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Nano-robotic manipulation using a RRP nanomanipulator: Part B - Robust control of manipulator's tip using fused visual servoing and force sensor feedbacks

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APPLIED mathematics AND COMPUTATION 2008年第2期206卷 628-642页

作者： Saeidpourazar, Reza Jalili, Nader Clemson Univ Dept Mech Engn Smart Structures & NEMS Lab Clemson SC 29634 USA

Due to lack of position and velocity feedbacks in MM3A nanomanipulator, a fused vision/force feedback robust controller has been recently designed by the authors. This second paper in the series presents the optimal utilization of the visual servoing and force sensor feedbacks for use in the nanomanipulation tasks discussed in the first paper (Part A). More specifically, the visual servoing and force feedback structures are investigated through extensive simulations in order to reveal issues in practical implementation. For this, a set of numerical simulations is performed to demonstrate the effectiveness of utilizing just vision feedback as well as force feedback only, at both macro and microscale. It is shown that although each feedback module could provide reasonably accurate results at either macro or microscale, precise positioning of such nanomanipulator requires employment of both modules with a proper (optimal) switching strategy. This paper extends our previously introduced robust controller for nanomanipulator positioning and offers a novel switching framework to be used between vision feedback and force feedback modules. Utilizing a soft switching function, the problem of jump in the actuator force during fused vision/force control of the nanomanipulation can be overcome. Following the development of the soft switching approach, numerical simulations are used to verify the positioning performance and effectiveness of each switching strategy. (C) 2008 Elsevier Inc. All rights reserved.

关键词： Nanorobotic manipulation Vision feedback Force feedback Fused feedback controller Robust controller Soft switching

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Modeling and simulation of piezoelectric-active control of wind-induced vibrations on beams

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European conference on smart Systems

作者： Betti, Michele Baniotopoulos, Charalampos C. Stavroulakis, Georgios E. Univ Florence DIC CRIACIV Via Santa Marta 3 I-50134 Florence Italy Aristotelian Univ Thessalonikia AUTH Dept Civil Engn Thessaloniki 54124 Greece Tech Univ Crete Chania Dept Prod Engn & Management Khania 73100 Greece Carolo Wilhelmina Tech Univ Braunschweig Dept Civil Engn D-38106 Braunschweig Germany

ISBN: (纸本)9789812703927

Strong wind could induce severe vibration on tall buildings and then discomfort to die occupants (and maybe also damage of sensitive equipments on the buildings). Insofar active vibrations control, due to the increasing requirements of high structures in modem building, is an actual engineering concern. As a matter of fact, finite element methods are able to take into account the integration of smart components on classical structural parts. Special finite elements have been developed for the consideration of the piezoelectric effect. For the design of smart piezoelectric structures for active vibration control both structural dynamics and control need to be considered. In this paper an active vibration control technique for a smart beam is presented. The structure is made of two layers of piezoelectric material (PZT-8) embed on the surface of an aluminium beam. A general purpose finite element code, ANSYS, is utilized in order to develop a computational model for the study of the dynamic response of the structures with the active piezoelectric elements. Herein a cantilever beam under dynamic loads is analyzed, and comparison between results for beam with and without control is made. Finally a typical stochastic wind-type load is considered.

关键词： Structural dynamics

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Deflection control of smart functionally graded beams

Deflection control of smart functionally graded beams

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8th International conference on Computational structures Technology, CST 2006

作者： Eslami, M.R. Bidokhti, A.A. Sadighi, M. Gharib, A. Tehran Iran

ISBN: (纸本)9781905088089

In this paper, a smart functionally graded beam is investigated. The smart beam consists of three layers: one layer of functionally graded material (FGM) and two layers of piezoelectric material used as sensor and actuator. The properties of FGM layer are functionally graded in the thickness direction according to the volume fraction power law distribution. An analytical solution of the governing equations, which is based on the first-order shear deformation theory (Timoshenko theory), is presented. To achieve a mechanism of active control of the structure dynamic response, a constant velocity control algorithm is used. The effects of FGM constituent volume fraction and feedback control gain are investigated. © 2006 Civil-Comp Press.

