvrability, simplicity and control of quadcopters. In this paper, rotational as well as translational dynamics of the multirotor are explored. Cascade control system is designed to provide an effective solution to control the attitude, altitude and position of the rotorcraft.FindingsOne of the challenging tasks towards successful flight of such a configuration is to design a stable and robust control system as it is an underactuated system possessing complex non-linearities and coupled dynamics. Cascaded proportional integral (PI) control approach has provided an efficient solution with stable control performance. A novel motor control loop is implemented to ensure enhanced disturbance rejection, which is also validated through Dryden turbulence model and 1-cosine gust model.Originality/valueRobustness and stability of the proposed control structure for such a dynamically complex UAS configuration is demonstrated with stable attitude and position performance, reference tracking and enhanced disturbance rejection.

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When Internet of Things Meets e-Health: An Indoor Temperature Monitoring and Control Approach

IEEE Internet of Things Magazine ◽

10.1109/iotm.0011.2000054 ◽

2021 ◽

Vol 4 (3) ◽

pp. 12-16

Author(s):

Shengbo Chen ◽

Jingtian Wang ◽

Lanxue Zhang ◽

Keping Yu ◽

Ali Kashif Bashir ◽

...

Keyword(s):

Internet Of Things ◽

Temperature Monitoring ◽

Monitoring And Control ◽

Indoor Temperature ◽

Control Approach ◽

And Control

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Intelligent Motion Planning and Control for Robotic Joints Using Bio-Inspired Spiking Neural Networks

International Journal of Humanoid Robotics ◽

10.1142/s0219843619500129 ◽

2019 ◽

Vol 16 (04) ◽

pp. 1950012 ◽

Cited By ~ 2

Author(s):

Mircea Hulea ◽

Adrian Burlacu ◽

Constantin-Florin Caruntu

Keyword(s):

Neural Network ◽

Neural Networks ◽

Motion Planning ◽

Control Method ◽

Inhibitory Neurons ◽

Robotic Arm ◽

Control Approach ◽

Planning And Control ◽

Robotic Joints ◽

And Control

This paper details an intelligent motion planning and control approach for a one-degree of freedom joint of a robotic arm that can be used to implement anthropomorphic robotic hands. This intelligent control method is based on bio-inspired electronic neural networks and contractile artificial muscles implemented with shape memory alloy (SMA) actuators. The spiking neural network (SNN) includes several excitatory neurons that naturally determine the contraction force of the actuators, and unevenly distributed inhibitory neurons that regulate the excitatory activity. To validate the proposed concept, the experiments highlight the motion planning and control of a single-joint robotic arm. The results show that the electronic neural network is able to intelligently activate motion and hold with high precision the mobile link to the target positions even if the arm is slightly loaded. These results are encouraging for the development of improved biologically plausible neural structures that are able to control simultaneously multiple muscles.

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Automated Measurement and Control of Germination Paper Water Content

Sensors ◽

10.3390/s19102232 ◽

2019 ◽

Vol 19 (10) ◽

pp. 2232

Author(s):

Lina Owino ◽

Marvin Hilkens ◽

Friederike Kögler ◽

Dirk Söffker

Keyword(s):

Water Content ◽

Water Deficit ◽

Plant Development ◽

Growth Substrate ◽

Irrigation Amount ◽

Control Approach ◽

Predictive Controller ◽

And Control ◽

Improved Accuracy ◽

Measurement And Control

Germination paper (GP) is used as a growth substrate in plant development studies. Current studies bear two limitations: (1) The actual GP water content and variations in GP water content are neglected. (2) Existing irrigation methods either maintain the GP water content at fully sufficient or at a constant deficit. Variation of the intensity of water deficit over time for plants grown on GP is not directly achievable using these methods. In this contribution, a new measurement and control approach was presented. As a first step, a more precise measurement of water content was realized by employing the discharging process of capacitors to determine the electrical resistance of GP, which is related to the water content. A Kalman filter using an evapotranspiration model in combination with experimental data was used to refine the measurements, serving as the input for a model predictive controller (MPC). The MPC was used to improve the dynamics of the irrigation amount to more precisely achieve the required water content for regulated water uptake in plant studies. This is important in studies involving deficit irrigation. The novel method described was capable of increasing the accuracy of GP water content control. As a first step, the measurement system achieved an improved accuracy of 0.22 g/g. The application of a MPC for water content control based on the improved measurement results in an overall control accuracy was 0.09 g/g. This method offers a new approach, allowing the use of GP for studies with varying water content. This addressed the limitations of existing plant growth studies and allowed the prospection of dependencies between dynamic water deficit and plant development using GP as a growth substrate for research studies.

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Modeling and control of a mobile manipulator

Robotica ◽

10.1017/s0263574798000873 ◽

1998 ◽

Vol 16 (6) ◽

pp. 607-613 ◽

Cited By ~ 24

Author(s):

J. H. Chung ◽

S. A. Velinsky

Keyword(s):

Dynamic Model ◽

Control Method ◽

Harmful Effect ◽

Euler Method ◽

Friction Model ◽

Mobile Manipulator ◽

Wheel Slip ◽

Modeling And Control ◽

Control Approach ◽

And Control

This paper concerns the modeling and control of a mobile manipulator which consists of a robotic arm mounted upon a mobile platform. The equations of motion are derived using the Lagrange-d'Alembert formulation for the nonholonomic model of the mobile manipulator. The dynamic model which considers slip of the platform's tires is developed using the Newton-Euler method and incorporates Dugoff's tire friction model. Then, the tracking problem is investigated by using a well known nonlinear control method for the nonholonomic model. The adverse effect of the wheel slip on the tracking of commanded motion is discussed in the simulation. For the dynamic model, a variable structure control approach is employed to minimize the harmful effect of the wheel slip on the tracking performance. The simulation results demonstrate the effectiveness of the proposed control algorithm.

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