Mechatronic Research Papers - Academia.edu (original) (raw)

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- Mechanical Engineering, Robotics, Control Systems Engineering, Mechatronics

Simple 3-D printable open source hardware designs have proven to be effective scientific instruments at low costs. Further development in this area is coupling open source electronics with 3-D printable mechanical components to make fully functional distributedly-manufactured mechatronic tools for science. One research area where such low-cost technology is needed is to characterize thin film anti-reflective coatings and transparent conducting oxides (TCOs) for the glass, mirror and solar photovoltaic industry whose transmission properties are angle dependent. To meet this research need a low-cost 3-D printable open source dual axis gimbal system is presented in this study. An Arduino based microcontroller is used to move the sample holder to the user specified angle where two stepper motors control the motion providing two degrees of freedom. The sample holder is made in such a way that samples can easily be mounted on it by two movable latches. The system was validated and characterized for: i) unidirectional accuracy, 1 Preprint: Nupur Bihari, Smruti Prasad Dash, Karankumar C. Dhankani, Joshua M. Pearce. 3-D printable open source dual axis gimbal system for optoelectronic measurements. Mechatronics 56, 175-187 (2018). DOI: https://doi.org/10.1016/j.mechatronics.2018.07.005 ii) repeatability, iii) backlash, iv) speed resolution and v) microstep size. Finally, the mechatronic system is tested for the intended application using a halogen light source and a spectrometer to measure transmission through glass TCO samples through a hemisphere. The system performed as expected has a unidirectional accuracy of 2.827°, repeatability of 1.585°, backlash error of 1.237°, maximum speed of 35.156° and a verifiable microstep size of 0.33°. Despite the highest mean squared errors, the open source gimbal system performed adequately while measuring transmission of radiation through glass with TCO coatings. This open source system also represents a 96% cost in savings as compared to the least expensive commercial variant. The high mean squared errors are offset by the cost of the system coupled with its open source nature that promotes further collaboration and hence, development.

- by Joshua Pearce
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- Mechanical Engineering, Mechatronics, Mechatronics & Robotics, 3D printing

Refer to this paper, an intelligent-fuzzy feed-forward computed torque estimator for Proportional-Integral-Derivative (PID) controller is proposed for highly nonlinear continuum robot manipulator. In the absence of robot knowledge, PID may be the best controller, because it is model-free, and its parameters can be adjusted easily and separately and it is the most used in robot manipulators. In order to remove steady-state error caused by uncertainties and noise, the integrator gain has to be increased. This leads to worse transient performance, even destroys the stability. The integrator in a PID controller also reduces the bandwidth of the closed-loop system. Model-based compensation for PD control is an alternative method to substitute PID control. Computed torque compensation is one of the nonlinear compensator. The main problem of the pure computed torque compensator (CTC) was highly nonlinear dynamic parameters which related to system’s dynamic parameters in certain and uncertain systems. The nonlinear equivalent dynamic problem in uncertain system is solved by using feed-forward fuzzy inference system. To eliminate the continuum robot manipulator system’s dynamic; Mamdani fuzzy inference system is design and applied to CTC. This methodology is based on design feed-forward fuzzy inference system and applied to CTC. The results demonstrate that the model base feed-forward fuzzy CTC estimator works well to compensate linear PID controller in presence of partly uncertainty system (e.g., continuum robot).

- by FARZIN PILTAN and +1
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- Electrical Engineering, Robotics, Artificial Intelligence, Robotics (Computer Science)

IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, Vol. 59 (11), 2012

- by Mikail F Lumentut
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- Engineering Physics, Mechanical Engineering, Applied Mathematics, Mechanics

