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Linearization of two-state thruster models

Journal of Physics: Conference Series 2020年第1期1490卷

作者： Dieky Adzkiya Hendro Nurhadi Teguh Herlambang Department of Mathematics Institut Teknologi Sepuluh Nopember Indonesia Center of Excellence for Mechatronics and Industrial Automation Research Center Institut Teknologi Sepuluh Nopember Indonesia Department of Industrial Mechanical Engineering Institut Teknologi Sepuluh Nopember Indonesia Study Program of Information Systems Universitas Nahdlatul Ulama Surabaya Indonesia

A thruster is a device used for station keeping, attitude control, in the reaction control system, or long-duration, low-thrust acceleration. Thruster is one of the main components in autonomous surface vehicle. In th...

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Analysis of Bone Remodeling Under Piezoelectricity Effects Using Boundary Elements

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Journal of Bionic engineering 2017年第4期14卷 659-671页

作者： Miguel Cerrolaza Vannessa Duarte Diego Garzon-Alvarado National Institute of Bioengineering Central University of Venezuela Caracas Venezuela International Center for Numerical Methods in Engineering ( CIMNE) Polytechnic University of Catalonia Barcelona Spain Virtual Rooms Program ( CIMNE) Polytechnic University of Catalonia Barcelona Spain Laboratory of Biomimetics Group of Mechanobiology of Organs and Tissues Biotechnology Institute Department of Mechanical Engineering and Mechatronics National University of Colombia Bogota Colombia

Piezoelectric materials exhibit a response to mechanical-electrical coupling, which represents an important contribution to the electrical-mechanical interaction in bone remodeling process. Therefore, the study of the piezoelectric effect on bone re- modeling has high interest in applied biomechanics. The effects of mechano-regulation and electrical stimulation on bone healing are explained. The Boundary Element Method （BEM） is used to simulate piezoelectric effects on bones when shearing forces are applied to collagen fibers to make them slip past each other. The piezoelectric fundamental solutions are obtained by using the Radon transform. The Dual Reciprocity Method （DRM） is used to simulate the particular solutions in time-dependent problems. BEM analysis showed the strong influence of electrical stimulation on bone remodeling. The examples discussed in this work showed that, as expected, the electrically loaded bone surfaces improved the bone deposition. BEM results confirmed previous findings obtained by using the Finite Element Method （FEM）. This work opens very promising doors in biomechanics research, showing that mechanical loads can be replaced, in part, by electrical charges that stimulate strengthening bone density. The obtained results herein are in good agreement with those found in literature from experimental testing and/or other simu- lation approaches.

关键词： bone remodeling numerical methods piezoelectricity boundary element anisotropy

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Robust Hybrid PI Controller with a Simple Adaptation in the Integrator Reset State

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IFAC-PapersOnLine 2017年第1期50卷 1457-1462页

作者： Scola I.R. Quadros M.M. Leite V.J.S. Electrical Engineering Graduate Program CEFET-MG UFSJ Belo Horizonte MG 30510-000 Brazil Mechatronics Engineering Department CEFET-MG campus Divinópolis Divinopólis MG 35503-822 Brazil

In this paper, we consider the implementation and the robust stability analysis of a new hybrid PI controller. Two laboratory processes are used, one to control the level in water reservoir system with capacity of 200 liters, and the other to control the temperature in a continuous oven of one meter long. The robust stability analysis conditions are proposed in terms of convex optimization procedures and can be used to certify the robust closed-loop stability. The dynamics of the processes are approximated by a first order system plus delay and, because of this, a Smith predictor is jointly used with all controllers. Concerning the hybrid PI implementation, we compare the performances achieved by a classical linear PI, by a hybrid controller found in the literature and by a new hybrid controller with adaptation of the reset value. We illustrate the performance, robustness and disturbance rejection of all three controllers in a prototype by control real time tests. The achieved performance of each controller is quantified by means of typical industrial indexes. © 2017

关键词： Hybrid control Reset adaptation Robust control Time delay systems

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Simulation of a master-slave tele-operated system for people with muscular atrophy in upper limbs 2

Simulation of a master-slave tele-operated system for people...

