Advances in PID Control

Since the foundation and up to the current state-of-the-art in control engineering, the problems of PID control steadily attract great attention of numerous researchers and remain inexhaustible source of new ideas for process of control system design and industrial applications. PID control effectiveness is usually caused by the nature of dynamical processes, conditioned that the majority of the industrial dynamical processes are well described by simple dynamic model of the first or second order. The efficacy of PID controllers vastly falls in case of complicated dynamics, nonlinearities, and varying parameters of the plant. This gives a pulse to further researches in the field of PID control. Consequently, the problems of advanced PID control system design methodologies, rules of adaptive PID control, self-tuning procedures, and particularly robustness and transient performance for nonlinear systems, still remain as the areas of the lively interests for many scientists and researchers at the present time. The recent research results presented in this book provide new ideas for improved performance of PID control applications

New Approaches in Automation and Robotics

The book New Approaches in Automation and Robotics offers in 22 chapters a collection of recent developments in automation, robotics as well as control theory. It is dedicated to researchers in science and industry, students, and practicing engineers, who wish to update and enhance their knowledge on modern methods and innovative applications. The authors and editor of this book wish to motivate people, especially under-graduate students, to get involved with the interesting field of robotics and mechatronics. We hope that the ideas and concepts presented in this book are useful for your own work and could contribute to problem solving in similar applications as well. It is clear, however, that the wide area of automation and robotics can only be highlighted at several spots but not completely covered by a single book

Advances in Robot Navigation

Robot navigation includes different interrelated activities such as perception - obtaining and interpreting sensory information; exploration - the strategy that guides the robot to select the next direction to go; mapping - the construction of a spatial representation by using the sensory information perceived; localization - the strategy to estimate the robot position within the spatial map; path planning - the strategy to find a path towards a goal location being optimal or not; and path execution, where motor actions are determined and adapted to environmental changes. This book integrates results from the research work of authors all over the world, addressing the abovementioned activities and analyzing the critical implications of dealing with dynamic environments. Different solutions providing adaptive navigation are taken from nature inspiration, and diverse applications are described in the context of an important field of study: social robotics

Industrial Robotics

This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies. Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology. This book covers topics such as networking, properties of manipulators, forward and inverse robot arm kinematics, motion path-planning, machine vision and many other practical topics too numerous to list here. The authors and editor of this book wish to inspire people, especially young ones, to get involved with robotic and mechatronic engineering technology and to develop new and exciting practical applications, perhaps using the ideas and concepts presented herein

Theoretical Approaches in Non-Linear Dynamical Systems

From Preface: The 15th International Conference „Dynamical Systems - Theory and Applications” (DSTA 2019, 2-5 December, 2019, Lodz, Poland) gathered a numerous group of outstanding scientists and engineers who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without great effort of the staff of the Department of Automation, Biomechanics and Mechatronics of the Lodz University of Technology. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and Ministry of Science and Higher Education of Poland. It is a great pleasure that our event was attended by over 180 researchers from 35 countries all over the world, who decided to share the results of their research and experience in different fields related to dynamical systems. This year, the DSTA Conference Proceedings were split into two volumes entitled „Theoretical Approaches in Non-Linear Dynamical Systems” and „Applicable Solutions in Non-Linear Dynamical Systems”. In addition, DSTA 2019 resulted in three volumes of Springer Proceedings in Mathematics and Statistics entitled „Control and Stability of Dynamical Systems”, „Mathematical and Numerical Approaches in Dynamical Systems” and „Dynamical Systems in Mechatronics and Life Sciences”. Also, many outstanding papers will be recommended to special issues of renowned scientific journals.Cover design: Kaźmierczak, MarekTechnical editor: Kaźmierczak, Mare

Engineering Dynamics and Life Sciences

From Preface: This is the fourteenth time when the conference “Dynamical Systems: Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and Ministry of Science and Higher Education of Poland. It is a great pleasure that our invitation has been accepted by recording in the history of our conference number of people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcomed over 180 persons from 31 countries all over the world. They decided to share the results of their research and many years experiences in a discipline of dynamical systems by submitting many very interesting papers. This year, the DSTA Conference Proceedings were split into three volumes entitled “Dynamical Systems” with respective subtitles: Vibration, Control and Stability of Dynamical Systems; Mathematical and Numerical Aspects of Dynamical System Analysis and Engineering Dynamics and Life Sciences. Additionally, there will be also published two volumes of Springer Proceedings in Mathematics and Statistics entitled “Dynamical Systems in Theoretical Perspective” and “Dynamical Systems in Applications”