Refer to the research, review of sliding mode controller is introduced and application to robot manipulator
has proposed in order to design high performance nonlinear controller in the presence of uncertainties.
Regarding to the positive points in sliding mode controller, fuzzy logic controller and adaptive method, the
output in most of research have improved. Each method by adding to the previous algorithm has covered
negative points. Obviously robot manipulator is nonlinear, and a number of parameters are uncertain, this
research focuses on comparison between sliding mode algorithm which analyzed by many researcher.
Sliding mode controller (SMC) is one of the nonlinear robust controllers which it can be used in uncertainty
nonlinear dynamic systems. This nonlinear controller has two challenges namely nonlinear dynamic
equivalent part and chattering phenomenon. A review of sliding mode controller for robot manipulator will
be investigated in this research

- by FARZIN PILTAN and +1
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- Electrical Engineering, Electronic Engineering, Robotics, Control Systems Engineering
- by ALDO ADRIAN GARCIA GONZALEZ
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- Robotics, Mechatronics & Robotics, Mechatronic, Hexapode

Refer to this paper, design lookup table changed adaptive fuzzy sliding mode controller with
minimum rule base and good response in presence of structure and unstructured uncertainty is
presented. However sliding mode controller is one of the robust nonlinear controllers but when
this controller is applied to robot manipulator with highly nonlinear and uncertain dynamic function;
caused to be challenged in control. Sliding mode controller in presence of uncertainty has two
most important drawbacks; chattering and nonlinear equivalent part which proposed method is
solved these challenges with look up table change methodology. This method is based on self
tuning methodology therefore artificial intelligence (e.g., fuzzy logic method) is played important
role to design proposed method. This controller has acceptable performance in presence of
uncertainty (e.g., overshoot=0%, rise time=0.8 s, steady state error = 1e-9 and RMS
error=0.00017).

- by FARZIN PILTAN and +1
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- Electrical Engineering, Electronic Engineering, Robotics, Control Systems Engineering

Design a nonlinear controller for second order nonlinear uncertain dynamical systems (e.g., Internal Combustion Engine) is one of the most important challenging works. This paper focuses on the design of a robust backstepping adaptive feedback linearization controller (FLC) for internal combustion (IC) engine in presence of uncertainties. In order to provide high performance nonlinear methodology, feedback linearization controller is selected. Pure feedback linearization controller can be used to control of partly unknown nonlinear dynamic parameters of IC engine. In order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid mathematical model base controller, Mamdani’s performance/error-based fuzzy logic methodology with two inputs and one output and 49 rules is applied to pure feedback linearization controller. The results demonstrate that the error-based fuzzy feedback linearization controller is a model-free controllers which works well in certain and partly uncertain system. Pure feedback linearization controller and error-based feedback linearization like controller with have difficulty in handling unstructured model uncertainties. To solve this problem applied backstepping-based tuning method to error-based fuzzy feedback linearization controller for adjusting the feedback linearization controller gain ( ). This controller has acceptable performance in presence of uncertainty (e.g., overshoot=1%, rise time=0.48 second, steady state error = 1.3e-9 and RMS error=1.8e-11).

- by FARZIN PILTAN and +1
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- Electrical Engineering, Robotics, Control Systems Engineering, Artificial Intelligence

The control problem for manipulators is to determine the joint inputs required to case the end-effector execute the commanded motion. The nonminimum phase characteristic of a rigid manipulator makes the design of stable controller that ensure stringent tracking requirements a highly nontrivial and challenging problem. A useful controller in the computed torque family is the PD-plus-gravity controller. Methodology. To compensate the dynamic parameters, fuzzy logic methodology is used and applied parallel to this method. when the arm is at rest, the only nonzero terms in the dynamic is the gravity. Proposed method can cancels the effects of the terms of gravity. In this case inorder to decrease the error and satteling time, higher gain controller is design and applied to nonlinear system.

- by FARZIN PILTAN and +2
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- Electrical Engineering, Artificial Intelligence, Dynamical Systems, Mechatronics

In this paper, we present non-photorealistic rendering techniques that are applied together with a painting robot to realize artworks with original styles. Our robotic painting system is called Busker Robot and it has been considered of interest in recent art fairs and international exhibitions. It consists of a six degree-of-freedom collaborative robot and a series of image processing and path planning algorithms. In particular, here, two different rendering techniques are presented and a description of the experimental setup is carried out. Finally, the experimental results are discussed by analyzing the elements that can account for the aesthetic appreciation of the artworks.

