Fonseca Aguilar, Oscar

Muñoz Arias, Mauricio

Stavenga, Doekele

University of Groningen

   University of GroningenGRACE Project: model-based control of a nonlinear actuatorFonseca Aguilar, Oscar; Muñoz Arias, Mauricio; Stavenga, DoekelePublished in:Benelux Meeting of Systems and ControlIMPORTANT NOTE: You are advised to consult the publisher's version (publisher's PDF) if you wish to cite fromit. Please check the document version below.Document VersionFinal author's version (accepted by publisher, after peer review)Publication date:2019Link to publication in University of Groningen/UMCG research databaseCitation for published version (APA):Fonseca Aguilar, O., Muñoz Arias, M., & Stavenga, D. (2019). GRACE Project: model-based control of anonlinear actuator. In Benelux Meeting of Systems and Control (2019 ed.). Lommel, Belgium: KU Leuven.CopyrightOther than for strictly personal use, it is not permitted to download or to forward/distribute the text or part of it without the consent of theauthor(s) and/or copyright holder(s), unless the work is under an open content license (like Creative Commons).Take-down policyIf you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediatelyand investigate your claim.Downloaded from the University of Groningen/UMCG research database (Pure): http://www.rug.nl/research/portal. For technical reasons thenumber of authors shown on this cover page is limited to 10 maximum.Download date: 11-12-2019GRACE Project: model-based control of a nonlinear actuatorO´scar Fonseca-AguilarDept. of Mechatronics EngineeringCosta Rica Institute of TechnologyP.O. Box 159-7050,Cartago, Costa RicaEmail: osfonseca@estudiantec.crMauricio Mun˜oz-Arias and Doekele StavengaFaculty of Science and EngineeringUniversity of GroningenNijenborgh 4, 9747 AGGroningen, The NetherlandsEmail: m.munoz.arias@rug.nl, d.g.stavenga@rug.nl1 IntroductionNatural phenomena have proven to be a great source of in-spiration for developing specialized devices. Insect com-pound eyes offer promising insights for the development ofnew artificial navigation and vision systems [5]. In recentyears, a Goniometric Research Apparatus for CompoundEyes (GRACE) has been developed. The aim of the ap-paratus is to obtain a rapid mapping of compound eyes.Initially a non-automatized system was used [4], [5]. Theapparatus has been automatized into a specialized mecha-tronical device with 6 degrees of freedom, with an upperand lower optical stage and a digital camera (Figure 1). Inthe last upgrade an auto-focusing algorithm sets the posi-tion of the studied insect using the sharpness of the imageby controlling the position of Motor Z. Motors X and Yadjust the lateral position, depending on the image details.To control the position of the camera system, which is at-tached to a Zeiss microscope in the upper stage, a highlynonlinear actuator for a Elero DC motor has been devel-oped. The actuator holds the microscope, which, due to alead screw, is severely affected by gravity and a high fric-tion coefficient. An energy-based model is here applied us-ing the port-Hamiltonian framework (pH), taking the massof the system in the screw as an external force, and based onthe self-locking property [1]. An optical rotational encoderis the sensor used in the actuator. The proposed controlleris a dynamical extension based on the results of [2]. Exper-imental results can be obtained with a longitudinal accuracyof the microscope position of 5 m. The developed GRACEsystem allows the massive collection of detailed images ofinsect eyes, i.e. of flies and butterflies.2 Experimental setupThe GRACE system is shown in Figure 1. First, the M axisis in repose when the DC motor is not powered. The afore-mentioned is due to the motion transformation mechanism,a lead screw presents a nonlinear behavior, dependant of thedirection of motion and friction. The above is considered asan external force entering the rotational system.References[1] Budynas, R.G. and Nisbett, J.K., 2008. Shigley’s me-chanical engineering design (Vol. 8). New York: McGraw-Figure 1: Schematics of the GRACE system at University ofGroningen [3].Hill.[2] Dirksz, D.A., Scherpen, J.M. and Ortega, R., 2008,Interconnection and damping assignment passivity-basedcontrol for port-Hamiltonian mechanical systems with onlyposition measurements. 47th IEEE CDC, 4957–4962.[3] Sahu, K.K., 2017, Automated image feature identifi-cation for motorized mapping of insect eyes, Master Thesis,University of Groningen.[4] Stavenga, D.G., 2002. Reflections on colourful om-matidia of butterfly eyes. Journal of Experimental Biology,205, p.1077–1085.[5] Stavenga, D.G, 2005, Modern optical tools for study-ing insect eyes. Methods in insect sensory neuro-science.Edited by TA Christensen. CRC Press, Florida,USA, pp159-184.[6] van der Schaft, A.J., 2000, L2-gain analysis of nonlin-ear systems and nonlinear state-feedback h∞ control. IEEETrans. on Aut. Contr., 37(6), 770–784.

GRACE Project: model-based control of a nonlinear actuator

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GRACE Project: model-based control of a nonlinear actuator

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