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International Conference on Mechatronics (ICOM)

作者： E. Johana Mohamad O. M. Faizan Marwah Ruzairi Abdul Rahim Mohd Hafiz Fazalul Rahiman Siti Zarina Mohd Muji Department of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Department of Manufacturing and Industrial Engineering Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Process Tomography Research Group (PROTOM) Department of Control & Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

The earlier research shows that the electrical capacitance sensor through the tomography technique is applicable in flow visualization or image reconstruction, named as Electrical Capacitance Tomography (ECT). ECT can be used for imaging industrial multi-component processes involving nonconducting fluids and solids in pipelines. The electrical capacitance sensor is a non-invasive device that uses non-intrusive technique to measure the concentration of flow inside a closed pipe by measuring variations in the dielectric permittivity of the material. The capacitance of the sensor changes when the mean dielectric constant between the electrodes varies due to variations in the percentage of gas and liquid flowing in the pipe. The acquired concentration profile that obtains from capacitance measurements is able to imaging liquid and gas mixture in pipelines, meanwhile the system development is designed to attach on a vessel. The electrode plates which act as the sensor previously has been assemble fixed on the pipeline, thus it causes difficulty for the production to have any new process installation in the future. Therefore on-board sensing plate offers a new design and idea on ECT system which is portable to be assembled in different diameter sizes of pipeline, and it's flexible to apply in any number due to different size of pipeline without redesign the sensing module. The on-board sensing plate development contains signal conditioning circuit and sensing electrode built in a single module (embedded on single plate). In this paper, the details on fabricating the sensors electrodes, had been described, including signal conditioning circuit/electronic part of measurement, such as stray immune capacitance measurement circuit, amplifying circuit, AC to DC converter circuit and filter circuit.

关键词： Electrodes Capacitance Capacitance measurement Pipelines Sensors Materials Permittivity measurement

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Detection of small gas bubble using ultrasonic transmission-mode tomography system

Detection of small gas bubble using ultrasonic transmission-...

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IEEE Symposium on Industrial Electronics & Applications (ISIEA)

作者： Nor Muzakkir Nor Ayob Mohd Hafiz Fazalul Rahiman Zulkarnay Zakaria Sazali Yaacob Ruzairi Abdul Rahim Department of Mechatronic Engineering Universiti Malaysia Pedis Arau Perlis Malaysia Process Tomography Research Group (PROTOM) Control and Instrumentation Engineering Department Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

This paper presents the development of an ultrasonic transmission-mode tomography system for the detection of small gas bubble using higher frequency ultrasonic sensors. The selection of the sensors is important and must be suitable to the application design. Consideration on the natural limitation of ultrasonic wave is also noted as the higher the frequency of the ultrasonic transducer, the better the sensitivity but lower penetration depth. 16-pairs of these ultrasonic sensors are installed and fixed inside a sensor jig which is designed to hold all the sensors. The sensor jig is also mounted on the circumference of a vertical column which will be used as the investigated process vessel. The developments presented also include the non-invasive fabrication techniques, the electronic measurement circuits, image reconstruction technique, and finally on the imaging results of the proposed system.

关键词： Acoustics Sensors Tomography Capacitors Back Ultrasonic transducers Image reconstruction

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Initial results on magnetic induction tomography hardware measurement using hall effect sensor application

Initial results on magnetic induction tomography hardware me...

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： Zulkarnay Zakaria Noor Aqma Hj. Mohd Yazid Noor Hidayah Jaafar Mohd Fahajumi Jumaah Muhammad Saiful Badri Mansor Ruzairi Abdul Rahim Biomedical Electronic Engineering School of Mechatronic Engineering Universiti Malaysia Pedis Arau Perlis Malaysia Process Tomography Research Group (PROTOM) Control and Instrumentation Engineering Department Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

Magnetic induction tomography (MIT) is among the new technology that compliment other tomography methods such as ultrasonic, optical, capacitance and several others. This type of tomography applies the magnetic field to detect the existence of the object that is going to image. Several methods are possible in constructing the magnetic induction hardware. Most of the researchers used coils for both transmitter and receiver which are more complicated and need large space. The Hall Effect sensors (HES) have the potential of replacing the coil at the receiver side since it has the ability to measure the value of magnetic field strength and convert it to voltage value. This concept is same as the ultrasonic sensors used in ultrasonic tomography instrumentation hardware. The results have shown that the pattern of capture data by hall effect sensor are almost the same pattern for all 8 sensors for each material used. This have given positive sign that HES is capable to be applied in MIT measurement system.