- by Lorenzo Scalera
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- Mechanical Engineering, Robotics, Robotics (Computer Science), Image Processing

—Due to the radical environmental changes, in terms of sound pollution and global warming that the world is subject to, today's climate (noise, temperature, and humidity) impacts new-borns and babies environments. In order to achieve better living conditions in a baby room, monitoring and control systems became very important. Existing systems only monitor and control the temperature, humidity, and light in baby rooms. This paper intends to build on the existing related work and suggests an enhanced noise cancelling system for a comprehensive monitoring and control to overcome the sound pollution and make the baby rooms more comfortable. The proposed system design and implementation are discussed and the corresponding components are detailed with their interactions. Additionally, a draft cost estimation is presented.

- by Mohammed El Kihal
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- Safety Engineering, Mechatronics, Mechatronics & Robotics, Control Systems

Both fuzzy logic and computed fuel ratio can compensate the steady-state error of proportional-derivative (PD) method. This paper presents parallel computed fuel ratio compensation for fuzzy plus PID control management with application to internal combustion (IC) engine. The asymptotic stability of fuzzy plus PID control methodology with first-order computed fuel ratio estimation in the parallel structure is proven. For the parallel structure, the finite time convergence with a super-twisting second-order sliding-mode is guaranteed.

- by FARZIN PILTAN and +1
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- Robotics, Control Systems Engineering, Mechatronics, Fuzzy Logic

— This paper proposes a simple obstacle avoidance method for telepresence robot that is designed for families with elderly people living in remote areas. The proposed method is as follows: 1) Obstacle points are measured by tilting a LRF (Laser Range Finder), 2) Obstacle points that are inside a circle (Radius 0.75cm) at the center of LRF are projected to the arch of the circle, and 3) Openings that the robot passes through are searched. The proposed simple method is for manually operated robot system. When an opening is not found, the robot stops and an operator move the robot by remote operation to search an opening. Thanks to this method, the robot can therefore move around near desks and chairs.

- by Mohammed El Kihal
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- Robotics, Control Systems Engineering, Algorithms, Robotics (Computer Science)

Liquefied Petroleum Gas (LPG) is an alternative fuel in spark ignited premix combustion engine and emissions from LPG engines are lower than those in gasoline engines. This article presents a novel method ofchanging the ignition curve in an LPG/Gasoline bi-fuel engines which still use the converter and mixer models. The goal of this research was to
get the best engine power infuel operating mode both gasoline and LPG. It is known that the gasoline and LPG have
different properties, especially burning speeds. In order to obtain optimum engine performance in both fuels, there should
be two ignition curves, one for gasoline and the other for LPG. A circuit Simple Electronic Spark Module (SESM) was
applied to manipulate the feedback voltage from a Manifold Absolute Pressure Sensor (MAPS). In the gasoline mode when
idle, feedback from the MAPS was 1.4 volts. In this study, the standard ignition curve was maintained for the gasoline
operation mode, whereas, in the LPG operation mode, feedback from MAPS was varied at 1.4; 1.2; 1.0; 0.8; and 0.6 volts
at idling respectively. The Toyota 5A-FE engine was tested on a chassis dynamometer to confirm the performance of the
circuit. Test results show that the feedback of 0.8 volts produced the best power when the engine running on LPG.

- by Muji Setiyo and +1
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- Automotive Systems Engineering, Automobile, Automotive Engineering, Alternative Fuels

Reliability analysis of mechatronic systems is one of the most young field and dynamic branches of research. It is addressed whenever we want reliable, available, and safe systems. The studies of reliability must be conducted earlier during the design phase, in order to reduce costs and the number of prototypes required in the validation of the system. The process of reliability is then deployed throughout the full cycle of development; this process is broken down into three major phases: the predictive reliability, the experimental reliability and operational reliability. The main objective of this article is a kind of portrayal of the various studies enabling a noteworthy mastery of the predictive reliability. The weak points are highlighted, in addition presenting an overview of all approaches existing in quantitative and qualitative modeling and evaluating the reliability prediction is so important for the futures reliability studies, and for academic researches to innovate other new methods and tools. the Mechatronic system is a hybrid system; it is dynamic, reconfigurable, and interactive. The modeling carried out of reliability prediction must take into account these criteria. Several methodologies have been developed in this track of research. In this article, we will try to handle them from a critical angle.

