Underwater Intervention With Remote Supervision via Satellite Communication: Developed Control Architecture and Experimental Results Within the Dexrov Project

2021 ◽  
Vol 29 (1) ◽  
pp. 108-123 ◽  
Author(s):  
Paolo Di Lillo ◽  
Enrico Simetti ◽  
Francesco Wanderlingh ◽  
Giuseppe Casalino ◽  
Gianluca Antonelli
Keyword(s):  
Satellite Communication ◽  
Experimental Results ◽  
Control Architecture ◽  
Remote Supervision

scholarly journals A Power Conversion Technique with Hierarchical Equalization Charging Topology for LiFePO4 Batteries

Micromachines ◽  
2021 ◽  
Vol 12 (9) ◽  
pp. 1014
Author(s):  
Kuo-Ching Tseng ◽  
Hao-Shiang Huang ◽  
Chun-An Cheng
Keyword(s):  
Energy Storage ◽  
Power Conversion ◽  
Experimental Results ◽  
Control Architecture ◽  
Battery Voltage ◽  
Battery System ◽  
Flyback Converter ◽  
Storage Scheme ◽  
Voltage Deviation ◽  
Number Of Cells

An energy-storage scheme with hierarchical equalization charging topology applied in a series-connected battery system is proposed in this paper. The proposed hierarchical equalization charging topology (HECT), which combines an equalizer-within module (EWM) and an equalizer between the modules (EBM), is able to rapidly achieve charging balance among a large number of cells in battery modules. The EWM is composed of a buck–boost converter, while a flyback converter constitutes the EBM. Besides, the voltage of each cell in battery modules can be accurately monitored by utilizing the proposed HECT control architecture. In addition, fewer circuit elements are required in the proposed battery equalization system and a faster balancing speed can be achieved. Satisfactory experimental results were obtained by using 12 LiFePO4 batteries, and the performance was improved by about 50% in reducing the battery voltage deviation realized in the proposed battery balancing system, which verified the function of the proposed HECT scheme.

Integration of a Signal Processing and Control ASIC With the JPL Micro-Gyroscope

2002 ◽  
Author(s):  
Yen-Cheng Chen ◽  
Robert M’Closkey ◽  
Tuan Tran ◽  
Brent Blaes
Keyword(s):  
Signal Processing ◽  
Experimental Results ◽  
Control Architecture ◽  
Flexible Control ◽  
Rate Sensor ◽  
And Control ◽  
Flexible Control Architecture

This paper describes the integration of a vibratory rate sensor—the JPL microgyro—with a special purpose control ASIC developed at UCLA. The digital ASIC has a flexible control architecture that can be customized for individual sensors. We describe this process for one sensor prototype and include experimental results demonstrating the efficacy of the ASIC.

scholarly journals Design Process of High Dynamics Multi-Link Flexible Robot Manipulators

2017 ◽  
Author(s):  
Thomas Solatges ◽  
Mathieu Rognant ◽  
Sébastien Rubrecht ◽  
Eric Courteille ◽  
Philippe Bidaud
Keyword(s):  
Design Process ◽  
Performance Indicators ◽  
Robot Manipulators ◽  
Experimental Results ◽  
Control Architecture ◽  
Flexible Robot ◽  
Flexible Robots ◽  
Modeling Tool ◽  
And Performance ◽  
High Dynamics

This paper presents a design process based on an advanced flexible robots modeling tool associated with realistic actuators models and pre-defined control architecture. This process implements dedicated feasibility and performance indicators, which are used to evaluate a design and its sensitivity on the considered parameters. The proposed approach is illustrated with theoretical and experimental results obtained with the YAKA robot.

A PNEUMATIC HUMAN INSPIRED ROBOTIC LEG: CONTROL ARCHITECTURE AND KINEMATICAL OVERVIEW

2006 ◽  
Vol 03 (01) ◽  
pp. 49-66 ◽  
Author(s):  
GIOVANNI MUSCATO ◽  
GIACOMO SPAMPINATO
Keyword(s):  
Pressure Sensor ◽  
New Technologies ◽  
Center Of Pressure ◽  
Stability Control ◽  
Experimental Results ◽  
Control Architecture ◽  
Gait Rehabilitation ◽  
Pneumatic Control ◽  
Design Considerations ◽  
Robotic Leg

This paper describes in detail the control architecture of an anthropometric robotic leg. It contains a brief description of the mechanical structure of the prototype and a kinematical structure overview. The aim of this project is the development of new technologies for the implementation and realization of bio-mechanical limbs for motoric gait rehabilitation, as well as for human gate study and analysis. In particular, a detailed description of the pneumatic control architecture is provided, together with some design considerations. Moreover, a platform for walking trajectory generation is presented, and some experimental results are reported. In order to assure a proper stability control during the gait, a center of pressure sensor has been specifically designed and placed onboard the robot. A detailed description on the sensor mechanism is also provided.

Flexible co-manipulation and transportation with mobile multi-robot system

2019 ◽  
Vol 39 (3) ◽  
pp. 422-431 ◽  
Author(s):  
Bassem Hichri ◽  
Lounis Adouane ◽  
Jean-Christophe Fauroux ◽  
Youcef Mezouar ◽  
Ioan Doroftei
Keyword(s):  
Mobile Robots ◽  
Design Methodology ◽  
Experimental Results ◽  
Control Architecture ◽  
Control Law ◽  
Robot System ◽  
Content Type ◽  
Whole Process ◽  
New Strategy ◽  
Multi Robot

Purpose The purpose of this paper is to address optimal positioning of a group of mobile robots for a successful manipulation and transportation of payloads of any shape. Design/methodology/approach The chosen methodology to achieve optimal positioning of the robots around the payload to lift it and to transport it while maintaining a geometric multi-robot formation is presented. This appropriate configuration of the set of robots is obtained by combining constraints ensuring stable and safe lifting and transport of the payload. A suitable control law is then used to track a virtual structure in which each elementary robot has to keep its desired position with respect to the payload. Findings An optimal positioning of mobile robots around a payload to ensure stable co-manipulation and transportation task according to stability multi-criteria constraints. Simulation and experimental results validate the proposed control architecture and strategy for a successful transportation task based on virtual structure navigation approach. Originality/value This paper presents a new strategy for co-manipulation and co-transportation task based on a virtual structure navigation approach. An algorithm for optimal positioning of mobile robots around a payload of any mass and shape is proposed while ensuring stability during the whole process by respecting multi-criteria task stability constraints.

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