Nicu George Bizdoaca - Academia.edu (original) (raw)
Papers by Nicu George Bizdoaca
2022 11th Mediterranean Conference on Embedded Computing (MECO)
WSEAS TRANSACTIONS on SYSTEMS archive, Oct 1, 2008
Due to their unique properties and behavior, the Shape Memory Alloys (SMAs) play an increasingly ... more Due to their unique properties and behavior, the Shape Memory Alloys (SMAs) play an increasingly important role in the intelligent systems performance. Recent applications in structural actuation and sensing demand increased material capabilities. This paper reviews the main advantages and the properties of SMAs and presents the design strategy for a typical shape memory actuator configuration of intelligent systems, using as active element Ni-Ti SMA spring working against a conventional steel spring. It also includes the thermal analysis experiments, in order to determine the transformation temperatures for the studied SMA spring. For design optimization a comprehensive graphical interface (based on the thermal analysis results), which runs under Visual Basic, has been developed for this application. It provides a user friendly environment allowing intelligent system parameters configuration as well as choosing the most adapted analysis methods and data displaying.
A tentacle manipulator is a manipulator with a great flexibility, with a distributed mass and tor... more A tentacle manipulator is a manipulator with a great flexibility, with a distributed mass and torque that can take any arbitrary shape. Technologically, such systems can be obtained by using a cellular structure for each element of the arm. Shape memory alloy actuation offers an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model is required. Due a particular possibility SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. For an efficient study a Simulink block set is developed (block for user configurable shape memory alloy material, configurable block for dynamics of single link robotic structure, block for user configurable wire/tendon actuation). As conventional control p...
Dynamic Systems and Control, 2001
A fuzzy system and the control algorithms are proposed to solve the control multi-chain robotic s... more A fuzzy system and the control algorithms are proposed to solve the control multi-chain robotic system formed by tentacle manipulators grasping a commune object with hard contact points. The control system contains two parts: the first component is a conventional controller, which implements a control strategy based on the Lyapunov stability, and the second is an adaptive fuzzy controller which adjusts the control parameters by the output of the first level controller. The stability and robustness is investigated and the fuzzy rules are established The fuzzy controller was developed using Matlab and Simulink software. Simulation results are presented and discussed.
Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics, 2010
Implementation of active control has much potential to contribute to the creation and constructio... more Implementation of active control has much potential to contribute to the creation and construction of innovative structures. This paper summarizes recent research of the authors that is the study of biomimetic control solutions regarding balance and locomotion of robotic systems. A first goal of the work consists in identifying solutions necessary to balance the individual systems. Research has been focused both on systems with a single foot, but also on biped, tripods, quadrupeds, hexapods and octopods. Static balance is achieved by a proper mechanical design (Bizdoaca and Petrisor, 2009), but also by a corresponding load / tensioning actuators systems that can compensate for inertial elements that can lead to system stability limit. Theoretical studies have been focused on developing an efficient stepping algorithm in environment with strong uncertainties, known as SSTA algorithm. The article present a series of experiments made with servo actuated and smart actuated (based on shape memory alloy, especially) walking biomimetic structures.
Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics Service, 2008
2019 20th International Carpathian Control Conference (ICCC), 2019
Training operators for activities ran on automotive manufacturing lines is a long, thorough and l... more Training operators for activities ran on automotive manufacturing lines is a long, thorough and laborious process that aims to generate a correct collection of information and actions as well as adequate staff training. Schooling operators has always been costly; therefore, developing an application will facilitate learning the necessary skills. The time until an operator will become productive will be significantly shorter and the exposure to certain risks will also be removed. Learning process can be monitorized for each operator, keeping track of his progress. This allows to estimate completion time of the training and to express an overview on future work activities. At the same time, the operator will acquire skills faster, which normally require long practice and a high level of dexterity. Thus, the authors' proposal is to develop an application for the operators training, within the manufacturing lines, aiming to experiment, in a virtual environment the simulation and the orderly assembly of objects as a stack form. Also, it will be necessary to develop a glove prototype that will have the ability to manipulate and control objects in a virtual environment. The end of this paper will reveal reasons for investing and implementing a new way of teaching, making use of such an application.
