Dissertationen zum Thema „Contactless control“

Micro-Electro-Mechanical Systems, or MEMS, has been a continuously growing technology during the last decades. Since 1959, when the theoretical physicist Richard Feynman introduced the concept of nanotechnology in his famous talk "There is plenty of room at the bottom", several companies and researchers have been involved in the permanent improving of these devices. MEMS is the technology of microscopic devices, particularly those with moving parts and it is widely used in both sensing and actuating applications. In this regard, a large number of microsensors for almost every possible sensing modality have been de- veloped, including pressure, inertial forces, chemical species, magnetic fields, etc. Accordingly to this, MEMS can be found today in many real applications across multiple markets, such as automotive, consumer, defense, industrial, medical, telecommunications, etc. The main advantages for the use of MEMS in front of other classical technologies are small size, low cost, high isolation and low power consumption. However, there are still some reliability issues hindering the use of MEMS devices in some applications. Mechanical and electrical phenomena involving such micro-scale structures have been matter of study during the last years, being dielectric charging the most important in the case of electrostatically actuated MEMS. The charge accumulated in dielectric layers has a significant impact on the behavior of such devices by altering the electric field distribution in the structure and causing some undesirable effects such as shifts of the Capacitance-Voltage (C-V) characteristic and even permanent stiction of movable mechanical parts, so that the device becomes permanently damaged. Thus, detection and control of dielectric charge are of capital importance due to their strong influence on device performance and reliability. In order to face this challenge, in this Thesis dielectric charge phenomena have been studied under bipolar voltage actuation and several different control strategies have been proposed. These control schemes have demonstrated to be useful to set the dielectric charge to a desired level for contactless MEMS such as varactors, electrostatic positioners or microphone MEMS. Furthermore, these methods have provided the first active compensation of charge trapping generated by ionizing radiation in any device. The first approach to control trapped charge proposed consisted in alternating voltage polarity, depending on the sampled value of the device capacitance. This method demonstrated the feasibility of compensating horizontal shifts of the C-V by charge injection while paving the way for the second control proposed. For the implementation of this second method, which was later patented worldwide, two voltage waveforms were introduced for both monitoring and controlling the net trapping charge. This method resulted in a true sigma-delta modulator capable of providing control for both signs of net trapped charge. Finally, two further methods were proposed which improved the performance of the second control. The first one implemented a second-order sigma-delta control and the last one introduced some modifications in the feedback loop to allow continuous capacitance control while dielectric charge is being also controlled.
Los sistemas micro-electromecánicos, conocidos como MEMS, constituyen una alternativa tecnologíca que ha experimentado un gran crecimiento en las últimas décadas. Desde que en 1959, cuando el físico teórico Richard Feynman introdujo el concepto de nanotecnología en su famosa conferencia "There is plenty of room at the bottom", multitud de investigadores y empresas se han dedicado al desarrollo y la mejora permanente de este tipo de dispositivos. Las principales ventajas del uso de MEMS frente otras tecnologías más clásicas radican en su menor tamaño, su reducido coste y su bajo consumo. En tanto MEMS se refiere habitualmente a tecnologías micrométricaa de dispositivos que presentan partes móbiles, éstos son extensamente utilizados en aplicaciones tanto de detección como de actuación. Así, se ha desarrollado un gran número de microsensores MEMS, cubriendo prácticamente todas las modalidades de detección, incluyendo presión, fuerzas inerciales, sustancias químicas, campos magnéticos, etc. Hoy en día, se utilizan dispositivos MEMS en aplicaciones de mercados como automoción, industria, medicina, telecomunicaciones, defensa, etc. Sin embargo, existen aún problemas de fiabilidad que limitan el uso de los MEMS en determinadas aplicaciones. Los fenómenos mecánicos y eléctricos que se producen en estas estructuras micrométricas han sido objeto de estudio durante los últimos años, siendo el más destacado el producido por la carga eléctrica acumulada en las capas dieléctricas que forman parte de los MEMS actuados electrostáticamente. Esta acumulación de carga altera la distribución de campo eléctrico en el dispositivo, afectando el comportamiento y las prestaciones de éste y causando efectos no deseados, como desplazamientos de la característica Capacidad-Tensión (C-V) e incluso colapsos indeseados de las partes móviles, que pueden conllevar daños permanentes. En consecuencia, la detección y el control de la carga acumulada en dieléctricos de MEMS son temas de vital importancia, debido a su enorme impacto en el rendimiento y la fiabilidad de los dispositivos. Esta Tesis aborda este desafío, primero estudiando y modelizando la dinámica de la acumulación de carga dieléctrica cuando el dispositivo se actúa con tensiones bipolares, y, a continuación, proponiendo y evaluando estrategias de control de dicha carga. Se han demostrado estrategias que, por primera vez, permiten mantener un nivel de carga prefijado en dispositivos MEMS que operan en estado abierto, como varactores, posicionadores electrostáticos o micrófonos MEMS. Además, estos controles han permitido realizar la primera demostración de compensación activa de carga generada por radiaciones ionizantes en dispositivos MEMS. El primer control propuesto consistía en alternar la polaridad de la tensión de actuación, dependiendo del valor de capacidad del dispositivo medido periódicamente. Con el uso de este método se demostró la factibilidad de compensar desplazamientos horizontales de la C-V mediante la inyección de carga debida a la actuación y se abrió el camino para la concepción de un segundo método mejorado. Para la implementación de este segundo método, que fue patentado más tarde, se propusieron dos formas de onda para actuar el dispositivo, que permiten tanto la monitorización como el control de la carga atrapada. Este método se basa en la modulación sigma-delta de primer orden y permite, por primera vez, controlar la carga neta atrapada en el dieléctrico. Finalmente, se han propuesto dos métodos de control más, con el objetivo de introducir mejoras sobre los ya comentados. El primero de ellos implementa una modulación sigma-delta de segundo orden, mientras que en el segundo se introducen algunas modificaciones en el lazo de ralimentación que permiten el control de la capacidad del dispositivo al mismo tiempo que el control de la carga neta atrapada.

