This paper considers the implementation of a technology based on synthesizing a method for creating adaptive circuits for controlling mechatronic devices based on a VR-enabled treadmill equipped with ...special peripheral sensors. The method for making realistic VR terrain models is analyzed as a novel solution that uses an original device based on a mobile platform and featuring a two-DoF (degrees of freedom) hydraulically stabilized tripod that carries photogrammetry and laser scanning equipment. The core goal hereof is to create a method that would provide hardware and software integration to apply VR system parameters to the treadmill control circuit. The resulting synthesized treadmill-based mechatronic unit is positioned as an active complex system that, in addition to solving practical engineering problems, will also help research the user's psychophysiological interaction with a realistic VR while moving.
Measuring arm stiffness is of great interest for many disciplines from biomechanics to medicine especially because modulation of impedance represents one of the main mechanism underlying control of ...movement and interaction with external environment. Previous works have proposed different methods to identify multijoint hand stiffness by using planar or even tridimensional haptic devices, but the associated computational burden makes them not easy to implement. We present a novel mechanism conceived for measuring multijoint planar stiffness by a single measurement and in a reduced execution time. A novel mechanical rotary device applies cyclic radial perturbation to human arm of a known displacement and the force is acquired by means of a 6-axes commercial load cell. The outcomes suggest that the system is not only reliable but allows obtaining a bi-dimensional estimation of arm stiffness in reduced amount of time and the results are comparable with those reported in previous researches.
In a society that is continuously ageing is a priority to design and develop technologies that assist the elder ones in the daily life. This paper presents the design consideration of a novel ...mechatronic device for efficient gait rehabilitation using commercial off-the-shelf components to ensure a competitive and affordable solution for the rising number of patients that need this type of therapy. The advantages of the current design and the design assumption are stated in the paper with experimental validation to be performed in the future. Three degrees of freedom actuators perform the moves necessary to re-educate the gait, packed in a rolling walker design. The device is built on the concept of an adaptable design that can morph around the patient to serve it's needs and lead to a highly efficient treatment. The problem of different patient recovery pace and degree of disability was addressed by designing a device highly customizable at both mechanical and electronical level.
This paper presents a complete review of the cart inverted pendulum (CIP) problem. The design, modeling, and control of such system as well as the implementation of a mechatronic prototype are herein ...presented. Several linear and nonlinear approaches such as PD, PID, and adaptive control are proposed to stabilize the system. Both theoretical and experimental performances are compared to evaluate the precision of the mathematical formulations. The aim of this study is to serve as a tutorial or supporting material for understanding the dynamics governing this system together with the potential control strategies.
Recent advancement in smart materials facilitated the use of Shape Memory Alloy(SMA) in treatment of different orthopedic problems and rehabilitation technique to treat paralyzed patients. But Shape ...Memory alloy lacks the controllability while regaining the shape from martensite to austenite during thermal loading. Therefore, in this paper we introduced a mechatronic device which provides the control over the shape change of new hybrid material having property of SMA and shape memory property of anticipated material is verified by finite element analysis in COMSOL Multiphysics. In the proposed methodology the shape is controlled by generating a controlled thermo-magnetic loading, and hybrid material formed by doping a nano-ferromagnetic particle in porous NiTi SMA. For the proof of the concept an experiment is carried out by using a bimetallic strip, microcontroller, sensor and proper feedback circuitry system and it is observed that for the supply of 4V and bent angle for flex sensor between 0 to 40 degree, current through the solenoid is 3.63A producing Magnetic field of 1.42mT and for flex sensor b ent angle 4 0 to 7 5 degree the current through the solenoid is 1.2A producing Magnetic field of 0.47mT for same supply and if the flex sensor bent angle increases more than 75 degree then the voltage supply cutoffs which indicate the absence of Magnetic field.
Brushless DC motors as parts of Smart Factories Furstner, Igor; Gogolak, Laszlo; Milkovic, Alex ...
