Journal articles on the topic 'Mechatronics – Mathematical models'
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1
Precup, Radu-Emil, and Stefan Preitl. "Control solutions in mechatronics systems." Facta universitatis - series: Electronics and Energetics 18, no. 3 (2005): 379–94. http://dx.doi.org/10.2298/fuee0503379p.
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This paper presents control solutions dedicated to a class of controlled plants widely used in mechatronics systems, characterized by simplified mathematical models of second-order and third-order plus integral type. The conventional control solution is focused on the Extended Symmetrical Optimum method proposed by the authors in 1996. There are proposed six fuzzy control solutions employing PI-fuzzy controllers. These solutions are based on the approximate equivalence in certain conditions between fuzzy control systems and linear ones, on the application of the modal equivalence principle, and on the transfer of results from the continuous-time conventional solution to the fuzzy solutions via a discrete-time expression of the controller where Prof. Milic R. Stojic's book [1] is used. There is performed the sensitivity analysis of the fuzzy control systems with respect to the parametric variations of the controlled plant, which enables the development of the fuzzy controllers. In addition, the paper presents aspects concerning Iterative Feedback Tuning and Iterative Learning Control in the framework of fuzzy control systems. The theoretical results are validated by considering a real-world application.
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Tarnowski, Wojciech. "Present-day Problems and Methods of Optimization in Mechatronics." Acta Mechanica et Automatica 11, no. 2 (June 1, 2017): 154–65. http://dx.doi.org/10.1515/ama-2017-0024.
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Abstract It is justified that design is an inverse problem, and the optimization is a paradigm. Classes of design problems are proposed and typical obstacles are recognized. Peculiarities of the mechatronic designing are specified as a proof of a particle importance of optimization in the mechatronic design. Two main obstacles of optimization are discussed: a complexity of mathematical models and an uncertainty of the value system, in concrete case. Then a set of non-standard approaches and methods are presented and discussed, illustrated by examples: a fuzzy description, a constraint-based iterative optimization, AHP ranking method and a few MADM functions in Matlab.
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Vekteris, Vladas. "The Use of Mechatronics for the Improvement of Grinding Accuracy." Solid State Phenomena 113 (June 2006): 137–42. http://dx.doi.org/10.4028/www.scientific.net/ssp.113.137.
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Various aspects of the improvement of the functioning of grinding accuracy are considered. Active methods of the control of grinding systems are proposed to ensure the quality required for finishing. It is pointed out that the quality of finishing is closely connected with the mutual position of the tool and the work piece in the grinding process. This position is appreciated by permissible state areas of the axis of the tool and the work piece. Analytical expression of this interaction is described by non-traditional mathematical model’s dependences. Mathematical models presented evaluate eccentricity between the tool and the work piece or between other elements of the system and enable one to better understand the appearance of the second and higher harmonics on the work piece processed or on the tool. They allow one to simulate the finishing not only of the cylindrical, but also of non-round profile work pieces, such as cams, eccentrics, etc. The mathematical dependences worked out allow one to build various modifications of the grinding systems and to evaluate the quality of their functioning. A circuit for the active control of the tool position is proposed, with the goal of quality improvement of finishing. For this purpose the usage of the adaptive spindle with tilting-pad journal bearings is suggested.
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Olejnik, Paweł, and Jan Awrejcewicz. "Intelligent Mechatronics in the Measurement, Identification, and Control of Water Level Systems: A Review and Experiment." Machines 10, no. 10 (October 20, 2022): 960. http://dx.doi.org/10.3390/machines10100960.
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In this paper, a unique overview of intelligent machines and mathematical methods designed and developed to measure and to control the water level in industrial or laboratory setups of coupled and cascaded configurations of tanks is made. A systematized and concise overview is made of the mechatronic systems used in the measurement, identification, and control of the water level enumerates, the software used in the associated scientific research, modern techniques and sensors, and mathematical models, as well as analysis and control strategies. The broad overview of applications of the last decade is finalized by a proposition of a control system that is based on a parameter estimation of a new experimental setup, an integral dynamic model of the system, a modern mechatronic machine such as the Watson-Marlow peristaltic pump, the Anderson Negele sensor of level, the NI cRIO-9074 controller, and LabVIEW virtual instrumentation. The results of real experimental tests, exploiting a hybrid proportional control, being improved by a numerically predicted water level, are obtained using a few tools, i.e., the static characteristics, the classical step response, and a new pyramid-shaped step function of a discontinuous path-following reference input, being introduced to evaluate the effectiveness and robustness of the regulation of the level height.
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Eliseev, S. V., A. S. Mironov, and Quang Truc Vuong. "Dynamic damping under introduction of additional couplings and external actions." Vestnik of Don State Technical University 19, no. 1 (April 1, 2019): 38–44. http://dx.doi.org/10.23947/1992-5980-2019-19-1-38-44.