2020 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), 2020
This paper aims to transform a simple traffic light intersection by technological improvement of ... more This paper aims to transform a simple traffic light intersection by technological improvement of the current equipment. Compared to a classical traffic light, the one made in this paper will also have a video camera connected to a minicomputer that will take images from traffic and will subject them to an analysis in order to identify the number of cars and the degree of traffic congestion. With this information, the decision may be made to modify the timing of passing or waiting color. The cars will be detected using a model previously trained by deep learning methods. Being able to make decisions based on traffic fluctuation, the new traffic light will be able to adapt to traffic conditions, thus managing to have an effect on the traffic congestion. The final results will highlight the experimental study and development of a low-cost application which will "over-equip" a traffic light with artificial intelligence in order to ease traffic.
IOP Conference Series: Materials Science and Engineering, 2018
The paper presents a Biomimetic Structures Reactive to Voice Commands (BSRVC). By sending voice c... more The paper presents a Biomimetic Structures Reactive to Voice Commands (BSRVC). By sending voice commands the BSRVC will achieve the different emotional states. These states are controlled by a negative feedback control system with changed reference for each emotional state. Analyzing voice commands by comparing them with those stored in the phone database and sending the corresponding commands wireless to the biomimetic structure they determines the achievement these emotional states. Since contemporary informationretrieval systems rely heavily on the content of titles and abstracts to identify relevant articles in literature searches, great care should be taken in constructing both.
SCIENTIFIC RESEARCH AND EDUCATION IN THE AIR FORCE, 2016
Pneumatic actuators are among the most used non-electric drive systems. The cost, simplicity of c... more Pneumatic actuators are among the most used non-electric drive systems. The cost, simplicity of control and mechanical structure are some of the advantages they impose. The main disadvantage of this type of drives consists in unable control of intermediate positioning and dynamic movement. The paper also presents a hybrid drive system, with the actuator pneumatic piston and magnetorheological element for control. This drive system allows complete control of piston displacement and movement dynamics. We also present the experimental results obtained in order to determine the parameters of magnetorheological element for different operating modes.
International Journal of Computers Communications & Control, 2010
The control problem of a class of hyper-redundant arms with continuum elements, with boundary mea... more The control problem of a class of hyper-redundant arms with continuum elements, with boundary measuring and control is discussed. First, the dynamic model of the continuum arm is presented. The measuring systems are based on the film sensors that are placed at the terminal sub-regions of the arm. The observers are proposed in order to reconstruct the full state of the arm. A back-stepping method is used to design a boundary control algorithm. Numerical simulations of the arm motion toward an imposed position are presented. An experimental platform shows the effectiveness of the proposed methods.
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2000
A hierarchical fuzzy controller with two levels is proposed to solve the control for a multi-chai... more A hierarchical fuzzy controller with two levels is proposed to solve the control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The control system contains two parts: the first component is a conventional controller which implements a control strategy based on the Lyapunov stability, and the second one is an adaptive
Lecture Notes in Electrical Engineering, 2009
Shape memory alloy offer an interesting solution, using the shape transformation of the wire/stru... more Shape memory alloy offer an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model is required. Due a particular possibility SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. For an efficient study a Simulink block set is developed (block for user configurable shape memory alloy material, configurable block for dynamics of single link robotic structure, block for user configurable wire/tendon actuation). As conventional control possibilities were explored, the fuzzy control structure applied in this paper, offer an improved response. A more compact SMA actuation is proposed and experimented. The results are commented.
The paper presents the mathematical model of a walking robot controlled by a shoulder position an... more The paper presents the mathematical model of a walking robot controlled by a shoulder position and its joining angle. It is considered that first leg angles from the active pair of legs are both external controlled and second leg has the knee joint free and the shoulder joint external controlled. The mathematical model is determined considering all the points in the xz-plane as being complex numbers. Taking into account a possible symmetrical structure, only the vertical xz-plane evolution is considered. The model is based on the so called Variable Causality Dynamic Systems (VCDS) approach. In this causality ordering, the whole structure is controlled in open circuit or in manual operating conditions. The results of this paper are implemented and verified in RoPa, a platform for simulation and design of walking robots control algorithms. The model is implemented in MATLAB environment and some evolutions examples are presented.