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2nd Workshop on Regional Consortium for Foundations, Research and 5th Spread of Emerging Technologies in Computing Sciences, RCCSS-PIDTEC2 2017

作者： Luna, Francesco García Bull, Karla Gómez Mechatronics Engineering Program Industrial and Manufacturing Department Ciudad Juárez Autonomous University Campus CU Ciudad Juárez CHI Mexico Industrial Engineering Program Industrial and Manufacturing Department Ciudad Juárez Autonomous University Campus CU Ciudad Juárez CHI Mexico

In the present paper it was developed and programmed a simple 6 DoF tele-operated slave system that can track in real-time a master system. The arm's length parameters were calculated using a database of 196 male and female students from 18 to 22 years old. A classic control scheme were used in the slave system for the position tracking. The master system movement modifies the end effector's Euclidean position of the slave system. Experimental results of the system are provided including the desired trajectory and the robot behavior, showing the trajectory error.

关键词： Manipulators

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Comparisons of controller performance for small-scale vertical axis wind turbines

Comparisons of controller performance for small-scale vertic...

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American Control Conference

作者： Aykut O Onol Ahmet Onat Serhat Yesilyurt Computer Engineering Department in Northeastern University United States of America Mechatronics Program in the Faculty of Engineering and Natural Sciences in Sabanci University Turkey Mechatronics Program in Faculty of Engineering and Natural Sciences in Sabanci University Turkey

ISBN: (纸本)9781509045839

Small-scale vertical axis wind turbines (VAWTs) are attractive for portable power generation. Controller performance is very important in rapidly varying gusty winds commonly observed in urban and rural areas. In this paper, a hill-climb searching (HSC) maximum power point tracking (MPPT), an energy-maximizing model predictive control (MPC) and a simple nonlinear control (SNC) as an MPC surrogate are presented. The control algorithms are tested through a software-only electromechanical model and with hardware-in-the-loop test-bed that includes electromechanical and power electronics components. Effects of power coefficient oscillations on dynamic performance are investigated. Results show that proposed controllers perform satisfactorily for wind gust and real wind profiles;the SNC serves as a viable surrogate for the MPC;the model-free, wind speed sensorless MPPT is favorable for small-scale applications;and power coefficient oscillations do not have a significant impact on the dynamic performance of the controllers.

关键词： Comparisons Controller Performance

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Design, implementation and control of dual axis self balancing inverted pendulum using reaction wheels 10

Design, implementation and control of dual axis self balanci...

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10th International Conference on Electrical and Electronics engineering, ELECO 2017

作者： Türkmen, Abdullah Korkut, M. Yusuf Erdem, Mustafa Gönül, Ömer Sezer, Volkan Mechatronics Graduate Program Istanbul Technical University Istanbul Turkey Energy Institute Istanbul Technical University Istanbul Turkey Dept. of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9786050107371

Inverted pendulum systems have an important place in practice for control problems due to their nonlinear structures. It is a very difficult task to control the orientation and speed of objects and robots which are free in three dimensions. These systems constitute the substructure of many advanced systems. Conventional actuators may not be used in such applications due to various limitations. Under these circumstances usage of reaction wheels come into prominence. Reaction wheel based systems are used for orienting, coordinating and balancing of spacecraft, transport systems, and other such systems. In this study, dual axis self-balancing reaction wheel based inverted pendulum system which is a basis for many complex systems has been designed, manufactured and controlled. © 2017 EMO (Turkish Chamber of Electrical Enginners).

关键词： Inverted pendulum

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Non-newtonian Rabinowitsch Fluid Effects on the Lubrication Performances of Sine Film Thrust Bearings

Non-newtonian Rabinowitsch Fluid Effects on the Lubrication ...

