79 research outputs found

    Nonlinear robust control of tendon–driven robot manipulators

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    This work addresses the position tracking control problem for tendon–driven robotic mechanisms in the presence of parametric uncertainty and additive external disturbances. Specifically, a full state feedback nonlinear robust controller is proposed to tackle the link position tracking problem for tendon–driven robot manipulators with uncertain dynamical system parameters. A robust backstepping approach has been utilized to achieve uniformly ultimately bounded tracking performance despite the lack of exact knowledge of the dynamical parameters and presence of additive but bounded disturbance terms. Stability of the overall system is proven via Lyapunov based arguments. Simulation studies performed on a two link planar robot manipulator driven by a six tendon mechanism are presented to illustrate the effectiveness and viability of the proposed approach.Scientific and Technological Research Council of Turkey (112E561

    Vibration Suppression in Flexible Structures using Hybrid Active and Semi-active Control

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    This thesis presents a new hybrid active and semi-active control method for vibration suppression in flexible structures. The method uses a combination of a semi-active device and an active control actuator situated elsewhere in the structure to suppress vibrations. The key novelty is to use the hybrid controller to enable the semi-active device to achieve a performance as close to a fully active device as possible. This is accomplished by ensuring that the active actuator can assist the semi-active device in the regions where energy is required. Also, the hybrid active and semi-active controller is designed to minimise the switching of the semi-active controller. The control framework used is the immersion and invariance control technique in combination with a sliding mode control. A two degree-of-freedom system with lightly damped resonances is used as an example system. Both numerical and experimental results are generated for this system and then compared as part of a validation study. The experimental system uses hardware-in-the-loop simulation to simulate the effect of both the degrees-of-freedom. The results show that the concept is viable both numerically and experimentally, and improved vibration suppression results can be obtained for the semi-active device that approaches the performance of an active device. To illustrate the effectiveness of the proposed hybrid controller, it is implemented to keep the contact force constant in the pantograph-catenary system of high-speed trains. A detailed derivation is given after which the simulation results are presented. Then a method to design a reduced order observer using an invariant manifold approach is proposed. The main advantage of this approach is that it enables a systematic design approach, and (unlike most nonlinear observer design methods), it can be generalised over a larger class of nonlinear systems. The method uses specific mapping functions in a way that minimises the error dynamics close to zero. Another important aspect is the robustness property which is due to the manifold attractivity: an important feature when an observer is used in a closed loop control system. The observer design is validated using both numerical simulations and hardware-in-the-loop testing. The proposed observer is then compared with a very well known nonlinear observer based on the off-line solution of the Riccati equation for systems with Lipschitz type nonlinearity. In all cases, the performance of the proposed observer is shown to be excellent

    High Accuracy Nonlinear Control and Estimation for Machine Tool Systems

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    Soft Robotics: Design for Simplicity, Performance, and Robustness of Robots for Interaction with Humans.

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    This thesis deals with the design possibilities concerning the next generation of advanced Robots. Aim of the work is to study, analyse and realise artificial systems that are essentially simple, performing and robust and can live and coexist with humans. The main design guideline followed in doing so is the Soft Robotics Approach, that implies the design of systems with intrinsic mechanical compliance in their architecture. The first part of the thesis addresses design of new soft robotics actuators, or robotic muscles. At the beginning are provided information about what a robotic muscle is and what is needed to realise it. A possible classification of these systems is analysed and some criteria useful for their comparison are explained. After, a set of functional specifications and parameters is identified and defined, to characterise a specific subset of this kind of actuators, called Variable Stiffness Actuators. The selected parameters converge in a data-sheet that easily defines performance and abilities of the robotic system. A complete strategy for the design and realisation of this kind of system is provided, which takes into account their me- chanical morphology and architecture. As consequence of this, some new actuators are developed, validated and employed in the execution of complex experimental tasks. In particular the actuator VSA-Cube and its add-on, a Variable Damper, are developed as the main com- ponents of a robotics low-cost platform, called VSA-CubeBot, that v can be used as an exploratory platform for multi degrees of freedom experiments. Experimental validations and mathematical models of the system employed in multi degrees of freedom tasks (bimanual as- sembly and drawing on an uneven surface), are reported. The second part of the thesis is about the design of multi fingered hands for robots. In this part of the work the Pisa-IIT SoftHand is introduced. It is a novel robot hand prototype designed with the purpose of being as easily usable, robust and simple as an industrial gripper, while exhibiting a level of grasping versatility and an aspect comparable to that of the human hand. In the thesis the main theo- retical tool used to enable such simplification, i.e. the neuroscience– based notion of soft synergies, are briefly reviewed. The approach proposed rests on ideas coming from underactuated hand design. A synthesis method to realize a desired set of soft synergies through the principled design of adaptive underactuated mechanisms, which is called the method of adaptive synergies, is discussed. This ap- proach leads to the design of hands accommodating in principle an arbitrary number of soft synergies, as demonstrated in grasping and manipulation simulations and experiments with a prototype. As a particular instance of application of the method of adaptive syner- gies, the Pisa–IIT SoftHand is then described in detail. The design and implementation of the prototype hand are shown and its effec- tiveness demonstrated through grasping experiments. Finally, control of the Pisa/IIT Hand is considered. Few different control strategies are adopted, including an experimental setup with the use of surface Electromyographic signals