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1995.
Includes bibliographical references (leaves 230-234).
by Aaron M. Schultz.
Ph.D.

Contactless Electric Vehicle (EV) charging based on magnetic resonant induction is an emerging technology that can revolutionize the future of the EV industry and transportation systems by enabling an automated and convenient charging process. However, in order to make this technology an acceptable alternative for conventional plug-in charging systems it needs to be optimized for different design measures. Specifically, the efficiency of an inductive EV charging system is of a great importance and should be comparable to the efficiency of conventional plug-in EV chargers. The aim of this study is to develop solutions that contribute to the design enhancement of inductive EV charging systems. Specifically, generalized physics-based design optimization methods that address the trade-off problem between several key objectives including efficiency, power density, misalignment tolerance, and cost efficiency considering critical constraints are developed. Using the developed design methodology, a 3.7kW inductive charging system with square magnetic structures is investigated as a case study and a prototype is built to validate the optimization results. The developed prototype achieves 93.65% efficiency (DC-to-DC) and a power density of 1.65kW/dm3. Also, self-tuning power transfer control methods with resonance frequency tracking capability and bidirectional power transfer control are presented. The proposed control methods enhance the efficiency of power converters and reduce the Electromagnetic Interference (EMI) by enabling soft-switching operations. Several simplified digital controllers are developed and experimentally implemented. The controllers are implemented without the use of DSP/FPGA solutions. Experimental tests show that of the developed simplified controllers can effectively regulate the power transfer around the desired value. Moreover, the experiments show that compared to conventional converters, the developed converters can achieve 4% higher efficiency at low power levels. Moreover, enhanced matrix converter topologies that can achieve bidirectional power transfer and high efficiency with a reduced number of switching elements are introduced. The self-tuning controllers are utilized to design and develop control schemes for bidirectional power transfer regulation. The simulation analyses and experimental results show that the developed matrix converters can effectively establish bidirectional power transfer at the desired power levels with soft-switching operations and resonance frequency tracking capability. Specifically, a direct three-phase AC-AC matrix converter with a reduced number of switches (only seven) is developed and built. It is shown that the developed converters can achieve efficiencies as high as 98.54% at high power levels and outperform conventional two-stage converters.