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2017第二届电气工程，机械工程与自动化国际会议

作者： Jaw-Ren Lin Hsiu-Lu Chiang Yu-Kang Chiu Department of Mechanical Engineering Nanya Institute of Technology Master Program of Mechanical and Mechatronics Engineering Nanya Institute of Technology

Thrust bearings are generally developed to sustain axial load generated from rotating machinery. Predicting lubrication performances of thrust bearings plays an important role in engineering applications. Taking into account the effects of non-Newtonian rheology, the lubrication performances for a sine film thrust bearing are investigated in the present paper. By employing a small perturbation technique to the nonlinear non-Newtonian Reynolds equation, analytical solutions of the film pressure, the load-carrying capacity, the friction parameter and the required volume flow rate are derived. Comparing with the case lubricated with a Newtonian lubricant, the non-Newtonian Rabinowitsch fluids(including the pseudo-plastic fluids and the dilatant fluids) show significant influences on the lubrication performances of a sine film thrust bearing, especially for a larger value of the non-Newtonian parameter.

关键词： Non-newtonian Rheology Sine Film Thrust Bearings Load Performances

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Localization of an autonomous personnel carrying vehicle in indoor environments 17

Localization of an autonomous personnel carrying vehicle in ...

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2017 International Conference on mechatronics Systems and Control engineering, ICMSCE 2017

作者： Altuǧ, Erdinç Gelbal, Şükrü Yaren Keçeci, Emin Faruk Gültekin, Mehmet Kabil Faculty of Mechanical Engineering Istanbul Technical University Gümüşsuyu Istanbul Turkey Mechatronics Graduate Program Istanbul Technical University Gümüşsuyu Istanbul Turkey Department of Mechanical Engineering Abdullah Gül University Kayseri Turkey System Dynamics and Control Graduate Program Istanbul Technical University Gümüşsuyu Istanbul Turkey

ISBN: (纸本)9781450352079

There is an emerging need of intelligent vehicles on indoor environments such as university campuses, airports or shopping malls. These intelligent vehicles can help elderly, disabled, or people with heavy luggage. This paper describes an intelligent vehicle that can be used indoor as well as outdoor areas for this purpose. Finding the exact location for indoor robots is not an easy task, since Global Positioning System (GPS) is not available indoors. In this work onboard sensors such as motor encoder and steering-wheel encoder were used to obtain localization estimates. The errors are determined to be low even when the vehicle travels long distances. © 2017 ACM.

关键词： Vehicles

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Track Modelling and Control of a Railway Vehicle

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IFAC-PapersOnLine 2016年第21期49卷 274-281页

作者： Leblebici, Asli Soyiç Türkay, Semiha Mechatronics Program Eskisehir Osmangazi University Eskisehir Turkey Electrical Engineering Department Anadolu University Eskisehir Turkey

In this paper, a railway vehicle AM96 train developed by Bombardier, Belgium is represented as a half-car model. First, random road defect inputs are modelled as track class 6 from Federal Railroad Administration (FRA) reports and vehicle vibration characteristics are studied for ten-degree-of freedom vehicle model. Next, lumped track model in terms of ballast and soil parameters is added to the structure and the vehicle response to random vibrations are studied. An active suspension problem is formulated and solved by using Linear-Quadratic Gaussian methodology. The improvement in root-mean-square (rms) vertical and pitch accelerations, the suspension travels and the tire deflections are obtained by active suspension design. © 2016

关键词： Suspensions (components) Automobile suspensions Degrees of freedom (mechanics) Locomotives Lumped parameter networks Magnetic levitation vehicles Model automobiles Railroad plant and structures Railroad transportation Railroads Vibration analysis Active suspension AM96 Bombardier High speed railways LQG control Lumped parameter modeling

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MG-MMG Care System for Muscle Rehabilitation Therapies in Upper Limb using Video Game

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Research Journal of Applied Sciences, engineering and Technology 2017年第7期14卷 271-275页

作者： C.A. Perdomo O.J. Perdomo O.F. Avilés Department of Electronic Engineering Distrital Francisco Jos� de Caldas University Department of Systems Engineering Distrital Francisco Jos� de Caldas University Mechatronics Engineering Program Militar Nueva Granada University Colombia

This study presents the design and development of a hardware/software to assist an arm rehabilitation therapy. Electromyography (EMG) and Mechanomyography (MMG) were used to calibrate the muscle activity according to the movements required by the therapist. The system has a video game with different difficulty levels, that generates the patients progress report in realtime to the medical personal with possibility to changing some parameters during the therapy.

关键词： EMG MMG muscle activity rehabilitation therapy

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