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This paper presents a reliable but low-cost way for industrial digital microscopy to implement μm-level precision of X/Y stage motion control. Other than the prevailing designs using stepper motors with open-loop control algorithms, the proposed method uses DC motors with closed-loop sliding mode control (SMC) to save the cost and allow a smooth switching between manual and motorized mode for stage...
The CALEB10 is an underwater robot that can swim and walk in underwater environment. In this paper, we propose a hardware design and a swimming control method to stabilize unstable pitch motion during swimming in neutral buoyancy state where CALEB10 is completely immersed in water. And the idea of this study are verified by a dynamics-based simulator and underwater experiment.
Permanent magnet track linear motor drives are used in numerous industrial manufacturing processes covering a wide range of material handling and conveyor applications. A traditional solution is a permanent magnet linear motor (PMLM) in which the stationary part consists of permanent magnets and the moving part of the armature. To further reduce the initial costs of such a permanent magnet track linear...
This paper addresses a novel slip-ratio-based torque distribution strategy for electric vehicles (EVs) to avoid slippage when driving over a split friction surface. With the combination to an upper and middle controller, the desired driving force and yaw moment can be distributed to four driving wheels by utilizing the proposed lower controller. Stability analysis by using Lyapunov theorem is presented...
The proposed approach to the adaptive motion control in the presence of LuGre-type friction consists in the compensation of all components containing the internal model variable by a robust control term, based on a special “bounding function”. To minimize the chattering effect, this function is approximated by a linear-in-parameters model. The model is tuned on-line by the adaptive control, together...
In order to decrease both the weight and the size of submarine, the variable vector propeller (i.e., VVP) has been applied on it. In this paper we will study the horizontal motion control for submarine with variable vector propeller. Firstly, we will build the reasonable simplification of the horizontal motion equations about submarine with variable vector propeller according to the need of control...
Controlling microrobots in the past have required the used of heavy coil systems and large power supply units, in this paper we show that a strong permanent magnet is sufficient for the control scheme. The development of a controlling stage was deemed to be a priority and allowed for the manipulation of microrobots, otherwise known as alginate particles or artificial cells, in the xy-plane. We show...
Microrobots have an enormous potential in medical applications such as the minimal invasion to human body, drug delivery and drug imaging. Magnetic tweezers, as a very powerful tool in micro manipulation, has been investigated by many researchers. However, most of the previous researches mainly have utilized the magnetic tweezer on very small working space with two-dimensional control inputs. This...
Motion stabilization for electric vehicles (EVs) with four in-wheel-motors (IWMs) has been extensively studied in recent years. While most of the previous works have tended to focus on the development of optimization algorithms for driving force distribution, this paper considers a global-local control scheme: the global controller coordinates wheel and vehicle motions to generate reference driving...
For the characteristics of wave-piercing catamaran longitudinal motion when sailing with high speed in random waves, this paper proposes a state estimation algorithm for wave-piercing catamaran longitudinal motion based on EKF. On the one hand noise is filtered out from the noise pollution measurement signal as much as possible, and the desired signal is separated therefrom; on the other hand, all...
Over the past decade, pneumatic muscle actuator (PMA) has been in the limelight and receiving much attention not only in the field of industrial application as well as in prominent research areas such as robotics and biomedical engineering. The uprising can be accorded to the many advantages that PMA offers such as inherent compliant safety, low maintenance and powerful. However, PMA has yet to emerge...
Manual motion control (MMC) problems are seen in the conveyance of a large amount of products in factories and stores. One of the most successful examples of MMC is power assist. The power-assisted systems have been introduced to reduce workers' loads in industrial production. In near future, in order to improve its efficiency, the power-assisted systems should include automatic operational modes...
To meet the challenge of excellent tracking performance even under complicated nonlinear disturbance, a desired compensation neural network adaptive robust control (DCN-NARC) strategy is proposed for an industrial linear motor motion system. The proposed control scheme seriously concentrates on attenuating the effects of various model uncertainties and unknown nonlinearities, such as inertia load...
We control the motion of paramagnetic microparticles with average diameter of 100 µm inside microfluidic channels against and along time-varying flow rates. The drag force and the force due to time-varying flow rate are modeled as time-varying disturbance force. This force is estimated using a disturbance force observer and compensated using a magnetic-based closed-loop control system. The closed-loop...
This paper describes the design, realization and testing of an active ball handling mechanism which is designed for dribbling the ball in the RoboCup Middle Size League used by our team NuBot. First, a virtual model of the simplified ball handling mechanism is derived. Afterwards, a control system including a feedback controller and a feedforward controller is designed and developed step by step....
There is a demand for autonomous driving control in front-wheel steering vehicles because it is expected to make driving safer and easier and also to reduce the driving workload. In order to perform safe driving with autonomous driving control, it is necessary to consider unexpected disturbances when the vehicle is moving and that tire forces have limitations. We propose autonomous driving control...
This paper proposes a design method of multilateral system based on reachability matrix for independent operation. A multilateral system is a one of the haptic transmission control, which is extended structure of bilateral control. If the multilateral system consists of many master system and one slave system, many human can obtain the haptic information of an environment through a slave system. However,...
This paper proposes a motion control method for a remote-controlled vehicle with an accelerator pedal by mixing two types of bilateral control, namely, transformer-type bilateral control and gyrator-type bilateral control. Transformer-type bilateral control has a function to satisfy haptic transmission between the master and slave. However, it has a weakness that the position control limits the movable...
This paper analyzes three-degree-of-freedom (Three-DoF) control based multiple disturbance observers (TDoF-DOB). Three-DoF control has multiple DOBs equivalently; therefore, its explicit implementation is verified in this paper for the force estimation problem. As the comparative study, differences between TDoF-DOB and position and acceleration integrated disturbance observer (PAIDO) are analyzed...
This paper proposes a bilateral control system for master-slave devices using a compliant mechanism that allows an operator to finely handle an object when the stiffness of the object varies from low (soft) to high (hard). The proposed system consists of a two-stage series-elastic actuator (SEA) that has two springs with different stiffness. In the proposed system, a force control system, which controls...
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