scholarly journals Tactile Sensor for Manipulation of Deformable Object

2018 ◽  
Vol 7 (4.27) ◽  
pp. 101
Author(s):  
Muhammad. A.Ayub ◽  
Rabiatul. A.Jaafar ◽  
Amir Abdul Latif ◽  
. .
Keyword(s):  
Control Algorithm ◽  
Surface Characterization ◽  
Physical Property ◽  
Tactile Sensor ◽  
Handling System ◽  
Minimum Deformation ◽  
Variable Physical Property ◽  
Deformable Materials ◽  
And Control ◽  
Automated Handling

The variable physical property of deformable objects, which are very flexible, soft and viscoelastic, causes the design of reliable automated handling system relatively difficult. In fact, most of these objects tend to be handled manually during the handling process. Therefore, a new optical tactile sensor for an intelligent handling of the non-rigid materials is presented in this paper. Mathematical modelling and control algorithm are developed and the tactile sensor is calibrated in this research. Based on the results that have been recorded, the surface characterization with the respect to normal force applied to the object is attained. A gripper handling system is used to accommodate variable physical properties of the deformable materials, which are very flexible, soft and viscoelastic. In addition to that, the gripper needs to handle the materials with the minimum deformation so that less distortion, and higher accuracy of manipulation can be achieved. Efficient and accurate modelling of deformations is crucial for grasping analysis.   

Robot Soft Grabbing with New Piezoresistive Tactile Sensor

2013 ◽  
Vol 744 ◽  
pp. 501-504 ◽  
Author(s):  
Jin Jun Chen ◽  
Ting Xiang
Keyword(s):  
Control Algorithm ◽  
Statistical Parameter ◽  
Control Program ◽  
Tactile Sensor ◽  
Visible Range ◽  
Human Hand ◽  
Active Perception ◽  
Tactile Sensors ◽  
Technology Application ◽  
And Control

A type of tactile sensors based on piezoresistive principle is designed for the robot grab force detection and control. According to human behaves and awareness, the robot grabbing control program imitate human hand grasp active perception and action mechanisms. With the tactile sensors, the slip and grasping process pressure signal is sampled and analysed by general time-domain statistical parameter, and a simpler control algorithm is researched. In the experiment the robot has accomplished soft grabbing by modeling human hand action and applied appropriate grabbing force on objects of different weights or material by means of the control algorithm. Experiments suggest that this sensor and action biomimetic process is suitable to be used in the tele-presence technology application in the case of the visible range or visual equipment aid especially.

An automated handling system for soft compact shaped non-rigid products

Mechatronics ◽  
1998 ◽  
Vol 8 (2) ◽  
pp. 85-102 ◽  
Author(s):  
R.S. Stone ◽  
P.N. Brett ◽  
B.S. Evans
Keyword(s):  
Handling System ◽  
Automated Handling

The Research of Air Precooling System Based on Generalize Predictive Control Strategy

2013 ◽  
Vol 433-435 ◽  
pp. 1091-1098
Author(s):  
Wei Bo Yu ◽  
Cui Yuan Feng ◽  
Ting Ting Yang ◽  
Hong Jun Li
Keyword(s):  
Predictive Control ◽  
Control Strategy ◽  
Control Algorithm ◽  
Exchange Process ◽  
Generalized Predictive Control ◽  
Matlab Simulation ◽  
Control Effect ◽  
Heat Exchange Process ◽  
Complex Control System ◽  
And Control

The air precooling system heat exchange process is a complex control system with features such as: nonlinear, lag and random interference. So choose Generalized Predictive Control Algorithm that has low model dependence, good robustness and control effect, as well as easy to implement. But due to the large amount of calculation of traditional generalized predictive control and can't juggle quickness and overshoot problem, an improved generalized predictive control algorithm is proposed, then carry out the MATLAB simulation, the experimental results show that the algorithm can not only greatly reduce the amount of computation, but also can restrain the overshoot and its rapidity.

Modelling and control of a photovoltaic energy system with battery storage

2018 ◽  
Author(s):  
Carlos Y. García-Ramos ◽  
Jose M. González-Cava ◽  
José F. Gómez González ◽  
Sara González Pérez
Keyword(s):  
Energy Management ◽  
Control Algorithm ◽  
Hotel Industry ◽  
Energy System ◽  
Energy Management System ◽  
Battery Storage ◽  
Photovoltaic Generation ◽  
Renewable Power ◽  
First Results ◽  
And Control

"This work presents a simulated study of the energy management of an energy system connected to the grid with photovoltaic generation and battery storage. The work proposes a energy management system based on fuzzy logic. It is intended to be used in the hotel industry. The objective of the proposed controller is to maximise the renewable power source but including also economic criteria in the management. The proposal was implemented in simulation considering a 5,1kW peak photovoltaic installation and a set of batteries with a capacity of 384Ah. First results obtained show that the system achieves the specifications proposed. Thus, the study evidences the potential of the proposed control algorithm and demonstrate the suitability of the use of intelligent techniques for the energy management in hotels."

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