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Review:Recent advances in nonlinear control technologies for shape memory alloy actuators

Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2007年第5期8卷 818-829页

作者： SREEKUMAR M. SINGAPERUMAL M. NAGARAJAN T. ZOPPI M. MOLFINO R. Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian Institute of Technology MadrasChennai 600 036India Laboratory of Design and Measurement for Automation and Robotics Department of Mechanics and Machines Design University of GenovaVia all'Opera Pia 15 a-16145 GenovaItaly

This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response, and non-linear behavior, which make them difficult to control. The fast response of the SMA actuator mostly depends upon, (1) type of controller, (2) rate of addition and removal of heat, and (3) shape or form of the actuator. Though linear controllers are more desirable than nonlinear ones, the review of literature shows that the results obtained using nonlinear controllers were far better than the former one. Therefore, more emphasis is made on the nonlinear control technologies taking into account the intelligent controllers. Various forms of SMA actuator along with different heating and cooling methods are presented in this review, followed by the nonlinear control methods and the control problems encountered by the researchers.

关键词： Shape memory alloy （SMA） actuators Nonlinear control Micro robots Hysteresis Position control Robotic manipulators

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Remote controlled undergroung robot for landfill drainage

Remote controlled undergroung robot for landfill drainage

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8th Biennial ASME Conference on Engineering Systems design and Analysis, ESDA2006

作者： Belotti, Vittorio Michelini, Rinaldo C. Zoppi, Matteo University of Genova PMARlab - Laboratory of Design and Measurement for Automation and Robotics DIMEC - Department of Mechanics and Machines Design Via all'Opera Pia 15 A 16145 Genoa Italy

ISBN: (纸本)0791837793

The environmental policy of EU, acknowledged by the Economics Ministers in June 2001 meeting, establishes a set of priorities. The present paper deals with urgent demands in these fields, with attention on pollution decreasing/removal. A survey of European Topic Centre on Waste, based on partial data only, points out the risk of sewage and leachate contamination of subsoil and waterbed for 13500 landfills. The European Council, in the Directive 97/C_76/01, requests the member states to take the necessary measures to ensure, to fullest practicable extent, that old-landfills and polluting-sites should be rehabilitated. This request is specifically addressed, with the Microdrainage project, EVK4-CT-2002-30012, successfully achieved building the robotic prototype, properly operative from mid 2005. The paper presents the innovative developments undertaken by the project. A new drilling equipment is built, suited for autonomous operation, with fully automatic effectors and rods feeding and with multi-function boring/drilling head, to comply with complex work-task schedules. The mechanical architecture needs proper sophistication, to deal with rods supplying along the micro-tunnel, local buffering to complete the lay-down of a draining line, and mast feeding by the purposely designed arm. The system implementation, thereafter, tackles with the severe technical specifications for the micro-tunnel surroundings, and exacting performance requirements in rig levelling, mast attitude accuracy and work-task sequencing. By this project, the successful deployment of these enabling technologies helped in developing the novel robotic device, capable to solve the de-pollution requirements of the EU environmental policy. Copyright © 2006 by ASME.

关键词： Robots

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design of SMA actuated light weight parallel manipulator with Intelligent Controller

Design of SMA actuated light weight parallel manipulator wit...

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作者： Sreekumar, M. Nagarajan, T. Singaperumal, M. Zoppi, M. Molfino, R. Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian Institute of Technology Madras Chennai-600 036 India PMARlab - Laboratory of Design and Measurement for Automation and Robotics DIMEC - Department of Mechanics and Machines Design University of Genova Via all'Opera Pia 15 a 16145 Genoa Italy

ISBN: (纸本)9783902661166

Parallel manipulators are best known for their high load carrying capacity, stiffness, fast, accurate positioning etc., compared to their serial counterparts. Lightweight parallel manipulators are typical parallel mechanisms in which the linear-rotary actuators and spherical-rotary joints are replaced by smart actuators and with or without flexure joints. This paper describes about a lightweight miniature parallel manipulator of size 17.5mm dia.x25mm height, made of Beryllium-Copper spring steel and actuated by Shape Memory Alloy (SMA) actuators. The system modelling which includes dynamics and kinematics analysis is briefly described. The possibility of incorporating an Intelligent Fuzzy Controller is investigated. Preliminary simulation results are presented. Copyright © 2006 IFAC.

关键词： Fuzzy control

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design OF SMA ACTUATED LIGHT WEIGHT PARALLEL MANIPULATOR WITH INTELLIGENT CONTROLLER

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IFAC Proceedings Volumes 2006年第15期39卷 310-315页

作者： M. Sreekumar T. Nagarajan M. Singaperumal M. Zoppi R. Molfino Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian Institute of Technology Madras Chennai-600 036 India PMARlab — Laboratory of Design and Measurement for Automation and Robotics DIMEC — Department of Mechanics and Machines Design University of Genova Via all 'Opera Pia 15 a — 16145 Genoa Italy

关键词： Actuators Adaptive Control Artificial Intelligence Fuzzy Control Nonlinearity Robotic Manipulators

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Remote sensing and control with client-server architecture with application to a robot for landfill definitive remediation

Remote sensing and control with client-server architecture w...

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International measurement Federation, IMEKO - Symposium on Metrology and measurement Applications in the Era of Internet Working 2005

作者： Belotti, Vittorio Crenna, Francesco Michelini, Rinaldo C. Rossi, Giovanni B. University of Genova PMARlab - Laboratory of Design and Measurement for Automation and Robotics DIMEC - Department of Mechanics and Machines Design Via all'Opera Pia 15 a 16145 Genoa Italy

ISBN: (纸本)9781622766970

Remote sensing, implemented through virtual instrumentation, is a very important technology for industrial measurements. Moreover, the architecture and methods involved are effective for the teaching and dissemination of measurement technologies. A proper design may yield to cost-effectiveness, reliability and flexibility. Despite that, some traditional domains, like the drilling equipment production, are reluctant to the innovations and in particular are not confident in the electronic reliability. So in this paper we first briefly discuss the architecture and the main properties of distributed systems for remote sensing and control. Then we refer of a research concerning an entirely remote measurement and control system, for an innovative drilling robot, able to go along a micro-tunnel and to drill the landfill to insert drainage pipes, in order to definitively remediate them. Due to the working hazardous conditions, all the operations should be executed with a fully remote control and monitoring. A robot prototype has then built for that and successfully tested.

关键词： Remote control

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Remote control and monitoring of an underground robotic drilling equipment for landfill remediation

Remote control and monitoring of an underground robotic dril...

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22nd International Symposium on automation and robotics in Construction, ISARC 2005

作者： Belotti, Vittorio Michelini, Rinaldo C. Zoppi, Matteo DIMEC - Department of Mechanics and Machines Design PMARlab - Laboratory of Design and Measurement for Automation and Robotics University of Genova via All'Opera Pia 15a 16145 Genoa Italy

Pollution control and landfill remediation are urgent incumbents, and robot technology is effective means to supply safe and worthy solutions, on condition to figure out reliable task-oriented architectures and to enable remote-steered duty cycles by implementing the appropriate software-hardware information aids. The paper presents a noteworthy example achievement, specially addressing the requirement analysis, as basic step to develop the instrumental architecture for the measurement and actuation equipment, and to develop the suited remote sensing and control environment, based on an innovative client-server lay-out. The approach introduces actual design demands by explanatory instances, to show how the approach is exploited for the case achievement.

关键词： Remote control

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