Integration and Testing of a High-Torque Servo-Driven Joint and Its Electronic Controller with Application in a Prototype Upper Limb Exoskeleton

Mechatronic systems that allow motorized activation in robotic exoskeletons have evolved according to their specific applications and the characteristics of the actuation system, including parameters such as size, mechanical properties, efficiency, and power draw. Additionally, different control strategies and methods could be implemented in various electronic devices to improve the performance and usability of these devices, which is desirable in any application. This paper proposes the integration and testing of a high-torque, servo-driven joint and its electronic controller, exposing its use in a robotic exoskeleton prototype as a case study. Following a brief background review, the development and implementation of the proposal are presented, allowing the control of the servo-driven joint in terms of torque, rotational velocity, and position through a straightforward, closed-loop control architecture. Additionally, the stability and performance of the servo-driven joint were assessed with and without load. In conclusion and based on the obtained results, the servo-driven joint and its control system demonstrate consistent performance under the proposed test protocol (max values: angular velocity 97 °/s, torque 33 Nm, positioning RMSE 1.46°), enabling this approach for use in various applications related to robotic exoskeletons, including human performance enhancement, rehabilitation, or support for daily living activities.

Solar Hybrid Hatching Machine Applying a Thermal Accumulator with a Reflective Array Method

In this research, a hybrid egg hatcher machine applied two types of energy for heating, namely solar thermal energy and an electric (fossil) heater. Solar energy was the main energy, and the electric heater was the secondary energy. This hybrid system was related to Indonesian geography, with high solar energy of an average of 5 kWh/m2/day in one year. Therefore, solar thermal energy storage will be effectively used in Indonesia to reduce fossil energy exploitation. The solar thermal energy was stored in an accumulator with a 4 m2 collector. The solar thermal accumulator was an insulated vessel with high reflectivity and insulation. The heat energy was stored and kept in some water bars. In maximizing absorption capability, the collector used a reflective array method that was operated by opening or closing the arrays. The arrays were controlled by an electronic controller, which compared the thermal energy inside with the energy of sunlight. The array’s movement to charge the accumulator was done automatically by using the hysteresis switching method. The electric heater will be used only if the accumulator temperature is less than 40 °C. The capacity of the egg hatcher machine accumulator was 300 eggs. Raw data were collected using a data logger of DAQ (Data Acquisition Interface) DT9813 to determine and analyze the performance of system parameters. From the data collected, the solar thermal accumulator showed its capability for storing thermal energy up to 7.07 kWh. However, its average absorption efficiencies were 54–58 % by direct solar and 60–70 % by diffuse solar. Experiments verified the effectiveness of the designed accumulator. The experimental results showed that the electrical energy consumption was reduced up to 64 %.

Human Body Temperature based Access Control and Sanitization Kiosk for COVID-19

The widespread of the Novel Coronavirus has sparked heated debate over how to keep public-facing workers safe in a range of businesses. This is especially important in businesses and organizations where officials are responsible for checking in possibly unwell employees or visitors. Eliminating the need for dedicated staff for screening is a challenge. This can be addressed by developing access control, sanitization, and detection systems. The project aims to develop a Healthcare Kiosk with integrated access control and sanitization module. The Access control system would be based on Human body Temperature values set under the health parameter policy of the institution or company. The Kiosk will first check the prescribed parameters of the person entering using the check-up stations and if the parameters are in range and sanitization is completed it will actuate the door using a logic-based signal given by the Programmable Logic Controller or Equivalent Electronic Controller.

Design and Verification of Aeroengine Rotor Speed Controller Based on U-LADRC

Due to the harsh working environment, engine electronic controller (EEC) has limited computing power. Many advanced control algorithms are difficult to be applied in practice because of complexity of calculation. In this paper, a novel aeroengine transient-speed controller with low algorithm complexity is designed by combining linear parameter varying (LPV) model with U-control theory. Aiming at restraining bad performance influence caused by possible disturbance in cruise, linear active disturbance rejection control (LADRC) compensation is integrated as the U-LADRC controller. This new controller is verified in both the digital simulation platform and hardware-in-the-loop (HIL) platform. The experimental results of the HIL platform show that the U-LADRC control algorithm meets the real-time performance of the EEC in the actual aeroengine. It has good transition state control performance and good steady-state antidisturbance ability, which ensures the smooth operation of the engine in the steady state and has a good practical application prospect.

