Self-organizing robot formations using velocity potential fields commands for material transfer

Mobile robot formations differ in accordance with the mission, environment, and robot abilities. In the case of decentralized control, the ability to achieve the shapes of these formations needs to be built in the controllers of each autonomous robot. In this paper, self-organizing formations control for material transfer is investigated, as an alternative to automatic guided vehicles. Leader–follower approach is applied for controllers design to drive the robots toward the goal. The results confirm the ability of velocity potential approach for motion control of both self-organizing formations

Experimental verification for closed loop control of thin plate surface temperature

Thin plate surface temperature control is investigated using inverse problem in a closed loop control approach. This was achieved by solving the periodic boundary one-dimensional heat conduction equation, using Laplace transform, to get the transfer function for both direct problem and inverse problem. The resulting transfer functions were processed using Zero-Pole expansion to get a polynomial transfer functions for facilitating the simulation. After the simulation study of the closed loop temperature control, a closed loop experimental approach was developed using the inverse problem from simulation and connecting the results with a physical system by replacing the simulated direct problem. Experimental results were compared to previous simulation results

Fractional controller for thin plate surface temperature control

Surface temperature control of a thin aluminium plate were investigated using closed loop control approach implemented using inverse problem. The one-dimensional model with periodic boundary condition was solved using the Laplace transform and both direct problem and inverse problem transfer functions were obtained. The resulting transfer functions were expanded using Zero-Pole expansion to obtain a finite order polynomial transfer function. Simulation results for closed loop control using fractional controllers (FOPIλ, FOPD and FOPIDμ) were evaluated

Control of Force in Surgical Robots with Random Time Delays Using Model Predictive Control

Robotic telesurgery has gained a lot of interest in the medical and engineering field with the advancement of technology over in Minimum Invasive Surgery (MIS) that uses small incisions to operate resulting in the faster recovery of the patients. In the commercially available surgical systems, the surgeon cannot feel the sense of touch of the environment, unlike open type surgery. The control becomes harder when the robotic surgery is performed remotely in the presence of time delays. The development of the force feedback will help to reduce the tissue damage and end-effector deflection. The primary goal of this work is to develop the force feedback for the surgical arms affected by the time delays. The random behavior of the network delays makes the control realization even harder and can make the response go unstable. A novel approach is used to develop the haptic feedback for the Minimally Invasive Robotic Systems (MIRS) by using Model Predictive Control (MPC) in case of random communication delays

Impedance Control for Space Station Freedom Operations

NRC publication: Ye