2006 2nd International Conference on Information & Communication Technologies
Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, 2012
Robotic cooperative tasks impose, in many cases, a grasping action. Grasping by coiling it is one... more Robotic cooperative tasks impose, in many cases, a grasping action. Grasping by coiling it is one of the most versatile action. The present article propose a frequency stability criterion based on the Kahman-Yakubovich-Popov Lemma for the hyper-redundant arms with continuum element that performs the grasping function by coiling. Dynamics of the biomimetical robot during non-contact and contact operations, for the position control, is studied. An extension of the Popov criterion is developed. The P control algorithms based on SMA snake-type robot actuators are introduced. Numerical simulations and experimental results of the snake type robot motion toward an imposed target are presented.
Solid State Phenomena, 2010
Robot soccer competition provides an excellent opportunity for robotics research. In particular, ... more Robot soccer competition provides an excellent opportunity for robotics research. In particular, the soccer robots must perform real-time visual recognition, navigate in a dynamic field, avoid the obstacle, collaborate with teammates, and kick the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other robot to accomplish tasks that are beyond individual’s capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). This paper proposes a method of defining and analysing the attacking robot tasks using Petri nets. Attacking soccer robot behaviors are modeled using the generalized stochastic Petri nets. Using Petri nets allows qualitative and quantitative analysis of the task execution. Petri net model is implemented in Petri Net Toolbox under MATLAB environment...
2010 IEEE International Conference on Robotics and Automation, 2010
The paper focuses on hyper-redundant arms with continuum elements that perform the grasping funct... more The paper focuses on hyper-redundant arms with continuum elements that perform the grasping function by coiling. First, there is concern with the dynamic model of the continuum arm for the position control during non-contact operations with the environment. A frequency stability criterion based on the Kahman-Yakubovich-Popov Lemma and P and PD control algorithms is proposed. Then, the grasping control of the arm in contact with a load is analyzed. The dynamics of the system are discussed and an extension of the Popov criterion is endorsed. The control algorithms based on SMA actuators are introduced. Numerical simulations and experimental results of the arm motion toward an imposed target are presented.
2022 11th Mediterranean Conference on Embedded Computing (MECO)
WSEAS TRANSACTIONS on SYSTEMS archive, Oct 1, 2008
Due to their unique properties and behavior, the Shape Memory Alloys (SMAs) play an increasingly ... more Due to their unique properties and behavior, the Shape Memory Alloys (SMAs) play an increasingly important role in the intelligent systems performance. Recent applications in structural actuation and sensing demand increased material capabilities. This paper reviews the main advantages and the properties of SMAs and presents the design strategy for a typical shape memory actuator configuration of intelligent systems, using as active element Ni-Ti SMA spring working against a conventional steel spring. It also includes the thermal analysis experiments, in order to determine the transformation temperatures for the studied SMA spring. For design optimization a comprehensive graphical interface (based on the thermal analysis results), which runs under Visual Basic, has been developed for this application. It provides a user friendly environment allowing intelligent system parameters configuration as well as choosing the most adapted analysis methods and data displaying.
A tentacle manipulator is a manipulator with a great flexibility, with a distributed mass and tor... more A tentacle manipulator is a manipulator with a great flexibility, with a distributed mass and torque that can take any arbitrary shape. Technologically, such systems can be obtained by using a cellular structure for each element of the arm. Shape memory alloy actuation offers an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model is required. Due a particular possibility SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. For an efficient study a Simulink block set is developed (block for user configurable shape memory alloy material, configurable block for dynamics of single link robotic structure, block for user configurable wire/tendon actuation). As conventional control p...
Dynamic Systems and Control, 2001
A fuzzy system and the control algorithms are proposed to solve the control multi-chain robotic s... more A fuzzy system and the control algorithms are proposed to solve the control multi-chain robotic system formed by tentacle manipulators grasping a commune object with hard contact points. The control system contains two parts: the first component is a conventional controller, which implements a control strategy based on the Lyapunov stability, and the second is an adaptive fuzzy controller which adjusts the control parameters by the output of the first level controller. The stability and robustness is investigated and the fuzzy rules are established The fuzzy controller was developed using Matlab and Simulink software. Simulation results are presented and discussed.
Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics, 2010
Implementation of active control has much potential to contribute to the creation and constructio... more Implementation of active control has much potential to contribute to the creation and construction of innovative structures. This paper summarizes recent research of the authors that is the study of biomimetic control solutions regarding balance and locomotion of robotic systems. A first goal of the work consists in identifying solutions necessary to balance the individual systems. Research has been focused both on systems with a single foot, but also on biped, tripods, quadrupeds, hexapods and octopods. Static balance is achieved by a proper mechanical design (Bizdoaca and Petrisor, 2009), but also by a corresponding load / tensioning actuators systems that can compensate for inertial elements that can lead to system stability limit. Theoretical studies have been focused on developing an efficient stepping algorithm in environment with strong uncertainties, known as SSTA algorithm. The article present a series of experiments made with servo actuated and smart actuated (based on shape memory alloy, especially) walking biomimetic structures.
Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics Service, 2008
2019 20th International Carpathian Control Conference (ICCC), 2019
Training operators for activities ran on automotive manufacturing lines is a long, thorough and l... more Training operators for activities ran on automotive manufacturing lines is a long, thorough and laborious process that aims to generate a correct collection of information and actions as well as adequate staff training. Schooling operators has always been costly; therefore, developing an application will facilitate learning the necessary skills. The time until an operator will become productive will be significantly shorter and the exposure to certain risks will also be removed. Learning process can be monitorized for each operator, keeping track of his progress. This allows to estimate completion time of the training and to express an overview on future work activities. At the same time, the operator will acquire skills faster, which normally require long practice and a high level of dexterity. Thus, the authors' proposal is to develop an application for the operators training, within the manufacturing lines, aiming to experiment, in a virtual environment the simulation and the orderly assembly of objects as a stack form. Also, it will be necessary to develop a glove prototype that will have the ability to manipulate and control objects in a virtual environment. The end of this paper will reveal reasons for investing and implementing a new way of teaching, making use of such an application.
2020 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), 2020
This paper aims to transform a simple traffic light intersection by technological improvement of ... more This paper aims to transform a simple traffic light intersection by technological improvement of the current equipment. Compared to a classical traffic light, the one made in this paper will also have a video camera connected to a minicomputer that will take images from traffic and will subject them to an analysis in order to identify the number of cars and the degree of traffic congestion. With this information, the decision may be made to modify the timing of passing or waiting color. The cars will be detected using a model previously trained by deep learning methods. Being able to make decisions based on traffic fluctuation, the new traffic light will be able to adapt to traffic conditions, thus managing to have an effect on the traffic congestion. The final results will highlight the experimental study and development of a low-cost application which will "over-equip" a traffic light with artificial intelligence in order to ease traffic.
IOP Conference Series: Materials Science and Engineering, 2018
The paper presents a Biomimetic Structures Reactive to Voice Commands (BSRVC). By sending voice c... more The paper presents a Biomimetic Structures Reactive to Voice Commands (BSRVC). By sending voice commands the BSRVC will achieve the different emotional states. These states are controlled by a negative feedback control system with changed reference for each emotional state. Analyzing voice commands by comparing them with those stored in the phone database and sending the corresponding commands wireless to the biomimetic structure they determines the achievement these emotional states. Since contemporary informationretrieval systems rely heavily on the content of titles and abstracts to identify relevant articles in literature searches, great care should be taken in constructing both.
SCIENTIFIC RESEARCH AND EDUCATION IN THE AIR FORCE, 2016
Pneumatic actuators are among the most used non-electric drive systems. The cost, simplicity of c... more Pneumatic actuators are among the most used non-electric drive systems. The cost, simplicity of control and mechanical structure are some of the advantages they impose. The main disadvantage of this type of drives consists in unable control of intermediate positioning and dynamic movement. The paper also presents a hybrid drive system, with the actuator pneumatic piston and magnetorheological element for control. This drive system allows complete control of piston displacement and movement dynamics. We also present the experimental results obtained in order to determine the parameters of magnetorheological element for different operating modes.
