Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops

Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing nested control systems is to maximize the bandwidth of the inner loop to improve tracking performance, it may not be the most suitable approach when a certain range of impedance parameters has to be rendered. In particular, it turns out that the viable range of stable stiffness and damping values can be strongly affected by the bandwidth of the inner control loops (e.g. a torque loop) as well as by the filtering and sampling frequency. This paper provides an extensive analysis on how these aspects influence the stability region of impedance parameters as well as the passivity of the system. This will be supported by both simulations and experimental data. Moreover, a methodology for designing joint impedance controllers based on an inner torque loop and a positive velocity feedback loop will be presented. The goal of the velocity feedback is to increase (given the constraints to preserve stability) the bandwidth of the torque loop without the need of a complex controller.Comment: 14 pages in Control Theory and Technology (2016

Geometric Scattering in Robotic Telemanipulation

In this paper, we study the interconnection of two robots, which are modeled as port-controlled Hamiltonian systems through a transmission line with time delay. There will be no analysis of the time delay, but its presence justifies the use of scattering variables to preserve passivity. The contributions of the paper are twofold: first, a geometrical, multidimensional, power-consistent exposition of telemanipulation of intrinsically passive controlled physical systems, with a clarification on impedance matching, and second, a system theoretic condition for the adaptation of a general port-controlled Hamiltonian system with dissipation (port-Hamiltonian system) to a transmission line

Stability evaluation of rotor/bearing system

A stability study of rotor/bearing systems is presented. Even though it was limited to study of a fully lubricated bearing subject to oil whirl, and further limited to low eccentricity region for linearity and with only one type of lubricant, it can be seen that the perturbation methodology, together with the sorting of the impedance terms into direct and quadrature with respect to input force can be very useful to the general study of stability. Further, the concept of active feedback should assist to increase knowledge in rotor system stability. While there remains a large amount of study to be accomplished, perhaps some more tools are available to assist this field of analysis

Arbitrary beam control using passive lossless metasurfaces enabled by orthogonally-polarized custom surface waves

For passive, lossless impenetrable metasurfaces, a design technique for arbitrary beam control of receiving, guiding, and launching is presented. Arbitrary control is enabled by a custom surface wave in an orthogonal polarization such that its addition to the incident (input) and the desired scattered (output) fields is supported by a reactive surface impedance everywhere on the reflecting surface. Such a custom surface wave (SW) takes the form of an evanescent wave propagating along the surface with a spatially varying envelope. A growing SW appears when an illuminating beam is received. The SW amplitude stays constant when power is guided along the surface. The amplitude diminishes as a propagating wave (PW) is launched from the surface as a leaky wave. The resulting reactive tensor impedance profile may be realized as an array of anisotropic metallic resonators printed on a grounded dielectric substrate. Illustrative design examples of a Gaussian beam translator-reflector, a probe-fed beam launcher, and a near-field focusing lens are provided

Time-varying Huygens' meta-devices for parametric waves

Huygens' metasurfaces have demonstrated almost arbitrary control over the shape of a scattered beam, however, its spatial profile is typically fixed at fabrication time. Dynamic reconfiguration of this beam profile with tunable elements remains challenging, due to the need to maintain the Huygens' condition across the tuning range. In this work, we experimentally demonstrate that a time-varying metadevice which performs frequency conversion can steer transmitted or reflected beams in an almost arbitrary manner, with fully dynamic control. Our time-varying Huygens' metadevice is made of both electric and magnetic meta-atoms with independently controlled modulation, and the phase of this modulation is imprinted on the scattered parametric waves, controlling their shapes and directions. We develop a theory which shows how the scattering directionality, phase and conversion efficiency of sidebands can be manipulated almost arbitrarily. We demonstrate novel effects including all-angle beam steering and frequency-multiplexed functionalities at microwave frequencies around 4 GHz, using varactor diodes as tunable elements. We believe that the concept can be extended to other frequency bands, enabling metasurfaces with arbitrary phase pattern that can be dynamically tuned over the complete 2\pi range

Generalized Parity-Time Symmetry Condition for Enhanced Sensor Telemetry

Wireless sensors based on micro-machined tunable resonators are important in a variety of applications, ranging from medical diagnosis to industrial and environmental monitoring.The sensitivity of these devices is, however, often limited by their low quality (Q) factor.Here, we introduce the concept of isospectral party time reciprocal scaling (PTX) symmetry and show that it can be used to build a new family of radiofrequency wireless microsensors exhibiting ultrasensitive responses and ultrahigh resolution, which are well beyond the limitations of conventional passive sensors. We show theoretically, and demonstrate experimentally using microelectromechanical based wireless pressure sensors, that PTXsymmetric electronic systems share the same eigenfrequencies as their parity time (PT)-symmetric counterparts, but crucially have different circuit profiles and eigenmodes. This simplifies the electronic circuit design and enables further enhancements to the extrinsic Q factor of the sensors

Planar immersion lens with metasurfaces

The solid immersion lens is a powerful optical tool that allows light entering material from air or vacuum to focus to a spot much smaller than the free-space wavelength. Conventionally, however, they rely on semispherical topographies and are non-planar and bulky, which limits their integration in many applications. Recently, there has been considerable interest in using planar structures, referred to as metasurfaces, to construct flat optical components for manipulating light in unusual ways. Here, we propose and demonstrate the concept of a planar immersion lens based on metasurfaces. The resulting planar device, when placed near an interface between air and dielectric material, can focus electromagnetic radiation incident from air to a spot in material smaller than the free-space wavelength. As an experimental demonstration, we fabricate an ultrathin and flexible microwave lens and further show that it achieves wireless energy transfer in material mimicking biological tissue

Horn-like space-coiling metamaterials toward simultaneous phase and amplitude modulation

Acoustic metasurfaces represent a family of planar wavefront-shaping devices garnering increasing attention due to their capacity for novel acoustic wave manipulation. By precisely tailoring the geometry of these engineered surfaces, the effective refractive index may be modulated and, consequently, acoustic phase delays tuned. Despite the successful demonstration of phase engineering using metasurfaces, amplitude modulation remains overlooked. Herein, we present a class of metasurfaces featuring a horn-like space-coiling structure, enabling acoustic control with simultaneous phase and amplitude modulation. The functionality of this class of metasurfaces, featuring a gradient in channel spacing, has been investigated theoretically and numerically and an equivalent model simplifying the structural behavior is presented. A metasurface featuring this geometry has been designed and its functionality in modifying acoustic radiation patterns experimentally validated. This class of acoustic metasurface provides an efficient design methodology enabling complete acoustic wave manipulation, which may find utility in applications including biomedical imaging, acoustic communication, and non-destructive testing.We thank Boston University Materials Innovation Grant and Dean's Catalyst Award. We also thank the Boston University Photonics Center for technical support. (Boston University Materials Innovation Grant; Dean's Catalyst Award