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Introduction.The dynamic interaction features in mechanical oscillating systems, whose structure includes additional couplings, are considered. In practice, such cases occur when using various optional mechanisms and motion translation devices under the formation of technical objects. The study objective is to develop a method for constructing mathematical models in the problems of dynamics of the mechanical oscillating systems with optional devices and features in the system of external disturbing factors.Materials and Methods. The techniques used to study properties of the systems and the dynamic effects are based on the ideas of structural mathematical modeling. It is believed that the mechanical oscillating system, considered as a design model of a technical object, can be compared to the dynamically equivalent automatic control system. The mathematical apparatus of the automatic control theory is used.Research Results.A method for constructing mathematical models is developed. The essential analytical relations for plotting oscillating systems are obtained, which enable to form a methodological basis for the integral estimation and comparative analysis of the initial system properties in various dynamic states. Dynamic properties of the two-degree-offreedom systems within the framework of the computer simulation are investigated. The implementability of dynamic oscillation damping mode simultaneously in two coordinates with the joint action of two in-phase kinematic perturbations in the mechanical oscillating systems is shown.Discussion and Conclusions.The possibilities of new dynamic effects, which are associated with the change in the system structure under certain forms of dynamic interactions, are noted. The study is of interest to experts in machine dynamics, robotics, mechatronics, nano and mesomechanics.
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Redlarski, Grzegorz, Janusz Piechocki, and Mariusz Dąbkowski. "Mathematical Models of Control Systems of Angular Speed of Steam Turbines for Diagnostic Tests of Automatic and Mechatronic Devices." Solid State Phenomena 198 (March 2013): 519–24. http://dx.doi.org/10.4028/www.scientific.net/ssp.198.519.
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In many automatics and mechatronics systems accurate modeling of several physical processes is needed. In power system, one of these is the process of control of angular velocity of power blocks during their connection to parallel operation. This process is extremely dynamic and the response of control system results from continuous changes in many physical parameters (temperature, pressure and flow of the working medium, etc.). An accuracy of modeling this process influences int. al. on: quality of the automatic synchronizer diagnostic tests in the laboratory, as well as the possibility of evaluation of prospects for connection process in the power system, without the automatic synchronizer [. Automatics systems used for research and diagnosis of automatic synchronizers are known in the literature as and simulators [2, . To impose similar to real working conditions, it is required to implement an appropriate models of control systems. One of such models, representative for the larger population of objects, is model of control systems of angular velocity. Currently used models, e.g. [3, 4, 5, , allow to approximate the response of real object, or to impose higher restricted conditions of work, for example: related to the angular acceleration dω/dt, the size of overshoots and decay time of transitional characteristics, while accurate modeling the real working conditions using them is not possible. Furthermore, their use requires knowledge of the (often difficult to access) object parameters and time-consuming selection of manual procedure of certain substitute settings, occurring in these models. To eliminate inconveniences mentioned above, in the paper the proposal and mathematical modeling procedure is presented, which allow to obtain much more accurate transitional characteristics of real objects.
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Prechtl, J., J. Kunze, G. Moretti, D. Bruch, S. Seelecke, and G. Rizzello. "Modeling and experimental validation of thin, tightly rolled dielectric elastomer actuators." Smart Materials and Structures 31, no. 1 (November 19, 2021): 015008. http://dx.doi.org/10.1088/1361-665x/ac34be.
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Abstract Due to their large deformation, high energy density, and high compliance, dielectric elastomer actuators (DEAs) have found a number of applications in several areas of mechatronics and robotics. Among the many types of DEAs proposed in the literature, rolled DEAs (RDEAs) represent one of the most popular configurations. RDEAs can be effectively used as compact muscle-like actuators for soft robots, since they allow eliminating the need for external motors or compressors while providing at the same time a flexible and lightweight structure with self-sensing capabilities. To effectively design and control complex RDEA-driven systems and robots, accurate and numerically efficient mathematical models need to be developed. In this work, we propose a novel lumped-parameter model for silicone-based, thin and tightly rolled RDEAs. The model is grounded on a free-energy approach, and permits to describe the electro-mechanically coupled response of the transducer with a set of nonlinear ordinary differential equations. After deriving the constitutive relationships, the model is validated by means of an extensive experimental campaign, conducted on three RDEA specimens having different geometries. It is shown how the developed model permits to accurately predict the effects of several parameters (external load, applied voltage, actuator geometry) on the RDEA electro-mechanical response, while maintaining an overall simple mathematical structure.
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Irschik, Hans, Michael Krommer, and Kurt Schlacher. "Mechanics and Model Based Control." Advances in Science and Technology 83 (September 2012): 85–94. http://dx.doi.org/10.4028/www.scientific.net/ast.83.85.
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The present contribution gives an overview on own research that has been performed from 2008 to 2011 in Area 2, Mechanics and Model Based Control, of the COMET K2 Austrian Center of Competence in Mechatronics (ACCM), which is situated at the Science Park of the Johannes Kepler University of Linz. Area 2 is motivated by the fact that mechanics and control both are rapidly expanding scientific fields, which share demanding mathematical and/or system-theoretic formulations and methods. The goal of Area 2 has been to utilize and extend these relations, with special emphasis on solid mechanics and control methods based on physical models. Some corresponding results will be reviewed subsequently with respect to the mechanical modelling of structures, robots and machines, and with respect to the corresponding model based control as linear/non-linear lumped/distributed parameter systems. Due to limitations in space, the present review restricts itself to work of Area 2 that has been directly performed at the University of Linz. The review contains 118 references to works on mechanics and model based control.