International Journal of Computers Communications & Control, 2010
The control problem of a class of hyper-redundant arms with continuum elements, with boundary mea... more The control problem of a class of hyper-redundant arms with continuum elements, with boundary measuring and control is discussed. First, the dynamic model of the continuum arm is presented. The measuring systems are based on the film sensors that are placed at the terminal sub-regions of the arm. The observers are proposed in order to reconstruct the full state of the arm. A back-stepping method is used to design a boundary control algorithm. Numerical simulations of the arm motion toward an imposed position are presented. An experimental platform shows the effectiveness of the proposed methods.
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2000
A hierarchical fuzzy controller with two levels is proposed to solve the control for a multi-chai... more A hierarchical fuzzy controller with two levels is proposed to solve the control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The control system contains two parts: the first component is a conventional controller which implements a control strategy based on the Lyapunov stability, and the second one is an adaptive
Lecture Notes in Electrical Engineering, 2009
Shape memory alloy offer an interesting solution, using the shape transformation of the wire/stru... more Shape memory alloy offer an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model is required. Due a particular possibility SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. For an efficient study a Simulink block set is developed (block for user configurable shape memory alloy material, configurable block for dynamics of single link robotic structure, block for user configurable wire/tendon actuation). As conventional control possibilities were explored, the fuzzy control structure applied in this paper, offer an improved response. A more compact SMA actuation is proposed and experimented. The results are commented.
The paper presents the mathematical model of a walking robot controlled by a shoulder position an... more The paper presents the mathematical model of a walking robot controlled by a shoulder position and its joining angle. It is considered that first leg angles from the active pair of legs are both external controlled and second leg has the knee joint free and the shoulder joint external controlled. The mathematical model is determined considering all the points in the xz-plane as being complex numbers. Taking into account a possible symmetrical structure, only the vertical xz-plane evolution is considered. The model is based on the so called Variable Causality Dynamic Systems (VCDS) approach. In this causality ordering, the whole structure is controlled in open circuit or in manual operating conditions. The results of this paper are implemented and verified in RoPa, a platform for simulation and design of walking robots control algorithms. The model is implemented in MATLAB environment and some evolutions examples are presented.
2006 2nd International Conference on Information & Communication Technologies
Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, 2012
Robotic cooperative tasks impose, in many cases, a grasping action. Grasping by coiling it is one... more Robotic cooperative tasks impose, in many cases, a grasping action. Grasping by coiling it is one of the most versatile action. The present article propose a frequency stability criterion based on the Kahman-Yakubovich-Popov Lemma for the hyper-redundant arms with continuum element that performs the grasping function by coiling. Dynamics of the biomimetical robot during non-contact and contact operations, for the position control, is studied. An extension of the Popov criterion is developed. The P control algorithms based on SMA snake-type robot actuators are introduced. Numerical simulations and experimental results of the snake type robot motion toward an imposed target are presented.
Solid State Phenomena, 2010
Robot soccer competition provides an excellent opportunity for robotics research. In particular, ... more Robot soccer competition provides an excellent opportunity for robotics research. In particular, the soccer robots must perform real-time visual recognition, navigate in a dynamic field, avoid the obstacle, collaborate with teammates, and kick the ball in the correct direction. All these tasks demand robots that are autonomous (sensing, thinking, and acting as independent creatures), efficient (functioning under time and resource constraints), cooperative (collaborating with each other robot to accomplish tasks that are beyond individual’s capabilities), and intelligent (reasoning and planing actions and perhaps learning from experience). This paper proposes a method of defining and analysing the attacking robot tasks using Petri nets. Attacking soccer robot behaviors are modeled using the generalized stochastic Petri nets. Using Petri nets allows qualitative and quantitative analysis of the task execution. Petri net model is implemented in Petri Net Toolbox under MATLAB environment...
2010 IEEE International Conference on Robotics and Automation, 2010
The paper focuses on hyper-redundant arms with continuum elements that perform the grasping funct... more The paper focuses on hyper-redundant arms with continuum elements that perform the grasping function by coiling. First, there is concern with the dynamic model of the continuum arm for the position control during non-contact operations with the environment. A frequency stability criterion based on the Kahman-Yakubovich-Popov Lemma and P and PD control algorithms is proposed. Then, the grasping control of the arm in contact with a load is analyzed. The dynamics of the system are discussed and an extension of the Popov criterion is endorsed. The control algorithms based on SMA actuators are introduced. Numerical simulations and experimental results of the arm motion toward an imposed target are presented.