In an industrial society it is critical that techniques be developed for the measurement of chemical species in the environment, in humans and as both intended and unintended products of manufacturing. Initially, these techniques were developed around sophisticated instruments and often involved complex procedures. It is obviously advantageous if the cost of analyses can be reduced and the experimental procedures simplified, while still maintaining the quality of the data collected. Furthermore, it is often desirable to have measurements performed rapidly, with on-site measurement sometimes deemed useful or even essential. All of these desirable outcomes may, in some cases, be obtained by miniaturisation. The interest in miniaturisation has led to rapid growth of the field of microfluidics, an area of study which involves using small volumes of liquids, often with detection systems specifically tailored to these reduced volumes. Microfluidic systems must have some way of moving liquids through various stages of chemical or physical processes. One particularly interesting pumping method involves the use of centrifugal force, which eliminates the need for pumps and minimises connections to the platform on which the analysis is done. Up to this point, centrifugal systems have generally been constrained to a limited number of sequential analytical steps as liquid could only flow in the direction demanded by the applied centrifugal force.In this thesis, a variety of liquid manipulation techniques on centrifugal microfluidic platforms were developed and characterised. These techniques were used to miniaturise standard classical analytical methods and implement them on centrifugal microfluidic platforms with the goal of monitoring environmentally important compounds such as aqueous sulfide. A two-phase liquid displacement pumping technique and a pneumatic-centrifugal pumping technique are demonstrated and presented. The developed pneumatic-centrifugal system was used to significantly increase the toolbox of capabilities for centrifugal microfluidic platforms, simultaneously enabling critical microfluidic operations such as valveless liquid transfer, metering, liquid flow switching, agitative micromixing, and liquid recirculation. This technique is based on contactless implementation of pneumatic pressure using compressed air on a continually rotating centrifugal microfluidic platform, thereby enabling complete liquid flow control by combining the effects of pneumatic pressure and centrifugal force.This new type of pneumatically enhanced centrifugal microfluidic platform greatly simplifies the fabrication process by minimising valving requirements, as well as improving efficiency by performing analyses in a highly automated manner. The pneumatic approach was applied to an on-disk calibration and spectrophotometric measurement using the method of standard additions. Similarly, another pneumatically enhanced platform was developed for performing liquid-liquid extractions between an aqueous phase and an organic phase, demonstrating that these centrifugal platforms are not only capable of performing complex multi-step reactions, but also multi-cycle reactions and processes. Finally, an application-specific pneumatically enhanced centrifugal platform was developed for the spectrophotometric determination of aqueous hydrogen sulfide.All of the developed analytical methods only required small sample and reagent volumes, are highly automated and convenient, and have the potential to be performed in a field environment without the need for highly trained personnel.
Dans notre société industrielle, la conception de techniques pour la quantification d'espèces chimiques dans l'environnement, les humains et les dérivés de la production manufacturière est primordiale. Au départ, ces techniques avaient été élaborées à partir d'instruments sophistiqués et se basaient sur des procédures complexes. Il serait donc avantageux de pouvoir réduire les coûts d'analyse et simplifier les procédures expérimentales, tout en maintenant un niveau élevé de la qualité des données recueillies. De plus, il est souvent souhaitable de pouvoir effectuer ces mesures rapidement, et si possible sur le site où l'échantillon à analyser est recueilli. Toutes ces caractéristiques bénéfiques des méthodes analytiques peuvent être obtenues, dans certains cas, à travers la miniaturisation. L'intérêt pour la miniaturisation a mené à une croissance rapide des systèmes microfluidiques, un domaine d'études qui se concentre sur l'utilisation de petits volumes de liquide et des systèmes de détection spécialement adaptés à ces volumes réduits. Tout système microfluidique doit intégrer une méthode de transfert des liquides à travers différentes étapes de traitements chimiques ou physiques. Une méthode de pompage particulièrement intéressante utilise la force centrifuge, ce qui permet d'éliminer l'utilisation de pompes ou connections externes au système où s'effectue l'analyse chimique. Jusqu'à présent, les systèmes employant la force centrifuge ont été limités par le nombre d'étapes analytiques consécutives, le liquide ne pouvant se déplacer que dans une seule direction définie par la force centrifuge appliquée.Pour cette thèse, plusieurs techniques de manipulation des liquides sur un système microfluidique à base de force centrifuge ont été dévelopées et caractérisées. Ces techniques ont été utilisées pour miniaturiser les méthodes analytiques classiques pour ensuite les intégrer à des plateformes microfluidiques à base de force centrifuge, l'objectif final étant la surveillance d'espèces chimiques dans l'environnement. Une technique de pompage par déplacement de deux phases liquides et une technique de pompage pneumatique à base de force centrifuge sont démontrées. La technique pneumatique à base de force centrifuge qui a été développée augmente de façon significative les capacités de la boîte à outils des systèmes microfluidiques à base de force centrifuge. Ce nouveau système permet d'effectuer simultanément des opérations essentielles dans les systèmes microfluidiques telles que le transfert de liquides sans valves, les dosages, la commutation du débit des liquides, les micromélanges par agitation ainsi que la recirculation des liquides. Cette technique se base sur l'application sans contact d'une pression pneumatique en utilisant de l'air comprimé sur un système microfluidique à base de force centrifuge en rotation constante. Ceci permet un contrôle complet du débit des liquides en combinant les effets de la pression pneumatique et de la force centrifuge. Le processus de fabrication de ce nouveau système est grandement simplifié par l'ajout du système pneumatique car cela diminue le nombre de valves à intégrer dans le système. De plus, son efficacité est accrue grâce à la possibilité d'effectuer des analyses de façon automatisée. Cette approche pneumatique a été appliquée à des mesures spectrophotométriques par la méthode des additions connues effectuées directement sur le disque. Dans le même ordre d'idées, un autre système employant la fonction pneumatique a été développé pour effectuer des extractions liquide-liquide entre une phase liquide et une phase organique. Ceci a démontré que la plateforme centrifuge est capable non seulement d'effectuer des réactions chimiques complexes en plusieurs étapes, mais aussi de répéter les cycles de réactions et autres processus.