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A S, Sharan, Somashekhar S. Hiremath, C. S. Venkatesha, and S. Karunanidhi. "Investigation on the critical parameters affecting the working design dynamics of a torque motor employed in an electro-hydraulic servovalve." SIMULATION 95, no. 1 (April 16, 2018): 31–49. http://dx.doi.org/10.1177/0037549718759187.
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The torque motor is an intricate assembly in electro-hydraulic technology and plays a crucial role in converting the electrical signal into controlled mechanical output signal. It involves many precise components, such as the feedback spring, armature and its coil, permanent magnet, feed pipe, flexure shaft, jetpipe, and flexure support. The components are embedded together as a single operating component. Each component contributes to the effective dynamics of the system. The present paper proposes a novel approach to investigate the effect of critical parameters on the working design dynamics of the torque motor employed in the jetpipe electro-hydraulic servovalve. Based on the principles of mechatronics, a mathematical model is developed. The model-based design approach is employed to investigate the dynamics of the system. The required simulation parameters of the critical and precision components were obtained from solid and finite element (FE) models. The solid and FE models of the critical and precision components were first analyzed with suitable boundary and loading conditions to establish the stiffness. To validate the obtained FE results, experiments were carried out with a specially designed and fabricated test set-up. Based on the basic principle of electromagnetics, a nonlinear FE model of torque motor is analyzed for magnetic field distribution, the torque developed, and armature and jetpipe deflection for varied input current. From the results obtained, good agreement was observed between FE, simulated, and experimental values. The present novel approach enables one to improve the working design dynamics of the torque motor.
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Dumitru, Nicolae, Anca Didu, and Petre Cristian Copilusi. "Mechatronic System for Locomotion Rehabilitation." Advanced Engineering Forum 27 (April 2018): 85–92. http://dx.doi.org/10.4028/www.scientific.net/aef.27.85.
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The purpose of this study is to develop computational mathematical models for virtual prototyping of an actuation system from an exoskeleton human knee joint. These models are a part of the virtual and experimental prototype of a mechatronic system for locomotion rehabilitation in case of disabled persons. Experimental tests were performed on a group of persons without locomotion deficiencies. The obtained database was used to develop geometrical kinematic synthesis of the exoskeleton actuation mechanisms for knee’s joint and also ankle.
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Kazakoff, Alexander Borisoff, Zdravka Todorova Tcherneva-Popova, and Parush Raikoff Parusheff. "Mechano mathematical models for mechatronic systems for vibration jaw crushing processes." Mechanism and Machine Theory 29, no. 8 (November 1994): 1167–78. http://dx.doi.org/10.1016/0094-114x(94)90007-8.
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Fradi, Mouna, Faïda Mhenni, Raoudha Gaha, Abdelfattah Mlika, and Jean-Yves Choley. "Conflict Resolution in Mechatronic Collaborative Design Using Category Theory." Applied Sciences 11, no. 10 (May 14, 2021): 4486. http://dx.doi.org/10.3390/app11104486.
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Due to the multitude of disciplines involved in mechatronic design, heterogeneous languages and expert models are used to describe the system from different domain-specific views. Despite their heterogeneity, these models are highly interrelated. As a consequence, conflicts among expert models are likely to occur. In order to ensure that these models are not contradictory, the necessity to detect and manage conflicts among the models arises. Detecting these inconsistencies at an early stage significantly reduces the amount of engineering activities re-execution. Therefore, to deal with this issue, a formal framework relying upon mathematical concepts is required. The mathematical theory, namely category theory (CT), is considered as an efficient tool to provide a formal and unifying framework supporting conflict detection and management. This paper proposes a comprehensive methodology that allows conflict detection and resolution in the context of mechatronic collaborative design. CT is used in order to explicitly capture the inconsistencies occurred between the disparate expert models. By means of this theory, the conflicts can be detected and handled in an easy and formal way. Our proposed approach is applied to a collaborative scenario concerning the electro-mechanical actuator (EMA) of the aileron.
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Dubovská, Rozmarína, Peter Kvasnica, and Igor Kvasnica. "Perspective of Parallel Simulation in Mechatronic Systems - Metal Cutting." Advanced Materials Research 705 (June 2013): 295–300. http://dx.doi.org/10.4028/www.scientific.net/amr.705.295.
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The method of simulation design at the computer systems is discussed. In the system identification theory of systems, modelling a program implementation is presented. The simulation of systems depends on definition of their mathematical models. The simulation method is rooted in the fact it is an experimental method comprising aspect like model calibration and data collection. These models are presented in a matrix form in a very good way. A matrix form is often employed to define tasks in the field of science and engineering.. The result of simulation of mathematical models of mechatronic devices, control and communication technology, control, climate changes and etc. can be created using parallel computer architecture. Advantages for users are presented by practical example of cutting process associated with the simulation of the observer.