    Proceedings of FORM 2022. Construction The Formation of Living Environment

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    This study examines the integration of building information modelling (BIM) technologies in operation & maintenance stage in the system of managing real estate that helps to reduce transaction costs. The approach and method are based on Digital Twin technology and Model Based System Engineering (MBSE) approach. The results of the development of a service for digital facility management and digital expertise are presented. The connection between physical and digital objects is conceptualized

    Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

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    This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

    Self-organization in heterogeneous biological systems

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    Self-organization is an ubiquitous and fundamental process that underlies all living systems. In cellular organisms, many vital processes, such as cell division and growth, are spatially and temporally regulated by proteins -- the building blocks of life. To achieve this, proteins self-organize and form spatiotemporal patterns. In general, protein patterns respond to a variety of internal and external stimuli, such as cell shape or inhomogeneities in protein activity. As a result, the dynamics of intracellular pattern formation generally span multiple spatial and temporal scales. This thesis addresses the underlying mechanisms that lead to the formation of heterogeneous patterns. The main themes of this work are organized into three parts, which are summarized below. The first part deals with the general problem of mass-conserving reaction-diffusion dynamics in spatially non-uniform systems. In section 1 of chapter II, we study the dynamics of the E. coli Min protein system -- a paradigmatic model for pattern formation. More specifically, we consider a setup with a fixed spatial heterogeneity in a control parameter, and show that this leads to complex multiscale pattern formation. We develop a coarse-graining approach that enables us to explain and reduce the dynamics to the "hydrodynamic variables'' at large length and time scales. In another project, we consider a system where spatial heterogeneities are not imposed externally, but self-generated by the dynamics via a mechanochemical feedback loop between geometry and reaction-diffusion system (section 2 of chapter II). We show that the resulting dynamics can be explained from the phase-space geometry of the reaction-diffusion system. The second part focuses on how patterns in realistic cell geometries are controlled by shape and biochemical cues. We examine axis selection of PAR polarity patterns in C. elegans, where we show that spatial variations in the bulk-surface ratio and a tendency of the system to minimize the pattern interface yield robust long-axis polarization of PAR protein patterns (section 1 of chapter III). In a second project, we develop a theoretical model that explains the localization of the B. subtilis Min protein system (section 2 of chapter 3). We show that a biochemical cue -- which acts as a template for pattern formation -- guides and stabilizes Min patterns. In the third part, we study the coupling between lipid membranes and curvature-generating proteins. We demonstrate that myosin-VI motor proteins cooperatively bind to saddle-shaped regions of lipid membranes, and thereby induce large-scale membrane remodeling (section 1 of chapter IV). To understand the dynamics, we develop a coarse-grained geometric model and show that the emergence of regular spatial structures can be explained by a "push-pull'' mechanism: protein binding destabilizes the membrane shape at all length scales, and this is counteracted by line tension. Inspired by this system, we then investigate a general model for the dynamics of growing protein-lipid interfaces (section 2 of chapter IV). A key feature of the model is that the protein binding kinetics is explicitly coupled to the morphology of the interface. We show that such a coupling leads to turbulent dynamics and a roughening transition of the interface that is characterized by universal scaling behaviour
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