关键词： Functionally graded materials

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CAE approach to the design of smart structures applications

CAE approach to the design of smart structures applications

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6th European conference on Noise control: Advanced Solutions for Noise control, EURONOISE 2006

作者： Van Der Auweraer, Herman Herold, Sven Mohring, Jan De Oliveira, Leopoldo Dailva, Maira Deraemaeker, Arnaud LMS International Interleuvenlaan 68 B - 3001 Leuven Belgium LBF Fraunhofer Institute for Structural Durability Darmstadt Germany ITWM Fraunhofer Institute for Technical Mathematics Kaiserslautern Germany K.U. Leuven PMA Division Leuven Belgium ULB Active Structures Laboratory Brussels Belgium

During last years, smart materials and control concepts developments have led to exploring practical applications. To make the step to industrial use, related design processes however must become part of the industrial product creation process. This requires the product functional performance simulation models to support the specific aspects related to advanced materials, active systems, actuators, sensors and control and integrate these into system level virtual prototype models. An industrial constraint is that these simulations make maximal use of standard simulation tools such as major FE/BE and MBS codes, 1-D simulation tools as Matlab-Simulink (MSL) etc. This involves developing modelling capabilities for the intelligent material systems and sensor/actuator components inside FE or as 1-D models in MSL. For the control system models, the key element is to link the worlds of 1-D control simulation and geometry-based structural simulation. To design the actual system-level application, a two-step approach is followed. The most promising macro configurations (control on panels, beams, mounts) are selected based on 3-D FE/MBS models using simplified controller models. In the second step, the selected configurations are optimised in terms of actuator and controller strategies/parameters using the 1-D Simulink environment. The research is executed as part of the EC-IP InMAR.

关键词： Simulink

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An electro-mechanical impedance approach for vibration control using multiple piezoelectric actuators and sensors

An electro-mechanical impedance approach for vibration contr...

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8th International conference on Computational structures Technology, CST 2006

作者： Providakis, C.P. Kontoni, D.P.N. Voutetaki, M.E. Department of Applied Sciences Technical University of Crete Chania Greece Department of Civil Engineering Technological Educational Institute of Patras Greece

ISBN: (纸本)9781905088089

This paper investigates the use of the electro-mechanical (E/M) impedance (or its inverse admittance) for the vibration control of smart structures with intimately bonded multiple piezoelectric actuators and sensors, A three-dimensional finite element model is described to steady-state input of the composite structure. By applying an appropriate optimization scheme to fit the (E/M) admittance resonance pattern to a desired shape, reduction of the amplitude peaks of the vibrating structure is obtained. Numerical results are presented to indicate the effectiveness of the proposed methodology. The results obtained clearly demonstrate the very good agreement and broad band attenuation capability of multiple piezoelectric actuators and sensors. © 2006 Civil-Comp Press.

关键词： Vibration control

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Parameters Identification for smart Dampers based on Simulated Annealing and Genetic Algorithm

Parameters Identification for Smart Dampers based on Simulat...

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IEEE International conference on Mechatronics and Automation

作者： Peng Liu Hongjun Liu Jun Teng Tianyi Cao Department of Urban and Civil Engineering Harbin Institute of Technology Shenzhen China

The research for MR dampers has been an extremely hot topic in the recent area of the structural vibration control. It has been the newly intellectual install in vibration controlling for the civil engineering structures now. But, how to build the mathematic model for the damper, and choose the proper algorithm to identify and optimize the parameters of the model is the key for the problem. In the lecture, the Bouc-Wen model is used in the calculation. And the genetic algorithm used before is simply introduced. The calculating process of the simulated annealing algorithm is designed in details. Then the fine parameters of theirs are determined by changing the conditions. For the identification of the damper parameters, the optimal solutions of the simulated annealing algorithm and genetic algorithm are both calculated out. At last, the results calculated separately by them are shown and the optimal solutions are in contrast. Their efficiencies in optimization are also discussed separately in the paper

关键词： Parameter estimation Simulated annealing Genetic algorithms Shock absorbers Damping Vibration control Mathematical model Civil engineering mathematics Algorithm design and analysis

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Energy optimization of driving amplifiers for smart actuators

Energy optimization of driving amplifiers for smart actuator...