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A.Ya, Krasinskiy, and Krasinskaya E.M. "Analysis of modern modeling methods in problems of stabilization of motions of mechatronic systems with differential constraints." International Journal of Engineering & Technology 7, no. 2.23 (April 20, 2018): 9. http://dx.doi.org/10.14419/ijet.v7i2.23.11873.
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The most important problem of controlling mechatronic systems is the development of methods for the fullest possible application of the properties of our own (without the application of controls) motions of the object for the optimal use of all available resources. The basis of this can be a non-linear mathematical model of the object, which allows to determine the degree of minimally necessary interference in the natural behavior of an object with the purpose of stable implementation of a given operating mode. The operating modes of the vast majority of modern mechatronic systems are realized due to the steady motions (equilibrium positions and stationary motions) of their mechanical components, and often these motions are constrained by connections of various kinds. The paper gives an analysis of methods for obtaining nonlinear mathematical models in stabilization problems of mechanical systems with differential holonomic and non-holonomic constraints.
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Telegin, Aleksandr I. "Analytical solution of the first problem of dynamics of manipulators with rotational joints." Bulletin of the South Ural State University. Ser. Computer Technologies, Automatic Control & Radioelectronics 22, no. 2 (April 2022): 41–57. http://dx.doi.org/10.14529/ctcr220204.
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The problem of complexity of derivation and the cumbersome analytical form of equations of mathematical models of controlled body systems with explicit structural, kinematic, static and dynamic parameters is solved. First of all, this applies to the equations of dynamics on which the control systems are based. Our practical experience and theoretical results indicate that solutions to this problem should be sought in two directions. Firstly, in the direction of classifying body systems and using peculiarities of the representatives of the considered classes of body systems in terms of simplifying formalisms for deriving their equations of dynamics, as well as reducing the number of mathematical operations in the analytical representation of the equations of dynamics. Second, and in the direction of choosing the parameters of the state of bodies in which the analytical scalar-coordinate types of the equations of dynamics are written down. In this connection, it should be noted that the vast majority (more than 90 %) of industrial robots, as well as special-purpose robots, have a single open branch structure in which the bodies form rotational kinematic pairs of the fifth class (rotational articulations) with each other. If in such systems the poles of the bodies are chosen on the axes of their relative rotation, the interpole distances will be constant, which greatly simplifies the solution of the above problem. Regarding the choice of state parameters explicitly included in the equations of dynamics, it should be noted that quasi-velocities, i.e. projections of absolute angular velocities of bodies on the axes of their coupled coordinate systems, are the most suitable for these purposes. The point is that in the equations of kinematics, which close the equations of dynamics to a complete set of equations for solving a problem, one can always express quasi-velocities through any other parameters, for example, relative angles of rotation of bodies and their time derivatives, guiding cosines and their derivatives, quaternions, etc. If projections of absolute angular velocities of bodies on their axes are measured, for example, by gyroscopes on bodies, and the first problem of dynamics is solved, the solution formulas contain a minimum number of addition and multiplication operations. Thus, the goal of the study is to develop a simple method for deriving the analytical form of the equations of dynamics of manipulators with rotational joints in quasi-velocity, in which geometric, kinematic, static and inertial parameters of bo¬dies are explicitly expressed. The used research methods (vector and analytical mechanics of body systems, vector algebra, system analysis and methods of identity transformations) made it possible to reduce the derivation of the equations of dynamics of manipulators to formal actions of writing them out without performing complex mathematical operations of differentiation, magnification, calculation of vector operations, etc. The results of the study contain a proof of the general vector form of the equations of dynamics of manipulators in quasi-velocity with explicitly expressed interpole distances and parameters of mass distribution of bodies. Scalar-coordinate formulas and their simple special formulas for the case of parallel rotation axes of neighboring joints are derived for writing out the moments of driving forces in joints. As a special case, the formulas for writing out the equations of dynamics of manipulators on the plane were obtained. For them, the process of writing out the equations of dynamics is reduced to the specification of the number of bodies, their geometric and inertial parameters. Conclusion. The effectiveness of the outlined methods and the obtained formulas have been demonstrated by examples of deriving the equations of dynamics of a body with a single fixed point, a gyroscope in a gimbal, and an angular manipulator with three and six degrees of freedom in space. These results allow us to expect that the number of users of the proposed methods will grow. The positive experience of using these methods in the educational process in the disciplines “Fundamentals of Mechanics of Body Systems”, “Electromechanical Systems” and “Mechatronics” justifies our expectations.
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Molodtsov, Vladimir, János Takács, Zoltán Párkányi, and Alexey Isaev. "Simulation Modelling and Parametric Synthesis of Metal Working Machine Tools Mechatronic Systems of Surface Generation." EPJ Web of Conferences 224 (2019): 05005. http://dx.doi.org/10.1051/epjconf/201922405005.