关键词： Magnetic sensors Coils Magnetic fields Tomography Magnetic resonance imaging Magnetic field measurement

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Multiphase flow reconstruction in oil pipelines by portable capacitance tomography

Multiphase flow reconstruction in oil pipelines by portable ...

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IEEE SENSORS

作者： Elmy Johana Mohamad Ruzairi Abdul Rahim Department of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Process Tomography Research Group (PROTOM) Department of Control & Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

A portable capacitance tomography system for real-time imaging of multiphase flows is developed and presented in this work. The earlier research shows that the Electrical Capacitance Tomography (ECT) System is applicable in flow visualization (image reconstruction). The acquired concentration profile that obtains from capacitance measurements is able to imaging liquid and gas mixture in pipelines meanwhile the system development is designed to attach on a vessel. The electrode plates which act as the sensor has been assembled and fixed on the pipeline, thus it causes difficulty for the production to have any new process installation in the future. Therefore portable capacitance is a new approach technology on ECT system. The purpose of the system is for on-line monitoring of concentration profile in multiphase flow-rate measurement system for oil, water and gas flow in oil pipelines.

关键词： Electrodes Capacitance Pipelines Capacitance measurement Materials Sensors Image reconstruction

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Stabilization Using Fractional-Order PIDα controllers for First Order Time Delay System

Stabilization Using Fractional-Order PIDα Controllers for F...

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International Conference on Advances in Computing, control, & Telecommunication Technologies (ACT)

作者： T. Vinopraba N. Sivakumaran N. Selvaganesan S. Narayanan Process Control Laboratory Department of Instrumentation and Control Engineering National Institute of Technology Tiruchirappalli India Indian Institute of Space Science and Technology Thiruvananthapuram India

This brief note considers the problem of stabilizing a first-order plant with dead-time using a fractional order proportional-integral-derivative (PID α ) controller. Fractional order controller provides good stability margin than the conventional PID controller. Here, the upper bound of K d value is estimated first for all permissible value of α which is followed by computing the value of K c . Further, the graphic results have been provided to clearly show the range of stabilizing PID α parameters [α, K c , K i and K d ]. An example illustrates the applicability of the procedure.

关键词： control systems Delay effects Three-term control Upper bound Space technology Equations Pi control Proportional control Telecommunication control Stability

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Enslavement and control in dq synchronous frame for using a cascade multilevel NPC structure

Enslavement and control in dq synchronous frame for using a ...

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International Design and Test Workshop

作者： F. Bouchafaa S. Arezki M. Boudour E.M. Berkouk Laboratory of Instrumentation and Engineering System University of Sciences and Technology Houari Boumediene Algiers Algeria Laboratory of Process Control Department Electrical engineering National Polytechnic School of Algiers Algiers Algeria

The aim of this paper is to give a solution to unbalance problem of the input DC voltages of the nine-level NPC-VSI in dq synchronous frame. For that, we used in high voltage and great power applications, one two-level PWM current rectifier-nine-level NPC VSI cascade. In the first part, we develop a knowledge model of the nine-level NPC VSI and propose a space vector modulation of this converter using eight bipolar carriers. After that, this study shows particularly the problem of the stability of the DC voltages of the inverter. Then, we propose a solution to the problem by employed closed loop regulation using classic PI regulator mode in d-q synchronous frame. We add a clamping bridge to stabilise the multi DC input voltages of the nine-level NPC VSI. This cascade found applications in great power and high voltage fields as electrical traction.