In questa tesi si mostra come un motore a induzione di tipo doubly fed (DFIM) possa assolvere contemporaneamente le funzioni di motore e di trasmissione di potenza In particolare questa peculiarità è particolarmente utile laddove sia necessario alimentare dei dispositivi elettrici a bordo di una macchina automatica a giostra, normalmente alimentati tramite contatti striscianti: da quest’ultimi infatti spesso derivano innumerevoli problematiche di usura e sicurezza. In particolare, in questa tesi verrà trattato un azionamento pentafase: tale scelta è stata dettata dalla possibilità di disaccoppiare la trasmissione di potenza elettrica e quella meccanica. Data la particolarità di tale macchina una lunga sezione è dedicata alla sua descrizione. Si presentano tre diverse metodologie di funzionamento e controllo della macchina doubly fed: in particolare le prime due, che si avvalgono di modulazioni di coppia o di potenza, potrebbero essere implementate anche su un motore trifase qualora risultasse conveniente; al contrario l’ultimo controllo proposto, che si fonda sull’utilizzo indipendente delle frequenze di statore, è applicabile solo a un DFIM pentafase. Dai risultati ottenuti in simulazione, ma comprendenti moltissimi gradi di realismo, appare evidente come quest’ultimo dia i risultati migliori e sfrutti al meglio la macchina pentafase.

Manufacturing industry works on Overall Equipment Effectiveness (OEE) to increase the yield and speed of machining. A good knowledge of the machine properties is important to increase the speed while still maintaining stable cutting with low tool usage.To make models of the machine is therefore important and in machining a common way to extract the dynamic properties is frequency response measurement. One way is to use an impact hammer to excite the machine tool and measure the response. The problem is that a hammer can only be used on a non running machine. At Manufacturing and Metrology Systems division at KTH (MMS) a test method for contactless excitation has been developed that uses electromagnets to excite the machine tool. By using contactless testing it can be used on rotating machine tools without real cutting in materials. In this thesis a new test system for the contact less testing method has been designed and constructed to test if it is possible to do test on a bigger variety of rotating cutting machine tools. The results for the prototype is presented and evaluated.
Dagens tillverkningsindustri arbetar för att utrsutningens totala effiktivitet ska höjas genomatt öka hastigheten och minska material- och verktygsanvändningen vid bearbetningen utan att minska kvalitén på slutprodukten. För att öka hastigheten krävs en god kännedom om maskinens egenskaper för att maskinen ska arbeta under stabila förhållanden där också verktygets slitage minskas. Att ta fram modeller över maskinen är därför viktigt och inom skärande bearbetning är frekvensresponsmätning ett sätt att få ut de dynamiska egenskaperna av det skärandeverktyget. En vanlig testmetod är att med en hammare exitera verktyget och mäta responsen. Problemet är dock att hammaren bara kan mäta vid stillastående maskin. Vid MMS har en testmetod för kontaktlös exitering tagits fram där elektromagneter användsför exiteringen. På så sätt kan testet utföras på roterande verktyg utan att man behöver förbruka material. I detta arbete har ett nytt testsystem för denna testmetod designats och konstruerats för att testa om det är möjligt med testning på flera storlekar på maskiner för skärandebearbetning. Resultaten för prototypen presenteras och utvärderas.

This thesis attempts with the design of a device for contactless control of the computer presentation. In the first part there are theoretically described the methods of contactless computer control. The second part is focused on the description of different types of sensors and also the key elements for this thesis – the development board TinyPICO ESP32 and sensor BNO055. Finally, in the third part there is described the design of the device and gestures.

Les techniques de diagnostic actuellement utilisées en endoscopie digestive ne permettentpas une observation complète et précise de l’intestin grêle. Les capsules endoscopiquestentent de répondre à cette problématique, mais le médecin n’a aucune maîtrise de leurdéplacement une fois qu’elles sont avalées par les patients. Dans ce contexte, les travauxdéveloppés dans cette thèse portent sur l’utilisation des champs magnétiques afin demanipuler un objet (comme une capsule) sans contact sur un large espace de travail. Pourcela, nous étudions les systèmes de manipulation magnétique à électroaimants mobiles.Nous étudions dans un premier temps la manière de modéliser le champ magnétiquecréé par un électroaimant. Nous développons un modèle hybride (analytique recalé surdes mesures) prenant en compte le noyau ferromagnétique des électroaimants. Dans unsecond temps, nous nous intéressons à un système générique de manipulation magnétique,composé de n électroaimants pouvant se déplacer dans tout l’espace. Nous développons unmodèle de ce système, en intégrant les mobilités de chacun des électroaimants. Ce modèleest ensuite linéarisé, ce qui nous permet d’introduire une commande linéarisante. Cettecommande permet une gestion indépendante du déplacement de chacun des électroaimants,ainsi que du courant qui les traverse. Enfin, les développement théoriques sont testés ensimulation et sur un dispositif expérimental
Diagnostic techniques currently used in gastrointestinal endoscopy do not allow a completeand accurate observation of the small bowel. Endoscopic capsules were designed to solvethis problem, but the doctor cannot control their movement once they are swallowed bypatients. In that context, the work developed in this thesis focuses on the use of magneticfields to manipulate an object (such as a capsule) without contact, on a large workspace.For this, we study magnetic systems with mobile electromagnets. We study first how tomodel the magnetic field created by an electromagnet. We develop an analytical modeltaking into account the ferromagnetic core of electromagnets. Then, we study a genericsystem composed of n electromagnets which can move throughout space. We develop amodel of the system, integrating the mobility of each of the electromagnets. This modelis then linearized, allowing us to introduce a linearizing control. This command allowsindependent management of the movement of each of the electromagnets, and the currentflowing in it. Finally, the model and the command are tested in simulation and on anexperimental device.Keywords: Magnetism