Physical insights, characteristics and diagnosis of structural freeplay nonlinearity in transonic aeroelastic systems: a system identification based approach

The Next Generation of aircraft sustainment is based on an emerging paradigm known as Prognostics and Health Management. PHM encompasses numerous innovative concepts which shape the future of air asset sustainment according to pre-emptive condition-based maintenance, intelligence-based individual aircraft tracking, and damage/fault prognosis. Smart Diagnostics is an integral component of the SPHM paradigm, and refers to the detection, localisation and tracking of nonlinear structural anomalies that occur in various forms across the airframe structure or within mechanical interfaces. Control surface damage/ failure scenarios, such as, nonlinear hinge stiffness, backlash, and structural freeplay, are a class of structural anomaly which plague modern aircraft and introduce a range of dangerous nonlinear dynamic behaviours, such as, chaotic response and limit cycle oscillation. As a result, the freeplay structural anomaly can reduce fatigue life and is problematic for the stakeholder on many levels, including the management of structural health, maintenance practices, asset availability, mission capability, and sustainment provisions. The traditional approach to handling freeplay-type nonlinear events is based on avoidance and pre-emptive repetitive maintenance practices which, despite being over-conservative, inefficient and expensive, have remained unchanged for more than half a century. As the aerospace sector begins to adopt modern aircraft design and sustainment practices, including the realisation of SPHM-based technologies, there is an urgent requirement for contemporary solutions towards the diagnosis and tracking of structural freeplay anomalies. The research presented in this thesis is pursued with the global objective of contributing towards contemporary structural health monitoring technology through a nonlinear system identification framework for rapid control surface freeplay diagnostics. The proposed framework is driven by the fundamental assumption that all information pertaining to the freeplay event is contained within the time-histories extracted from an aircraft¿s sensory network. It is shown that through careful adaptation of well-established nonlinear system identification methods, namely the Higher-Order Spectra (HOS) and Hilbert-Huang Transform (HHT), rapid detection, localisation and magnitude tracking of the freeplay event is realisable, through a truly data-driven framework, with no inherent dependency of knowledge of the airframe structure, the flight parameters, the aerodynamic condition, or uncertainties. A novel and systematic approach is used to characterise the freeplay event, where nonlinear aeroelastic predictions (numerical aeroelastic models of increasing complexity) are considered to study the isolated physical freeplay mechanism in a nonlinear system identification setting, to understand how its physical action on an aeroelastic system can be exploited for diagnostics purposes. The findings are adapted to formulate temporal and spectral characteristic signatures, then implemented as a basis for the data-driven diagnostics strategy. A flight test case study is used to show that the signature-based diagnostics framework which is formulated using numerical cases with well-defined parameters, remains valid when diagnosing freeplay in a real-world aircraft system. The freeplay is detected and isolated, then a single tuned algorithm is shown to efficiently track the freeplay magnitude over the course of three years with several maintenance/ repair cycles, using a sensor with significant spatial discrepancy to the freeplay source. It is shown that rapid actionable diagnostics information can be extracted with a high level of robustness, demonstrated and verified by making consistent predictions despite: i) a large deviation in Mach number and angle-of-attack (with high angle manoeuvres), ii) highly nonlinear aerodynamic conditions, iii) no knowledge of uncertainty bounds, iv) mixture between stationary nonstationary response, and iv) little information available pertaining to the aircraft structural properties or geometry (a single geometric vector is used). In developing the diagnostics framework, numerous freeplay induced nonlinear phenomena are revisited, providing a new understanding of the structural freeplay physical mechanism. Several freeplay-induced nonlinear phenomena are defined, quantified and related according to a consolidated underlying nonlinear mechanism, founded upon empirically derived correlations. In showing that data-driven signature-based diagnostics is feasible for freeplay, this research makes a significant contribution towards the fields of nonlinear system identification, applied nonlinear dynamics and aircraft structural health monitoring. This provides a clear pathway to extend this signature-based system identification diagnostics strategy to capture other discrete nonlinear mechanisms in aircraft systems, or any relevant mechanical systems across the engineering disciplines. Requirements and limiting aspects of the data-driven approach are thoroughly discussed, predominantly related to sensory network requirements, and recommendations on how to address the limitations and progress with this research are clearly outlined