关键词： Voltage Pulse width modulation inverters Pulse width modulation Clamps Stability Bridge circuits Regulators Power semiconductor switches Instruments Systems engineering and theory

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An experiment based structural dynamics course for engineering technology students

An experiment based structural dynamics course for engineeri...

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113th Annual ASEE Conference and Exposition, 2006

作者： Tito-Izquierdo, Jorge Gomez-Rivas, Alberto Feng, Weining Pincus, George University of Houston Downtown United States Department of Engineering Technology Department of Structural Analysis University of Houston United States Process Control and Instrumentation in the Engineering Technology Department University of Houston Downtown United States College of Sciences and Technology

This paper describes a Structural Dynamics course for engineering technology students with emphasis on the understanding of the theoretical concepts by using lab experiments. The experiments involve a minimum amount of equipment. The experiments are of increasing levels of theoretical complexity. The first two experiments involve single degree of freedom systems. The first one is a mass-spring system with translational motion, and the second is a rotational beam with an added mass and a spring attached to develop an understanding of the rotational inertia and resulting natural frequency. The third experiment consists of a simply supported aluminum beam which is used to compare the theoretical and experimental values of the first three natural frequencies via a frequency-domain data analysis. The fourth and fifth experiments use a simply supported reinforced concrete beam and a simply supported prestressed concrete beam made by the students in the Reinforced Concrete and Prestressed Concrete courses. The first natural frequencies of the original beams were obtained experimentally and compared with the theoretical values showing good agreement. Also, the natural frequency shows a reduction, after testing of the beams up to the ultimate (cracked) condition. These experiments show that the first natural frequency changes with the integrity of the beams. The sixth experiment consisted of finding the first two natural frequencies of a steel frame model. The properties of the frame were obtained using the geometry and results of static tests. The frame was then dynamically excited with an electromagnetic device actuated by an electronic signal generator. The theoretical values of natural frequencies were obtained using structural analysis software and they showed good agreement with the experimental results. engineering Technology students increase their understanding of how dynamic systems perform while also learning laboratory techniques for dynamic response testing. Ver

关键词： Curricula

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MICRON: Small Autonomous Robot for Cell Manipulation Applications

MICRON: Small Autonomous Robot for Cell Manipulation Applica...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J. Brufau M. Puig-Vidal J. Lopez-Sanchez J. Samitier N. Snis U. Simu S. Johansson W. Driesen J.-M. Breguet J. Gao T. Velten J. Seyfried R. Estana H. Woern Instrumentation and Communication Systems Laboratory Universitat de Barcelona Barcelona Spain Laboratoir de Systèmes Robotiques Swiss Federal Institute of Technology Lausanne Switzerland Department of Engineering Sciences Uppsala University Uppsala Fraunhofer Institute of Biomedical Engineering Saint Ingbert Germany Inst. for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

Manipulating in the micro- or even nano world still poses a great challenge to robotics. Conventional (stationary) systems suffer from drawbacks regarding integration into process supervision and multi-robot approaches, which become highly relevant to fight scaling effects. This paper describes work currently being carried out which aims to make automated manipulation of micrometer-scaled objects possible by robots with nanometer precision. The goal is to establish a small cluster of (up to five) micro robots equipped with on-board electronics, sensors and wireless power supply. Power autonomy has been reached using inductive energy transmission from an external wireless power supply system or a battery based system. Electronics requirements are fulfilled in the electronic module with the full custom integrated circuit design for the robot locomotion control and the closed loop force control for AFM tool in cell manipulation applications. The maximum velocity obtained is about 0.4 mm/s with a saw tooth voltage signals of 20Vpp and 2500 Hz. In order to keep a AFM tool on micro-robot a specific tip with integrated piezoresistance, instead of the classical laser beam methodology, is validated for force measurement.