Comprehensive knowledge and information about the static and dynamic behaviour of machine tools, cutting processes and their interaction is essential for machining system design, simulation, control and robust operation in safe conditions. The very complex system of a machine tool, fixture and cutting tools during the machining of a part is almost impossible to model analytically with sufficient accuracy. In combination with increasing demands for precision and efficiency in machining call for new control strategies for machining systems. These strategies need to be based on the identification of the static and dynamic stability under both the operational and off-operational conditions. To achieve this it is necessary to monitor and analyze the real system at the factory floor in full production. Design information and operational data can then be linked together to make a realistic digital model of a given machining system. Information from such a model can then be used as input in machining simulation software to find the root causes of instability. The work presented in this thesis deals with the static and dynamic capability of machining systems. The main focus is on the operational stability of the machining system and structural behaviour of only the machine tool, as well. When the accuracy of a machining system is measured by traditional techniques, effects from neither the static stiffness nor the cutting process are taken into account. This limits the applicability of these techniques for realistic evaluation of a machining system’s accuracy. The research presented in this thesis takes a different approach by introducing the concept of operational dynamic parameters. The concept of operational dynamic parameters entails an interaction between the structural elements of the machining systems and the process parameters. According to this concept, the absolute criterion of damping is used to evaluate the dynamic behaviour of a machining system. In contrast to the traditional theory, this methodology allows to determine the machining system's dynamic stability, in real time under operating conditions. This framework also includes an evaluation of the static deformations of a machine tool.  In this context, a novel concept of elastically linked system is introduced to account for the representation of the cutting force trough an elastic link that closes the force loop. In addition to the elastic link which behaves as a static element, a dynamic non-contact link has been introduced. The purpose is to study the non-linear effects introduced by variations of contact conditions in joints due to rotational speed.
QC 20111123

A presente dissertação trata da implementação, em um equipamento de eletroforese capilar (CE) com detecção condutométrica sem contato (C4D), de um sistema de controle externo do fluxo eletrosmótico (EOF) via tensão radial externa (Vrad). Através do potencial externo, aplicado diretamente ao capilar, é possível ter o controle do fluxo eletrosmótico de CE, pois, de forma simplificada, esta prática acopla vetorialmente um potencial externo aplicado com o potencial através da solução tampão dentro do capilar. O emprego da técnica possibilitou o aumento de resolução de 2 aminoácidos - Leucina e Isoleucina, cujas mobilidades diferem apenas de 0,12 cm2.V-1.s-1 entre si, em ácido acético 500 mmol.L-1 com pH = 2,55. A estratégia empregada aqui foi a que denominamos de \"coluna capilar infinita\", na qual, com as sucessivas inversões na direção do EOF, conseguimos aprisionar, dentro da coluna capilar, espécies com mobilidade eletroforética menor que a mobilidade do EOF. A literatura descreve que a inversão do EOF se torna mais difícil com o aumento do pH. Foram realizados testes em eletrólitos contendo agentes inversores de fluxo como o CTAB, o CaCl2 e o BaCl2. Ambos os aditivos foram usados em concentrações muito baixas, nas quais foi mantida a direção normal do EOF, sendo que a utilizaçãode tais agentes teve a finalidade apenas de reduzir os grupos silanolatos em soluções de pH acima de 6,0. Tal estratégia proporcionou a reversão do EOF no sistema tampão MES/HIS, cujo pH estava em torno de 6,1. Por fim, a pesquisa gerou uma perspectiva interessante que é a possibilidade de se encontrar combinações de eletrólitos de corrida e surfactantes com o intuito de se estender a faixa de alcance do Vrad para valores altos de pH.
This work presents the implementation, in an equipment for capillary electrophoresis (CE) with contactless conductivity detection (C4D), of a system for external control of the electroosmotic flow (EOF) via external radial voltage (Vrad). Through external potential, directly applied to the capillary, the electroosmotic flow can be controlled, because this practice couples the applied external potential to the zeta potential through the buffer solution within the capillary. The use of the technique allowed the baseline resolution of two amino acids (Leucine and Isoleucine), whose mobilities differ only by 0,12 cm2.V-1.s-1, using acetic acid 500 mmol.L-1 at pH = 2,55 as the running electrolyte. The approach, called \"infinite capillary column\", consists in successive reversals in the direction of the EOF, trapping species within the capillary column with electrophoretic mobility smaller than the EOF mobility. Thus, the two amino acids were retained by a period of approximately 120 minutes in the capillary that was enough to promote the baseline resolution. Previous works describe that the reversion of the EOF becoming more difficult as pH increases. In order to achieve a more effective control of EOF at high pH values (limiting the technique to a narrow performance band), tests were carried out in electrolytes containing flow reversing agents such as CTAB, CaCI2 and BaCI2. These additives were used at very low concentrations, which kept the normal direction of EOF, and the use of such agents had only the purpuse of reducing the density of silanolate groups in solutions of pH above 6,0. This approach allowed the reversion of the EOF using MES/HIS buffer, which pH was 6,1. Finally, this research has generated an interesting perspective about the possibility of finding combinations of electrolytes and surfactants aiming the Vrad range´s extension at high pH values.