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smart structures and Materials 2003 conference

作者： Zhu, H Song, C Lindner, DK Abdalla, MM Gürdal, Z Virginia Polytech Inst & State Univ CPES Bradley Dept Elect & Comp Engn Blacksburg VA 24061 USA

ISBN: (纸本)0819448540

A high-efficiency driving amplifier with small profile for smart actuators is essential for portable actuator devices. In this paper, a detailed optimized design of half-bridge switching circuit to drive smart actuators is described. The mathematical optimization procedure is applied to the traditional circuit design to make the circuit smaller and more efficient. The objective function presented in this paper is to minimize the total weight of the circuit, including heat sink, inductor and bus capacitor. The calculation of the power dissipation of MOSFET is adopted as a critical step to get the suitable heat sink. The optimization results are presented to demonstrate the effectiveness of this method.

关键词： Field effect transistors Switching Amplifiers Actuators Resistance Optimization (mathematics) Capacitors Electronics smart materials Capacitance

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Narrowband control design for smart structural systems

Narrowband control design for smart structural systems

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18th Biennial conference on Mechanical Vibration and Noise

作者： Kolepp, Daniel J. Smith, Ralph C. Center for Res. in Sci. Computation Department of Mathematics North Carolina State University Raleigh NC 27695 United States

This investigation focuses on the development of narrowband control strategies which are effective for structural systems subjected to both harmonic exogenous forces and stochastic uncertainties in the model or measurements. A cantilever beam with surface-mounted piezoceramic actuators is used as a prototypical structure since it exhibits physical attributes of a variety of vibrating structures but is sufficiently simple to facilitate initial control design. A PDE model for the structure is discretized using a spline-based Galerkin technique to obtain a semi-discrete system that is appropriate for finite-dimensional control design. A narrowband control method, which can be tuned to attenuate either natural frequencies or specific frequencies in the exogenous input, is developed and compared with standard LQR techniques through numerical examples.

关键词： control system synthesis

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Enhancement of the operating speed and accuracy of parallel and cooperating robots with smart materials

Enhancement of the operating speed and accuracy of parallel ...

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smart structures and Materials 2000 conference

作者： Yuan, LF Rastegar, JS SUNY Stony Brook Dept Mech Engn Stony Brook NY 11794 USA

ISBN: (纸本)0819436038

Robot manipulators with parallel kinematics chains and two or more robots manipulating an object form closed kinematics chains. When revolute joints are used in the construction of such robotic manipulation systems, the presence of closed chains and their associated kinematics nonlinearity demands high harmonic motions in at least a number of the actuated joints. This is the case even if all the links are relatively rigid and attempt is made to synthesise the joint motions with minimal harmonic content. The presence of high harmonic components in the actuated joint motions is undesirable since as the operating speed is increased, their frequencies would rapidly increase and move beyond the dynamic response limitations of the actuating drives, thereby causing vibration and control problems. The performance of the system in terms of cycle time, tracking precision and the like would therefore suffer. This is particularly the case since the dynamics of such systems is also highly nonlinear and require higher harmonic components in the actuating torques (forces). In this paper, a systematic method is presented for optimal integration of smart (active) materials based actuators into the structure of cooperating robots and robot manipulators with parallel kinematics chain for the purpose of eliminating the high harmonic components of their actuated joint motions. As the result, the potential excitation of the natural modes of vibration of such systems and their related control problems can be greatly reduced. The resulting robotic systems should therefore be capable of operating at higher speeds with increased precision.

关键词： Actuators Robots smart materials Kinematics control systems Robotic systems Complex systems Vibration control Optimization (mathematics) Robotics

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Strategies for smart control of large structures

Strategies for smart control of large structures

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smart structures and Materials 1999 conference

作者： Klein, RE Univ Illinois Dept Mech & Ind Engn Urbana IL 61801 USA

ISBN: (纸本)0819431419

Several decades ago, the principles of dynamic systems and controls were directed towards large engineering structures. In more recent years, the use of feedback control systems technology has:been introduced to cause a structure to be "smart," or to be semi-actively controlled. As structural control matures, and such things as "intelligent" structures and "smart" systems methodology become understood and accepted in the broader scientific and technical circles, the uttering of some thoughts in reflection becomes appropriate. The paper recounts the author's personal role and experiences, examines trends and underlying issues in structural control, and concludes with admonitions, recommendations and visions concerning future directions in structural control.

关键词： structures structural control vibration control systems wind loads smart systems dynamic response

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