关键词： Robotics and automation Robot sensing systems Wireless sensor networks Power supplies Force control Batteries Application specific integrated circuits Robot control Teeth Voltage

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Self-Tuning PID controllers Based on Dynamics Inversion Method

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IFAC Proceedings Volumes 2000年第4期33卷 167-172页

作者： Vladimír Bobál Petr Dostál Jiří Macháček Miluše Vitečková Department of Automatic Control Faculty of Technology Zlin Brno University of Technology nám. TGM 275 762 72 Zlin Czech Republic Phone Fax: +420 67 721 1521 Department of Process Control and Computer Techniques University of Pardubice nám. Čs. Legií 565 532 10 Pardubice Czech Republic Department of Control Systems and Instrumentation Faculty of Mechanical Engineering Technical University of Ostrava 17. Listopadu 15 708 33 Ostrava-Poruba Czech Republic

A self – tuning PID controller algorithm has been derived in this paper. The process is identified by the regression (ARX) continuous – time model using the recursive least squares method (RLSM) with applied directional forgetting. The recursive parameter estimates of the continuous – time model (differential equation) are used to synthesis the PID controller. controller synthesis is designed on the basis of a dynamics inversion method. This method allows the tuning of standard analog and digital controllers for chosen types of controlled processes without or with time delay. The algorithm is suitable for the automatic setting of analog and digital PID controllers for deterministic processes or the adaptive control of stochastic and nonlinear processes. The analog modification PID controller has been verified by computer simulation.

关键词： continuous – time ARX model recursive least squares inverse dynamics control PID control self-tuning control

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ACCURACY REQUIREMENTS FOR MEASUREMENT SYSTEMS WITH UNIFORM AND NORMAL ERRORS

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NAVAL ENGINEERS JOURNAL 1993年第1期105卷 66-69页

作者： SNOW, JM STUCKMAN, BE USHER, JS Jeffrey M. Snow:received his B.S. degree in mechanical engineering from the University of Washington in 1977. He has worked at Boeing Commercial Aircraft Company and Puget Sound Naval Shipyard. Since 1985 he has been at Naval Surface Warfare Center Crane Division (NSWCC). From 1987 to 1990 he was in charge of quality assurance configuration management and reliability for Aegis (SPY-1 and Mk-99) microwave tubes. He currently is in the Radar System Branch at NSWCC. He is a member of ASQC and ASME. His areas of interest include the use of statistics in process improvement efforts and objectively rating and rewarding suppliers for better quality. Bruce E. Stuckman:holds a Ph.D. degree in systems engineering from Oakland University where he also obtained M.S. and B.S. degrees in electrical and computer engineering. In 1992 Dr. Stuckman obtained his J.D. from the University of Louisville where he graduated cum laude. He is currently an associate in the patent and computer law department of Brooks & Kushman a law firm specializing in intellectual property and technology related causes. Prior to this he was an associate professor of both electrical engineering at the University of Louisville and a member of the Research Advisory Board of the South Central Bell Telecommunications Research Center. Dr. Stuckman is the author of over 75 published works in a variety of research areas including global optimization algorithms control systems communication and telecommunication systems and instrumentation electronics. He has served as a technical consultant to such organizations as Control Data Corporation General Electric General Motors Research Laboratories Gulf & Western AT&T Bell Laboratories ARCO Research and Technical Services and the U.S. Government and has been a frequent lecturer at national and international symposia. He is a senior member of IEEE and a member of ASNE Eta Kappa Nu Tau Beta Pi Sigma Xi and Phi Kappa Phi. John S. Usher Ph.D. P.E.:is an assistant professor of industrial engineering

Accuracy requirements are usually determined as a percentage of the specification range of the measured part or process. Setting accuracy requirements in this manner results in a wide and unpredictable range of false rejection and acceptance probabilities. This causes extra costs due to either: 1) over specification of measurement systems accuracy requirements;2) time, effort, retesting, and resolution of false rejections;or 3) system degradation caused by false acceptance of out-of-specification parts. Achieving a consistent and known risk of false acceptance is only possible by considering the measured process C(pk), the process's mean in relation to the center of the specification range, and the measurement system error distribution. This paper presents a method for calculating the probabilities of false rejection and false acceptance for a normal process which is measured with, alternately, uniform and normally distributed error. It is shown that under most conditions uniform error causes 20% to 30% higher false rejection and acceptance probabilities. Thus, knowledge of measurement error distribution could provide lower total production cost.

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