—Due to the radical environmental changes, in terms of sound pollution and global warming that the world is subject to, today's climate (noise, temperature, and humidity) impacts newborns and babies environments making them less secure and stable. In order to achieve better living conditions in a baby room, monitoring and control systems became very important. Existing systems only monitor and control the temperature, humidity, and light in baby rooms. This paper intends to build on the existing related work and suggests the integration of a noise cancelling subsystem for an ergonomic scheme that will be monitoring and controlling the baby room conditions. The proposed system design and implementation are discussed and the corresponding components are detailed with their interactions. Additionally, a draft cost estimation is presented.

The paper describes the development of an electrically operated pneumatic fast-switching valve for pneumatic position control systems. The valve was designed and fabricated as an on–off valve with 2/2-way function and its characteristics were investigated. The detailed theoretical analysis and preliminary tests were carried out on the manufactured valve and showed that the switching time of the single stage valve

- by ibrahim YÜKSEL
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- Engineering, Mechanical Engineering, Mechatronics, Air flow

Painting is a process in automotive industry that takes about 10% of the total time consumed per vehicle. Currently, the painting lines in several automotive industries like Toyota motors or General motors is largely being automated after implementation of robotic arms. However, according to the study done, this automation is restricted to paint main body or chassis only, the coating and painting on small vehicle parts is still done manually. This paper represents the study conducted on local Toyota motor plant located in Karachi where the need of automating the small parts painting line evolved to increase production. The designed system is based on 3axis gantry mechanism which locates the position of parts to be painted on moving conveyor through computer vision, reach the coordinates, paints autonomously and forwards it to buffer station for drying. The computer vision is introduced to minimize the human interference and make the line semi-autonomous. The system was tested for correct image processing and at the end algorithms was correctly identifying and locating 90% of the parts. Moreover, the system was tested for one week in a laboratory environment and it was observed that production rate was increased to 2% as compare to their previously available data.

For many years now, machineries have been used in industrial processes and detached humans from the direct production process. Modern machines are used for a broad range of tasks, from simple to highly complex. While automation of technical processes used to be exclusively mechanically based in the past, novel machines incorporate the fields of applied mechanics, electronics, and informatics. Due to increasing economic, ecological and safety requirements, a highly reliable operation in conjunction with high availability has become the predominant goal in industry. Novel systems are therefore developed in order to improve the efficiency of the process without compromising for reliability. Based on previous research works, this thesis addresses the long-term vision of operating a system in such a way that the deterioration is reduced, the useful life and availability is increased (maximized), and maintenance actions are only performed if necessary. In order to address these competing ...

- by Kai-Uwe Dettmann
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- Engineering, FPGA, Control, Wear

In 1992, the ENSAIS, National Training College of Arts and Industries of Strasbourg, now INSA Strasbourg, has made a mechatronic subject as part of the engineer training.After a reorganization of teaching efficacious in September 2000, the training is divided into three sets distributed in this way; 25% of general common training (interdepartments), 25% of scientific training (intradepartment), 50% of specialized

- by Eric Descourvières
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- Project Management, Mechatronics, Multidisciplinary, Teaching

La meccatronica comprende tutte quelle attività di progettazione, test e produzione di macchinari e attrezzature caratterizzate da un livello elevato di integrazione funzionale tra sistemi meccanici, elettronica e informatica. L’adozione... more

- by Cristian Randieri
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- Mechatronic, Meccatronica
- by Tadeusz Mikolajczyk
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- Engineering, Robotics, Mechatronic