The driving mechanism and control approach research of soft robot based on gas-driven

2013 ◽  
Author(s):  
Jun He ◽  
Linsen Xu ◽  
Minzhu Luo ◽  
Xiaobo Song ◽  
Jian Chen
Keyword(s):  
Driving Mechanism ◽  
Soft Robot ◽  
Control Approach ◽  
And Control

Thrust Enhancement From Radial Velocity in Squid Inspired Thrusters

2012 ◽  
Author(s):  
Michael Krieg ◽  
Kamran Mohseni
Keyword(s):  
Radial Velocity ◽  
Driving Mechanism ◽  
Low Thrust ◽  
Vortex Ring Formation ◽  
Total Impulse ◽  
Fluid Jets ◽  
Force Range ◽  
And Control ◽  
Thrust Production ◽  
Control Surfaces

Squid and jellyfish generate propulsive forces by successively taking in and expelling high momentum jets of water. This method of propulsion offers several advantages to underwater vehicles/robots. The driving mechanism can be placed internal to the vehicle, reducing the drag associated with an abundance of external thrusters and control surfaces. The thrusters can generate accurate predictable forcing in the low thrust range, while still generating thrust nearly instantaneously over the entire force range. Vortex ring formation dynamics play an important role in creating thrust. It is observed that squid and jellyfish eject fluid jets which are not exactly parallel, and have a contracting velocity in the radial direction. A prototype thruster was developed which generates both parallel and converging propulsive jets. The total impulse of the jet is determined from DPIV techniques to determine the effect a non-zero radial velocity had on thrust production. The radial velocity was observed to increase the total impulse of the jet by 70% for low stroke ratio jets, and 75% for large stroke ratio jets.

scholarly journals QUALITY IMPROVEMENT ON CERAMIC TILES PROUCTION PROCESS WITH SIX SIGMA METHOD (DMAIC) AT PT ARWANA CITRAMULIA

2018 ◽  
Vol 3 (2) ◽  
pp. 101
Author(s):  
Priskila Christine Rahayu ◽  
Vanesa Darvin
Keyword(s):  
Quality Improvement ◽  
Production Process ◽  
Six Sigma ◽  
Ceramic Tiles ◽  
Control Approach ◽  
Sigma Level ◽  
And Control

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.

scholarly journals Modeling and control of a new robotic deburring system

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 229-237 ◽  
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.

Cascade control for heterogeneous multirotor UAS

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.

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

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

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

2019 ◽  
Vol 16 (04) ◽  
pp. 1950012 ◽  
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.

scholarly journals Automated Measurement and Control of Germination Paper Water Content

Sensors ◽  
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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