A nonlinear disturbance observer for robotic manipulators

A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DOs, which are designed or analyzed by linear system techniques. It can be applied in robotic manipulators for various purposes such as friction compensation, independent joint control, sensorless torque control and fault diagnosis. The performance of the proposed observer is demonstrated by the friction estimation and compensation for a two-link robotic manipulator. Both simulation and experimental results show the NDO works well

A wave emulator for ocean wave energy, a Froude-scaled dry power take-off test setup

A dry laboratory environment has been developed to test Power Take-O_ (PTO) systems for Wave Energy Converters. The costs accompanied by testing a wave energy converter and its PTO at sea are high due to the di_cult accessibility of (remote) test locations. Next to easy accessibility, the lab setup provides controllable waves at a relatively lower cost. The setup enables extensive analysis of the dynamics of a PTO during its mechanical towards electrical energy conversion. The scaled setup is designed such that it resembles as close as possible the real system. Froudes similarity law provides easy transformation. The oater and waves are represented by a Wave Emulator, the motion of which is determined by a time series of the wave exciting forces supplemented with the actual hydrodynamic reaction forces due to the motions of the oater. A real-time calculation method is introduced, accounting for the actual PTO actions. Furthermore, the inertia of the oater is represented in the emulators rotary inertia, and a compensation method is proposed enabling an identical normalized PTO load curve as at full scale. Comparison between experimental and simulation results have been performed and good correlation between the movement of setup and simulations has been found

Identification and model-based compensation of Striebeck friction

The paper deals with the measurement, identification and compensation of low velocity friction in positioning systems. The introduced algorithms are based on a linearized friction model, which can easily be introduced in tracking control algorithms. The developed friction measurement and compensation methods can be implemented in simple industrial controller architectures, such as microcontrollers. Experimental measurements are provided to show the performances of the proposed control algorithm

For Slow Neutrons, Slow Pay: Enrico Fermi’s Patent and the US Atomic Energy Program, 1938-1953

This essay focuses on the history of one of the “atomic patents.” The patent, which described a process to slow down neutrons in nuclear reactions, was the result of experimental research conducted in the 1930s by Enrico Fermi and his group at the Institute of Physics, University of Rome. The value of the patented process became clear during World War II, as it was involved in most of the military and industrial applications of atomic energy. This ignited a controversy between Fermi and U.S. government representatives over royalties to be paid for use of the process during and after the war. The controversy sheds new light on the role that the management of patents played in the context of the Manhattan Project and in the postwar U.S. nuclear program, encompassing issues of power and economic influence in the relationship between scientists, the military, and public administrators

Ambulatory Assessment of Ankle and Foot Dynamics

Ground reaction force (GRF) measurement is important in the analysis of human body movements. The main drawback of the existing measurement systems is the restriction to a laboratory environment. This paper proposes an ambulatory system for assessing the dynamics of ankle and foot, which integrates the measurement of the GRF with the measurement of human body movement. The GRF and the center of pressure (CoP) are measured using two six-degrees-of-freedom force sensors mounted beneath the shoe. The movement of foot and lower leg is measured using three miniature inertial sensors, two rigidly attached to the shoe and one on the lower leg. The proposed system is validated using a force plate and an optical position measurement system as a reference. The results show good correspondence between both measurement systems, except for the ankle power estimation. The root mean square (RMS) difference of the magnitude of the GRF over 10 evaluated trials was (0.012 plusmn 0.001) N/N (mean plusmn standard deviation), being (1.1 plusmn 0.1)% of the maximal GRF magnitude. It should be noted that the forces, moments, and powers are normalized with respect to body weight. The CoP estimation using both methods shows good correspondence, as indicated by the RMS difference of (5.1 plusmn 0.7) mm, corresponding to (1.7 plusmn 0.3)% of the length of the shoe. The RMS difference between the magnitudes of the heel position estimates was calculated as (18 plusmn 6) mm, being (1.4 plusmn 0.5)% of the maximal magnitude. The ankle moment RMS difference was (0.004 plusmn 0.001) Nm/N, being (2.3 plusmn 0.5)% of the maximal magnitude. Finally, the RMS difference of the estimated power at the ankle was (0.02 plusmn 0.005) W/N, being (14 plusmn 5)% of the maximal power. This power difference is caused by an inaccurate estimation of the angular velocities using the optical reference measurement system, which is due to considering the foot as a single segment. The ambulatory system considers separat- - e heel and forefoot segments, thus allowing an additional foot moment and power to be estimated. Based on the results of this research, it is concluded that the combination of the instrumented shoe and inertial sensing is a promising tool for the assessment of the dynamics of foot and ankle in an ambulatory setting