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This paper presents the principles of the designing metal working machine tools mechatronic systems of surface generation which are optimal from the point of view of reproducing given part profiles. It is shown that the degree of their optimality is determined by the proximity of their characteristics to the frequency characteristics of an ideal low-pass filter. Mathematical methods for building compact mathematical models of the drive hardware, adequately describing the inertial and elastic characteristics of the elements of its structure, is described. These models are convenient for simulating control loops of the machine tools feed drives. A method for the parametric synthesis of a two-mass mathematical model of a subordinate control system for a feed drive with an elastic-dissipative coupling between equivalent lumped masses which simulate a moving unit and rotating elements of the drive mechanism is proposed. The synthesis problem is reduced to solving a system of nonlinear equations. Examples to demonstrate the proposed methods and models capabilities are given.
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Calderón Ch., J. Alan, Julio Tafur, Benjamín Barriga, Jorge Alencastre, Gonzalo Solano, Rodrigo Urbizagástegui, John Lozano, and Marvin Chancán. "Optimal Plant Growth Through Thermo Mechatronic Analysis." Journal of Systemics, Cybernetics and Informatics 20, no. 4 (August 2022): 76–81. http://dx.doi.org/10.54808/jsci.20.04.76.
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This work is described as a proposal to apply modern control techniques and automation tools for optimal plant growth, also it was based on key agricultural strategies that were developed by ancient civilizations such as the Inca Empire. Many of them ancient techniques including the Inca engineering of andenes were forgotten or set aside through time. In this research, however, some of these key techniques are revisited to analyze and evaluate optimal plant growth using sensors and actuators that were not available in ancient civilizations. In addition, predictive and adaptive mathematical models are used for plant growth analysis of thermodynamic parameters such as temperature, humidity and potential of Hydrogen (pH). Furthermore, there were compared performances of sensors (electromechanical sensors) with designed sensors that were based in nanostructures, because of better study of the plant growth techniques.
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Małecki, Józef. "Model of Propeller for the Precision Control of Marine Vehicle." Solid State Phenomena 180 (November 2011): 323–30. http://dx.doi.org/10.4028/www.scientific.net/ssp.180.323.
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This paper describes mathematical models of propeller thrust and torque. The models are traditionally based on steady state thrust and torque characteristics. These characteristics usually are obtained in model towing tanks. Often experimental results are showed that these quasi steady state models do not accurately describe the transient phenomena in a thruster of the marine mechatronic system. Nowadays papers published in conference proceedings includes dynamic models usually was based on the experimental observations. Describing zero advance speed conditions accurately, this model however does not work for a marine vehicle at nonzero relative water speed. This paper derives a dynamic model of propeller that includes the effects of transients in the flow over a wide range of sea operation. The results of this trials are essential for accurate thrust control in precise control of marine vehicle.
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Malev, N. A., O. V. Pogoditsky, O. V. Kozelkov, and A. M. Dyuryagin. "Analysis dynamic characteristics brushless motor of the mechatronic system in conditions of parametric uncertaintyby computer simulation methods." Power engineering: research, equipment, technology 24, no. 3 (June 15, 2022): 158–74. http://dx.doi.org/10.30724/1998-9903-2022-24-3-158-174.
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THE PURPOSE. Currently, brushless motors – electric machines with permanent magnets on the rotor and a rotor position sensor controlled by a sinusoidal voltage from frequency converters, are widely used in mechatronic and robotic systems. The control algorithm is formed on the basis of information about the current values of the parameters brushless motor mechatronic system using a nominal or reference mathematical model, which is, as a rule, an idealized representation of a real device. The non-stationarity of the parameters object of study, as well as the possible uncertainty of its mathematical description due to the simplification of the mathematical model, lead to undesirable or unacceptable results when forming the control algorithm of the mechatronic system. The problem arises of analyzing the dynamic characteristics of a brushless motor under conditions of parametric uncertainty in order to determine the parameters that most affect the functioning of the mechatronic system and the phase coordinates that are sensitive to these changes.METHODS. When solving the problem, methods of the sensitivity theory are used to obtain the corresponding vector-matrix equations, the solution of which is carried out by means of the MatLab software environment.RESULTS. In this paper, sensitivity equations are obtained for the active resistance and projections of the stator winding inductance on the longitudinal and transverse coordinate axes, as well as for the moment of inertia of the brushless motor. A vector-matrix block diagram for calculating the sensitivity functions of a brushless motor is formed, the characteristic feature of which is the presence of a non-zero matrix of free terms, reduced to the input of the sensitivity model. The corresponding Simulink models were built to study the influence of the listed quasi-stationary parameters on the rotation speed and torque on the shaft of the object of study. An analysis of the statistical characteristics additional motion of the specified phase coordinates of the brushless motor has been carried out, and graphical dependencies and steady-state values of dispersions and relative estimates have been obtained.CONCLUSION. An analysis of the dynamic characteristics of a brushless motor under conditions of parametric uncertainty made it possible to determine that the rotation speed of the machine is the most sensitive to parametric disturbances. This coordinate is the most informative and is of maximum interest in the formation of an optimization algorithm for a mechatronic system. The decisive role in the formation of the additional movement of the output coordinates of the brushless motor is made by a change in the projection of the stator inductance on the transverse coordinate axis, which is an order of magnitude greater than the contribution to the additional movement of coordinates from other unstable parameters. It is expedient to use the results obtained in the course of the study when constructing an optimal control algorithm for a mechatronic system under conditions of parametric uncertainty.