2016 International Conference on Smart Systems and Technologies (SST),
2016-Oct.
Conference Proceeding
New technological solutions in electric actuators, which integrate the electric motors and the control units, thus transforming them to a complex mechatronic device require special attention. Having ...in mind that this integration requires communication between the actuators and their control units, and also communication with external control units and sensors, as well as other actuators, adds even more to the complexity of the mechatronic devices formed in this way. This integration of actuators, control units and communication technologies is nowadays often referred to as Industry 4.0, which is a collective term embracing a number of contemporary automation, data exchange and manufacturing technologies and is a facilitation of the vision and execution of a "Smart Factory". The presented research deals with the problem of programing a group of electric actuators with integrated control units, which work simultaneously using an external control unit, and communicate through EtherCAT communication protocol, and present a possible constituent of a Smart Factory. The problem is discussed by presenting a case study of controlling two brushless direct current motors.
Module-intensive user-interactive technology towards developing Internet-based communication has become instrumental in implementing actuation sequences of a remotely located mechatronic device. ...Bi-directional data communication metrics, hitherto dominated largely by text-based formats, has attained substantial up-gradation whereby global access vis-à-vis exchange of technical data has become a boon for the Internet users at large. However, presence of a common web-server in the communication loop has been indispensable till date. The present work reports a novel technique, whereby the web-server is bypassed and the web-enability is ensured by means of peer-to-peer socket communication between the client and the host in situ. The paper delineates algorithm of a new protocol and developmental semantics of the end-hardware for web-enabled communication in order to successfully orchestrate various domains of traditional client-server handshaking in a meaningful and synergistic manner. The developed protocol encompasses programming semantics of web-enabled applets, formulation logistics and portability issues over the Internet. The paper presents the real-life testing sequences for remote activation of a table-top robotic manipulator successively in a Local Area Network (LAN) and also in a Wide Area Network (WAN) and finally through the Internet, using a dedicated web-site.PUBLICATION ABSTRACT
The paper is devoted to the development and the research of technical solutions centering problem of the spatial position of the mechatronic device rotor used in high-precision processing systems. ...The existing and widely used methods of eliminating unbalances at present are considered. A new approach to solving the problem of stabilizing the rotating element of the mechatronic device is offered, based on the active current updating of the spatial position. Methods of sputtering of single-component metallic layer on the rotating element of the mechatronic device used in the production are considered. It is presented the results of the simulation, confirming the efficiency of the proposed approach.
Human arm muscular stiffness measurement is often a complex procedure which is of great interest for many disciplines from biomechanics to medicine and robotics. Modulation of impedance represents ...the principal mechanism underlying control of movements and interaction with external environment. Past literature proposed several methods to estimate multijoint hand stiffness while postural maintaining and dynamic tasks, mainly performed by means of planar robotic manipulanda. Despite these approaches are still considered robust and accurate, the computational burden of the robotic controller and hardware limitations make them not easy to implement. In the present paper a novel mechanism conceived for measuring multijoint planar stiffness by in single trial and in a reduced execution time is described and tested in different configurations. The device consisted in a mechanical rotary mechanism which applies cyclic radial perturbation to human arm of a known displacement and the force is acquired by means of a 6-axes commercial load cell. The outcomes suggest that the system is not only reliable in standalone mode but allows obtaining a reliable bi-dimensional estimation of arm stiffness even plugged in a planar manipulandum, dramatically reducing the amount of time for measurement and allowing to decouple the two controllers of the planar manipulator on which is mounted and the device itself.
Mass Flow Controllers are complex mechatronic devices the design of which involves many techniques and skills in various scientific domains. Due to the slow response time of the sensors that are ...embedded in such devices, controlling gas flow variations in processes used in semiconductor industry is critical. This paper deals with the mathematical design of a digital controller based on the knowledge of the dynamic characteristics of the open loop system. The proposed control method oversteps the bounds of prior art control methods. Experimental results illustrate the good performance of such a digital controller.
