A new robust position control algorithm for a linear belt-drive

The paper deals with a linear belt-driven servomechanism. It proposes new position tracking control algorithm that has been designed by sliding mode control theory. The selected sliding manifold was extended by non-rigid modes of the elastic servodrive. However, the proposed control scheme retains simple and practical for implementation. The experiments presented in the paper show that it effectively suppresses vibrations and furthermore extend the closed-loop bandwidth

Survei Ketrampilan Dasar Bermain Tenis Meja pada Mahasiswa Penjaskesrek Angkatan 2021

This research is a single variable, namely a test of basic technical skills in playing table tennis for students of the Physical and Health Study Program class of 2021. The research in this research is a quantitative study in which the authors want to know the test of basic technical skills in playing table tennis for students of the Physical and Health Study Program class of 2021. The method in this research is a quantitative method the population used in this study is 80 samples in this study are 40 people variable in this study is a single variable instrument in this study measurement instrument through several test items service test, block test, push test, forhand test based on initial test results and the final test which is processed into data is processed using a statistical formula, so testing the hypothesis in this study can be proven that there are playing skills in Physical Education and Health and Recreation students class of 2021

Merhum H. Sadettin Arel Beyefendi

Taha Toros Arşivi, Dosya No: 370-Sadettin Arel (Hüseyin). Not: Gazetenin "Merak" köşesinde yayımlanmıştır

Evaluation of sensor configurations for robotic surgical instruments

Designing surgical instruments for robotic-assisted minimally-invasive surgery (RAMIS) is challenging due to constraints on the number and type of sensors imposed by considerations such as space or the need for sterilization. A new method for evaluating the usability of virtual teleoperated surgical instruments based on virtual sensors is presented. This method uses virtual prototyping of the surgical instrument with a dual physical interaction, which allows testing of different sensor configurations in a real environment. Moreover, the proposed approach has been applied to the evaluation of prototypes of a two-finger grasper for lump detection by remote pinching. In this example, the usability of a set of five different sensor configurations, with a different number of force sensors, is evaluated in terms of quantitative and qualitative measures in clinical experiments with 23 volunteers. As a result, the smallest number of force sensors needed in the surgical instrument that ensures the usability of the device can be determined. The details of the experimental setup are also included

Behavioural and temporal partitioning of dolphin social groups in the northern Adriatic Sea

Complex social structure is a prominent feature in several mammal species. Such structure may lead to behavioural diversity not only among populations, but also within a single population, where different subsets of a population may exhibit different types of behaviour. As a consequence, understanding social structure is not only interesting biologically, but may also help conservation and management efforts, because not all segments of a population necessarily respond to or interact with human activities in the same way, or at the same time. In this study, we examined the social structure of common bottlenose dolphins (Tursiops truncatus) in the Gulf of Trieste and adjacent waters (northern Adriatic Sea), based on a 9-year dataset, using social network metrics and association indices. We assessed whether different segments of the population show differences in behaviour and interactions with fisheries. Dolphin social network was structured into distinct social clusters of mixed sexes. We found no evidence of male alliances. The two largest social clusters overlapped spatially, but not temporally, as they used the same area at different times of day. Such diel temporal partitioning does not appear to have been documented in cetaceans previously. The two clusters also differed in ways they interact with fisheries, as one regularly interacted with trawlers, while the other did not. This study demonstrates how different segments of animal populations can interact differently with human activities and in turn respond differently to anthropogenic impacts.Publisher PDFPeer reviewe

Further results on modeling, integrated design and simulation of a mechatronic system with FPGA

The basic idea of modeling, integrated design and simulation of mechatronic product is to combine benefits of the mechanical multibody system model with the features of advanced drive and control. The starting point for multiphysics modeling and simulation is multibody system dynamics with the practical case – washing machine. The motion equations are obtained using modified symbolic Lagrange equations in a covariant way, applying the Rodrigues method. In this paper it will be presented a novel means of designing a simple and effective torque control for PMSM based on the Field Programmable Gate Array (FPGA) technology. Finally, the effectiveness of both suggested approaches is is demonstrated on mechatronic system simulation (e.g. co-simulation approach) on planar washing machine model. There are given also practical hints for promising hardware-in-loop simulation for experimental evaluation

Zahteve pogonskih aktuatorjev v sodobnih pralnih strojih

Some aspects of drive actuator control in contemporary washing machines The contemporary washing machines have advanced electronic process control, which main boundary limits are main functionality (e.g. washing effect) and process side effects (e.g. stability, vibrations). The washing machine motor control is actually multi-constrain optimization task, which demands profound control knowledge to utilize low-cost hardware in order to achieve a compromise solution. Presented is the state of art about the washing machine motion drives (actuators) and their control regarding the fulfillment main functionalities (e.g. clothes dirtiness, cloth weight, water quantity, time of washing). An automatically controlled washing machine includes a laundry drum and a drive motor which drives the laundry drum at a plurality of different speeds for washing machine processes - washing, rinsing and spinning. The speed of the drive motor is adjustable with a (laundry drum rounds-per-minute) control circuit and is determinable in accordance with set-point and actual rpm values. Main focus will be paid on the optimization of washing machine dynamics, which is considered to be (rigid) multibody system, experimentally monitored with vibrations monitoring for steady-state as well as transient system response

Bilateral teleoperation by sliding mode control design approach

Sliding mode control has been used extensively in robotics to cope with parameters uncertainty, model perturbations and system disturbance. Bilateral robotic teleoperators are often required to provide a haptic interaction in telerobotic applications in which human kinesthetic sense is stimulated locally by remote environment. The paper deals with bilateral control for a force-reflection master-slave telerobotic architecture. It involves a short overview of basic bilateral modes. Chattering-free SMC design procedure for force-reflecting master-slave teleoperator is presented. The proposed bilateral control scheme was experimentally validated for a 1DOF master-slave teleoperator