A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism

Mechanical components in a robotic system were used to provide body structure and mechanism to achieve physical motions following the commands from electronic controller. This kind of robotic system utilizes complex hardware and firmware for sensing and planning. To reduce computational cost and increase reliability for a robotic system, employing mechanical components to fully or partially take over control tasks is a promising way, which is also referred to as “mechanical intelligence” (MI). This paper proposes a shape memory alloy driven robot capable of using a reciprocating motion to crawl over a surface without any use of electronic controller. A mechanical logic switch is designed to determine the activation timing for a pair of antagonistic shape memory alloy (SMA) actuators. Meanwhile, a compliant pre-strain bistable mechanism is introduced to cooperate with the SMA actuators achieving reliable reciprocating motion between the two stable positions. The SMA actuator is modeled base on a static two-state theory while the bistable mechanism is described by combining a pseudo-rigid-body model (PRBM) with a Bi-beam constraint model (Bi-BCM). Following this, the design parameters of the bistable mechanism and SMA actuators are determined according to theoretical simulations. Finally, a robotic prototype is fabricated using anisotropic friction on its feet to convert the reciprocating motion of the actuator to uni-directional locomotion of the robot body over a surface. Experiments are carried out to validate the presented design concept and the modeling methods.

Performance Testing of Foldable Electric Powered Wheelch

This paper aims to design and test a foldable, lightweight wheelchair propelled by a pair of electric motors. Starting from literature review, the research team carried out the design and solid modeling of proposed wheelchair. Solidworks software was used to make the computer model. The wheelchair frame comprised of a chair like frame with two pairs of wheels on front and back. The defined electric wheelchair is completed with the coordination of manual and electric system. A pair of electric motor is fitted on wheels at backside which are controlled by the electronic controller powered by the battery. The folding mechanism developed on the wheelchair was aimed for ease of transport and storage. The frame material was selected to be aluminum alloy. Lithium ion battery and geared electric motors were used in the prototype and motion control was done by joystick. Locking mechanism was used for frame locking during operation. The prototype was subjected to different tests. The unfolded dimensions of wheelchair were 850mm × 620mm × 1400mm (0.738m3) and whereas the folded dimensions were 1100mm × 620mm × 520mm (0.354m3) that resulted 52.03% reduction in volume. The mass of wheelchair was measured to be 22kg. The tested data of wheelchair was found to be 10 km approximately.

Design and implementation speed control system of DC Motor based on PID control and matlab simulink

<span>In this paper, we first write a description of the operation of DC motors taking into account which parameters the speed depends on thereof. The PID (Proportional-Integral-Derivative) controllers are then briefly described, and then applied to the motor speed control already described , that is, as an electronic controller (PID), which is often referred to as a DC motor. The closed loop speed control of a Brush DC motor is developed applying the well-known PID control algorithm. The objective of this work is to designed and simulate a new control system to keep the speed of the DC motor constant before variations of the load (disturbances), automatically depending to the PID controller. The system was designed and implementation by using MATLAB/SIMULINK and DC motor.</span>

Feasibility of Quantum Computers in Cryogenic Systems

Quantum computers consist of a quantum processor – sets of quantum bits or qubits operating at an extremely low temperature – and a classical electronic controller to read out and control the processor. The machines utilize the unusual properties of matter at extremely small scales – the fact that a qubit, can represent “1” and “0” at the same time, a phenomenon known as superposition. (In traditional digital computing, transistors in silicon chips can exist in one of two states represented in binary by a 1 or 0 not both). Under the right conditions, computations carried out with qubits are equivalent to numerous classical computations performed in parallel, thus greatly enhancing computing power compared to today’s powerful supercomputers and the ability to solve complex problems without the sort of experiments necessary to generate quantum phenomena. this technology is unstable and needs to be stored in a cool environment for faster and more secure operation.In this paper, we discuss the possibility of integrating quantum computers with electronics at deep cryogenic temperatures.