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Kestelyn, Xavier, J. Gomand, Alain Bouscayrol, and P. J. Barre. "Control of a Symmetrical Dual-Drive Gantry System Using Energetic Macroscopic Representation." Solid State Phenomena 144 (September 2008): 181–85. http://dx.doi.org/10.4028/www.scientific.net/ssp.144.181.
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Dual-drive gantry systems are commonly used in many industrial applications. However, as few papers are available in the literature, this kind of system is difficult to broach. Based on an energetic approach so-called Energetic Macroscopic Representation (EMR), this paper presents a graphical modelling based on lumped-parameters. The initial drive is decomposed into a set of decoupled fictitious systems using a mathematical transformation. Since the modelling respects the integral causality, inversion-based controls are thus deduced. More generally, this approach proposes a way to analyze and deduce models and controls of multi-drive mechatronic systems.
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Mohan, B., and D. Saravanakumar. "Comparison of Servo Positioning Performance of Pneumatic Cylinders Using Proportional Valve Method and PWM Control Method." Applied Mechanics and Materials 541-542 (March 2014): 1233–37. http://dx.doi.org/10.4028/www.scientific.net/amm.541-542.1233.
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Servo pneumatics is a mechatronic approach that enables accurate position control of pneumatic drives with high speed. The current study presents a comparison of two servo techniques for position control of pneumatic cylinders. One method uses a proportional valve and another method uses PWM controlled solenoid valves. Mathematical models of the system including the nonlinearities such as mass flow rate, pressure in cylinder chambers and frictional forces are presented in this paper. Using the simulation model created in Matlab-Simulink software, the two systems are analyzed for tracking performances. From the responses it is observed that the proportional valve technique has better tracking characteristics than PWM control technique.
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Romanov, Alexander, Alexey Shchenyatsky, and Oxana Zorina. "Scientific and Technical Aspects of Interference Fits Hydropress Assembling Automation Using Mechatronic Press." MATEC Web of Conferences 346 (2021): 03066. http://dx.doi.org/10.1051/matecconf/202134603066.
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The study object - technological process of interference fits assembling is identified, the scheme with oil supply from the end face is adopted as the technological scheme. Technological pressing equipment is considered, its applicability for hydropress assembling is evaluated. The main aspects of hydropress joints assembling on a base of mechatronic press are established: increasing of assembling performance, its stability. Mathematical models and an algorithm that regulate the process of liquid friction and formation of an oil layer between the contacting surfaces of joint mating parts are developed. The basic requirements for the regulation channels of control system that ensure the quality of hydropress fits during automated assembling are established.
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Boucetta, Rahma, Radwen Bahri, and Saloua Bel Hadj Ali. "Novel Mechatronic Sensors for Irregular Movements of Autonomous Land Vehicles." Sensor Letters 18, no. 4 (April 1, 2020): 280–87. http://dx.doi.org/10.1166/sl.2020.4218.
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In this paper, novel sensors using physical phenomena deduced from ultrasound waves are proposed to overcome problems of cost, availability and adaptability in the measure of position, velocity and tilt of Autonomous Land Vehicles. The true challenge for the Autonomous Land Vehicles concerns essentially the accurate perception of hazardous environments to receive faithful information about reality. Current sensors used nowadays are viewed very expensive, complicated and unable to give accurate measures without time delay. For that, our contribution is located in this context. At first, fundamental principle of ultrasonic waves and their specific physical properties are described to introduce their use in the proposed sensors. Mechatronic concepts of sensors are then detailed with the corresponding mathematical models. Indeed, online implementation and real time experiences are conducted to verify the effectiveness of measurements.
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Trawiński, T., A. Kochan, P. Kielan, and D. Kurzyk. "Inversion of selected structures of block matrices of chosen mechatronic systems." Bulletin of the Polish Academy of Sciences Technical Sciences 64, no. 4 (December 1, 2016): 853–63. http://dx.doi.org/10.1515/bpasts-2016-0093.
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AbstractThis paper describes how to calculate the number of algebraic operations necessary to implement block matrix inversion that occurs, among others, in mathematical models of modern positioning systems of mass storage devices. The inversion method of block matrices is presented as well. The presented form of general formulas describing the calculation complexity of inverted form of block matrix were prepared for three different cases of division into internal blocks. The obtained results are compared with a standard Gaussian method and the “inv” method used in Matlab. The proposed method for matrix inversion is much more effective in comparison in standard Matlab matrix inversion “inv” function (almost two times faster) and is much less numerically complex than standard Gauss method.
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KORNAEVA, E. P., A. V. KORNAEV, I. N. STEBAKOV, S. G. POPOV, D. D. STAVTSEV, and V. V. DREMIN. "CONCEPT OF A MECHATRONIC INSTALLATION FOR RESEARCHING THE RHEOLOGICAL PROPERTIES OF PHYSIOLOGICAL FLUIDS." Fundamental and Applied Problems of Engineering and Technology, no. 1 (2021): 83–95. http://dx.doi.org/10.33979/2073-7408-2021-345-1-83-95.