Ce mémoire décrit la conception, la modélisation et la commande d’un manipulateur pneumatique,fondé sur un principe de traction aérodynamique original. De puissants jets d’air verticauxpermettent de créer un flux d’air horizontal pour manipuler des objets sans contact. Les objetssont maintenus en constante lévitation sur la surface grâce à un coussin d’air, et peuvent positionnés selon trois degrés de libert´ du plan, grâce à la combinaison adéquate et distribuéede jets d’air verticaux. Nous détaillons la conception d’un prototype original de manipulateurexploitant ce principe fluidique. Ce prototype a été intégré dans une plate-forme expérimentaleafin de valider le principe de manipulation : le système permet de déplacer des objets à unevitesse atteignant 180 mm/s. Nous avons modélisé le fonctionnement de la surface selon plusieursméthodes. Un premier modèle comportemental, fond´e sur des données expérimentales, aété établi. Il permet de simuler l’´evolution de la position d’un objet sur la surface, selon un degréde liberté . Deux modèles de connaissance, fond´es sur une étude aérodynamique fondamentale,donnent l’´evolution de la position de l’objet selon respectivement deux et trois degrés de libertédu plan. Chacun des modèles a été validé expérimentalement. Nous avons synthétisé différentscontrˆoleurs afin d’asservir la position de l’objet : un premier, de type PID, et un second, de typerobuste (méthode H1). La commande de un, puis deux degrés de liberté du système, a permisd’atteindre de bonnes performances : temps de réponse d’environ 2 s et dépassement souventinférieur à 5%. Nous avons également étudié un micro-manipulateur pneumatique permettant ded´eplacer des objets de taille millimétrique selon deux directions, grâce à des jets d’air inclinés.Ces objets peuvent atteindre des vitesses de 123 mm/s. La résolution du positionnement estinférieure à 0.4 μm
This thesis presents the design, the modeling and the control of a pneumatic manipulatorbased on an original aerodynamic traction principle. An horizontal air flow is induced by strongvertical air jets in order to manipulate objects without contact. The objects are maintained inconstant levitation on an air cushion. Three degrees of freedom positioning of the objects canbe realized thanks to the right combination of distributed air jets. The design of an originalmanipulator using this aerodynamic principle is detailed. The device has been integrated in anexperimental setup in order to validate the manipulation principle : objects can reach velocityof 180 mm/s. Several models of the system have been established. A first model, based on experimentaldata, gives the evolution of the 1 DOF-position of an object on the device. Twoother models, based on a fundamental aerodynamic study, respectively give the evolution of the2- and 3-DOF position of the objet. The three models have been validated experimentally. Inorder to control the position of the object, different controllers have been designed : a PID oneand a robust H1 one. The control of one and two degrees of freedom of the device gives goodperformances : settling time of around 2 s and overshoot less than 5% in most of the cases. Wehave also studied a micro-manipulator that is able to position millimetric sized objects, in twodirections, thanks to inclined air jets. Objects can reach velocity of 123 mm/s, and the resolutionof the positioning is less than 0.4 μm

The aim of the thesis is to design a special purpose tool for sag measurement. Three possible solutions are proposed, for each the production cycle time is calculated and its approximate costs are estimated. The best solution in terms of a trade-off between both key quantities is suggested. Next part of the work deals with the selection of suitable drives for the manipulator as well as of the other components for the whole electrical device. Finally, a possible automated control of the complete machinery, including the electrical wiring diagram, is presented.

In questo elaborato viene proposta un’analisi dettagliata riguardante i diversi stadi che compongono un convertitore di tensione di tipo LLC risonante. Lo scopo di tale analisi, e obiettivo principale della tesi, è la progettazione di un sistema di controllo, per attuare la regolazione della tensione di uscita. Una strategia innovativa è utilizzata per ricostruirne il valore istante per istante, consentendo l’isolamento galvanico tra sorgente e carico. Il procedimento è illustrato schematicamente nei primi capitolo, mentre l’ultimo capitolo è dedicato all’esposizione dei risultati sperimentali, ottenuti presso il dipartimento di Ingegneria dell’Energia Elettrica e dell’Informazione dell’Alma Mater Studiorum di Bologna.