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The properties of physiological fluids, blood primarily, contain important information about the state of a body. This article deals with the development of a new portable device of inertial viscometer for the physiological fluids. Based on the analysis of mathematical and simulation models of viscous media flows in capillaries, recommendations for the choice of design parameters are formulated. Processing the data of a video capillaroscopy for the intralipid flow under conditions close to the conditions for measuring blood viscosity showed the possibility of using the laser speckle contrast imaging method to determine the velocity profile over the channel thickness. The results obtained have created sufficient grounds for the design of a mechatronic test rig and its information-measuring system.
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Mailah, M., H. Jahanabadi, M. Z. M. Zain, and G. Priyandoko. "Modelling and control of a human-like arm incorporating muscle models." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 223, no. 7 (March 30, 2009): 1569–77. http://dx.doi.org/10.1243/09544062jmes1289.
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This article focuses on the modelling and control of a two-link planar mechanical manipulator that emulates a human arm. The simplicity of the control algorithm and its ease of computation are particularly highlighted in this study. The arm is subjected to a vibratory excitation at a specific location on the arm while performing trajectory tracking tasks in two-dimensional space, taking into account the presence of ‘muscle’ elements that are mathematically modelled. A closed-loop control system is applied using an active force control strategy to accommodate the disturbances based on a predefined set of loading and operating conditions to observe the system responses. Results of the study imply the effectiveness of the proposed method in compensating the vibration effect to produce robust and accurate tracking performance of the system. The results may serve as a useful tool in aiding the design and development of a tooling device for use in a mechatronic robot arm or even human arm (smart glove) where precise and/or robust performance is a critical factor and of considerable importance.
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Anisimov, A. A., and S. V. Tararykin. "Synthesizing robust control systems for mechatronic objects with digital state controllers and observers." Vestnik IGEU, no. 6 (December 28, 2020): 39–47. http://dx.doi.org/10.17588/2072-2672.2020.6.039-047.
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Currently, digital controllers with state observers are widely applied in automatic control systems for mechatronic objects, which great potential abilities are caused by structural flexibility and developed methods of synthesis. However, during design and practical implementation of the systems there is problem of robustness, associated with parametrical uncertainty of typical mechatronic objects. Most methods for synthesis of robust control systems are based on application of continuous mathematical models and do not take into account specific of digital realization of controllers with state observers. Methods of state space, modal control, digital system design, numerical optimization algorithms and simulation in MatLab environment were used. We propose a method of synthesizing robust digital modal control systems with state observers based on generating dynamic system characteristics within the areas of parametric robustness. Further, low sensitivity of the system to changes in controlled object parameters is ensured by the minimal phase character of the complex controller transfer function, while low sensitivity to changing parameters of the controller itself is ensured by excluding positive feedback in both control and adjustment circuits. Developed recommendations of choosing dynamic characteristics of state controller with observer loops within robustness areas and of forming rational state observer structure allow us to synthesize digital automatic control system with low sensitivity for variation of both control object parameters and inherent controller parameters.
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Kabanov, S. A., B. A. Zimin, and F. V. Mitin. "Development and Research of Mathematical Models of Deployment of Mobole Parts of Transformable Space Construction. Part II." Mekhatronika, Avtomatizatsiya, Upravlenie 21, no. 2 (February 10, 2020): 117–28. http://dx.doi.org/10.17587/mau.21.117-128.
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The process of deployment elements of constructions and adjustment of the radio-reflecting network of large-sized transformable space-based reflector is considered. The reflector consists of a frontal network, which is stretched on the power frame, cables, with which the front network is pulled to the rear network to set the desired shape of the reflecting surface. The problem of setting and determining the shape of the radio-reflective network is solved both in one plane and in three planes. In general, the task of adjusting the form of a radio reflecting reticle is solved by affecting the design of the actuators — the element of the control system. For the correct functioning of the reflector in orbit, it is necessary to control the shape of the reflecting surface by stretching the frontal network. For the formation and maintenance of the shape of the reflector, the frontal and rear networks are connecte d by cable-stayed reinforcements (tie rods). The cable connect the opposite network nodes. The cable system is the basis for building a sub-system. Miniature mechatronic modules can be located on each of the adju stable guys. To adjust the shape in one plane, the technique of flexible threads is applied. The possibility of changing the surface by simultaneous action of one or more actuators is sho wn. To adjust the shape in space, the membrane method described by the Laplace equation is used. The piezo actuator, DC motor and servomotor are considered as actuators for setting t he shape. As a mathematical model of the piezoactuator, the model of A. A. Nikolsky is considered. The system is solved taking into account rigid fixation of the reflector response. A comparison of the use of PID-controller and optimal controller. The structure of optimal control is revealed from the maximum principle. The arising two-point boundary value problem is solved by the methods of the steepest descent and Newton. It is shown that the use of optimal control can reduce the time of the transition process. A similar problem was solved for DC motor and servo motor. The advantage of using optim al control methods is shown for all actuators. The solution of the problem with the help of algorithm with correction of parameters of control structure is offered.