Dans différents domaines industriels, la problématique du diagnostic prend une place importante. Ainsi, le contrôle d’aspect des composants optiques est une étape incontournable pour garantir leurs performances opérationnelles. La méthode conventionnelle de contrôle par un opérateur humain souffre de limitations importantes qui deviennent insurmontables pour certaines optiques hautes performances. Dans ce contexte, cette thèse traite de la conception d’un système automatique capable d’assurer le contrôle d’aspect. Premièrement, une étude des capteurs pouvant être mis en oeuvre par ce système est menée. Afin de satisfaire à des contraintes de temps de contrôle, la solution proposée utilise deux capteurs travaillant à des échelles différentes. Un de ces capteurs est basé sur la microscopie Nomarski ; nous présentons ce capteur ainsi qu’un ensemble de méthodes de traitement de l’image qui permettent, à partir des données fournies par celui-ci, de détecter les défauts et de déterminer la rugosité, de manière robuste et répétable. L’élaboration d’un prototype opérationnel, capable de contrôler des pièces optiques de taille limitée valide ces différentes techniques. Par ailleurs, le diagnostic des composants optiques nécessite une phase de classification. En effet, si les défauts permanents sont détectés, il en est de même pour de nombreux « faux » défauts (poussières, traces de nettoyage. . . ). Ce problème complexe est traité par un réseau de neurones artificiels de type MLP tirant partie d’une description invariante des défauts. Cette description, issue de la transformée de Fourier-Mellin est d’une dimension élevée qui peut poser des problèmes liés au « fléau de la dimension ». Afin de limiter ces effets néfastes, différentes techniques de réduction de dimension (Self Organizing Map, Curvilinear Component Analysis et Curvilinear Distance Analysis) sont étudiées. On montre d’une part que les techniques CCA et CDA sont plus performantes que SOM en termes de qualité de projection, et d’autre part qu’elles permettent d’utiliser des classifieurs de taille plus modeste, à performances égales. Enfin, un réseau de neurones modulaire utilisant des modèles locaux est proposé. Nous développons une nouvelle approche de décomposition des problèmes de classification, fondée sur le concept de dimension intrinsèque. Les groupes de données de dimensionnalité homogène obtenus ont un sens physique et permettent de réduire considérablement la phase d’apprentissage du classifieur tout en améliorant ses performances en généralisation
In various industrial fields, the problem of diagnosis is of great interest. For example, the check of surface imperfections on an optical device is necessary to guarantee its operational performances. The conventional control method, based on human expert visual inspection, suffers from limitations, which become critical for some high-performances components. In this context, this thesis deals with the design of an automatic system, able to carry out the diagnosis of appearance flaws. To fulfil the time constraints, the suggested solution uses two sensors working on different scales. We present one of them based on Normarski microscopy, and the image processing methods which allow, starting from issued data, to detect the defects and to determine roughness in a reliable way. The development of an operational prototype, able to check small optical components, validates the proposed techniques. The final diagnosis also requires a classification phase. Indeed, if the permanent defects are detected, many “false” defects (dust, cleaning marks. . . ) are emphasized as well. This complex problem is solved by a MLP Artificial Neural Network using an invariant description of the defects. This representation, resulting from the Fourier-Mellin transform, is a high dimensional vector, what implies some problems linked to the “curse of dimensionality”. In order to limit these harmful effects, various dimensionality reduction techniques (Self Organizing Map, Curvilinear Component Analysis and Curvilinear Distance Analysis) are investigated. On one hand we show that CCA and CDA are more powerful than SOM in terms of projection quality. On the other hand, these methods allow using more simple classifiers with equal performances. Finally, a modular neural network, which exploits local models, is developed. We proposed a new classification problems decomposition scheme, based on the intrinsic dimension concept. The obtained data clusters of homogeneous dimensionality have a physical meaning and permit to reduce significantly the training phase of the classifier, while improving its generalization performances

碩士
國立中央大學
電機工程學系在職專班
102
A digital signal processor (DSP)-based TSK-type probabilistic fuzzy neural network with asymmetric membership function (TSKPFNN-AMF) is proposed in this study to control a contactless battery charger. The half-bridge series resonant converter (SRC) is employed in the power stage while the designed charger adopts constant-current and constant-voltage (CC-CV) charging strategy to charge a Li-Mn battery pack. In order to improve the inferior electromagnetic induction and efficiency of the U-shape ferrite core transformer, the U-shape ferrite core transformer is replaced by the circular pad couplers. As a result, the air gap distance of two circular pads can reach 20mm and the efficiency is 80% at the rated output power. Moreover, to improve the transient of voltage regulation during load variation and the tracking of current command change, a TSKPFNN-AMF controller is proposed to replace the traditional proportional-integral (PI) controller. The proposed TSKPFNN-AMF is incorporated into the CC-CV charging strategy in order to overcome the current ripple that comes after the transition from CC to CV charging. The network structure and the online learning algorithms of the TSKPFNN-AMF controller are introduced in detail. Furthermore, the control performances of the proposed TSKPFNN-AMF control system for CC-CV charging are evaluated by some experimental results.

碩士
國立彰化師範大學
電機工程學系
101
With the industry development, the application of water heating is progressed from firewood to natural gas and electricity as heating sources. Because of the feature of fast heating and high efficiency, electronic heater is widely utilized in household to improve the living convenience. However, the temperature of tankless water heater cannot be changed with minor adjustment, which has been compensated by digital thermostat water heater in literature. Also, traditional metal contacting, utilized to control the signal of temperature, might cause electric leakage and rusted metal. Therefore, a sensor control module is proposed in this study to avoid above shortages and reach the purpose of contactless control through ultrared ray sensor. The system of sensor control module for instaneous water heater is to control water temperature without touching the water heater. In the system, a microprocessor control unit is utilized to control the relay and then adjust the heating condition of contactless sensor. The experiment applies reflective sensor of ultrared rays to be the temperature controller with an operating frequency between 2 kHz to 5 kHz. The signal is evaluated as effective while the sensing period is more than 30 ms. The result proves the proposed system achieves the function of contactless temperature control and the advantage of maintenance-free to extend product life.

碩士
大葉大學
電機工程學系
102
The goal of this thesis is to develope a kind of contactless way in order to control sustainable energy device power system. The implemented system can match most sustainable energy, such as solar energy or wind power. The system called as PWM(Pulse Width Modulation) control system which can automatically switch to the best way to control sustainable energy power system and fit in some other devices charging with green energy too. Because single chip is highly customized and it also can transfer power instantly to drive device up, like charge a smartphone with a current driver circiut. With the control system, traditional sustainable energy deivces can in work longer lifetime and much stable. Through adjustable wireless protocols, bluetooth, PWM, low-power multi-purpose regulator circuit and instant feedback display, can optimize most sustainable energy devices. The control system is built up by a 8051 single chip microcontroller as the integration of the control core of a circuit, voltage feedback monitor at the same time.

碩士
國立中興大學
電機工程學系所
103
Implementation of a novel multifunctional contactless sensor based on the giant magneto resistance (GMR) effect combined with a bidirectional charging and discharging system positioning control scheme for parking lot’s vehicles is proposed. Traditional Hall effect sensors detect magnetic flux changes, however, if the changes are not significant enough to induce interference voltage level there will be leading to error judgment. On the other hand, a GMR sensor may detect tiny changes in the magnetic field which will produce a larger change in resistance; this resistance is less susceptible to external noise influence while producing a relatively stable output signal level. As a novel application, our research combines the GMR sensor, a flexible magnetic stripe, a microprocessor and a bidirectional charging and discharging system to fulfill a positioning control system for the parking lot’s vehicles. Real-world experiments are conducted to verify the proposed approach.

碩士
國立中興大學
電機工程學系所
104
Implementation of a novel multifunctional contactless sensor based on the giant magneto resistance (GMR) effect combined with a bidirectional charging and discharging system positioning control scheme for parking lot’s vehicles is proposed. Traditional Hall effect sensors detect magnetic flux changes, however, if the changes are not significant enough to induce interference voltage level there will be leading to error judgment. On the other hand, a GMR sensor may detect tiny changes in the magnetic field which will produce a larger change in resistance; this resistance is less susceptible to external noise’s influence while producing a relatively stable output signal level. As a novel application, our research combines the GMR sensor,a flexible magnetic stripe,a microprocessor and a bidirectional charging and discharging system to fulfill a positioning control system for the parking lot’s vehicles.Real-world experiments are conducted to verify the proposed approach.

碩士
國立彰化師範大學
電機工程學系
98
Contactless power transmission (CPT) has been widely applied in recent year. One common methodology of contactless power transmission control is to add the converter in primary or secondary side of contactless transformer and capitalize the load voltage and current feedback signal to control the converter power switches to adjust the output power with PWM. Nonetheless, this method is less suitable for the occasion where feedback circuit cannot be placed in the secondary side, such as human body, small electronic products, batteries and other equipment. Hence, this study presents a contactless power transmission system with the characteristics of constant current output, in which the output current of secondary side can be controlled by the feedback circuit of primary side to reach the purpose of supplying the load by constant current. The PIC30F6010 is selected as core controller in the system and structured by half bridge inverter with compensation circuit of primary and secondary series compensation. The Pspice circuit simulation software is used for analyzing and verifying the feasibility of circuit. The experimental result shows when resistance is from 20 Ω~30 Ω, the ouput current has better range of linear control. With the proposed method of feedback control in primary side, the result shows 75.9 % of overall efficiency while the air gap is 5mm, the output power is 15.5 W.