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Bobyr, Maxim, Alexander Arkhipov, and Aleksey Yakushev. "Shade recognition of the color label based on the fuzzy clustering." Informatics and Automation 20, no. 2 (March 30, 2021): 407–34. http://dx.doi.org/10.15622/ia.2021.20.2.6.
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In this article the task of determining the current position of pneumatic actuators is considered. The solution to the given task is achieved by using a technical vision system that allows to apply the fuzzy clustering method to determine in real time the center coordinates and the displacement position of a color label located on the mechatronic complex actuators. The objective of this work is to improve the accuracy of the moving actuator’s of mechatronic complex by improving the accuracy of the color label recognition.
The intellectualization of process of the color shade recognition is based on fuzzy clustering. First, a fuzzy model is built, that allows depending on the input parameters of the color intensity for each of the RGB channels and the color tone component, to select a certain color in the image. After that, the color image is binarized and noise is suppressed.
The authors used two defuzzification models during simulation a fuzzy system: one is based on the center of gravity method (CoG) and the other is based on the method of area ratio (MAR). The model is implemented based on the method of area ratio and allows to remove the dead zones that are present in the center of gravity model. The method of area ratio determines the location of the color label in the image frame. Subsequently, when the actuator is moved longitudinally, the vision system determines the location of the color label in the new frame. The color label position offset between the source and target images allows to determine the moved distance of the color label.
In order to study how noise affects recognition accuracy, the following digital filters were used: median, Gaussian, matrix and binomial. Analysis of the accuracy of these filters showed that the best result was obtained when using a Gaussian filter. The estimation was based on the signal-to-noise coefficient. The mathematical models of fuzzy clustering of color label recognition were simulated in the Matlab/Simulink environment. Experimental studies of technical vision system performance with the proposed fuzzy clustering model were carried out on a pneumatic mechatronic complex that performs processing, moving and storing of details. During the experiments, a color label was placed on the cylinder, after which the cylinder moved along the guides in the longitudinal direction. During the movement, video recording and image recognition were performed. To determine the accuracy of color label recognition, the PSNR and RMSE coefficients were calculated which were equal 38.21 and 3.14, respectively. The accuracy of determining the displacement based on the developed model for recognizing color labels was equal 99.7%. The defuzzifier speed has increased to 590 ns.
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Sánchez-Mazuca, Sergio, and Ricardo Campa. "An Improvement Proposal to the Static Friction Model." Mathematical Problems in Engineering 2013 (2013): 1–8. http://dx.doi.org/10.1155/2013/946526.
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Friction is a force acting against the relative motion between two surfaces in contact. This phenomenon is present in all mechanical systems and has a great impact on the control area. The design of mechatronic systems and the compensation techniques require a broad knowledge of the effects that friction produces. The phenomenon has two well-defined phases: static friction presents before the motion between the surfaces in contact is clearly visible, while kinetic friction appears when that motion at large scale has already started. There are different friction models for each of those phases. In this work we propose an improvement to the static friction models, which consist in assuming that the maximum static friction coefficient is no more a constant but a function of the rate of change of the external force that produces the motion. After explaining and justifying the proposal, the procedure for obtaining the parameters of the new model is mentioned. At the end, an experimental study on a direct-drive motor allows us to validate the proposed model.
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Szpica, Dariusz, Marcin Kisiel, and Jarosław Czaban. "Simulation Evaluation of the Influence of Selected Geometric Parameters on the Operation of the Pneumatic Braking System of a Trailer with a Differential Valve." Acta Mechanica et Automatica 16, no. 3 (July 1, 2022): 233–41. http://dx.doi.org/10.2478/ama-2022-0028.
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Abstract This article presents simulation models of trailer air brake systems in configurations without a valve and with a differential valve, thus demonstrating the rationale for using a valve to improve system performance. Simplified mathematical models using the lumped method for systems without and with a differential valve are presented. The proposed valve can have two states of operation depending on the configuration of relevant parameters. These parameters can include the length of the control pipe, the throughput between chambers in the control part of the valve and the forcing rise time. Based on the calculations, it was found that the differential valve with large control pipe lengths can reduce the response time of the actuator by 42.77% relative to the system without the valve. In the case of transition of the valve to the tracking action, this time increases only by 9.93%. A force rise time of 0.5 s causes the transition of the valve from the accelerating action to the tracking action, with 9.23% delay relative to the system without a valve. The calculations can be used in the preliminary assessment of the speed of operation of pneumatic braking systems and in the formulation of guidelines for the construction of a prototypical differential valve. In conclusion, it is suggested to use a mechatronic system enabling smooth adjustment of the flow rate between chambers of the control system of the differential valve.
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Gavva, Oleksandr, Liudmyla Kryvoplias-Volodina, Sergii Blazhenko, Serhii Tokarchuk, and Anastasiia Derenivska. "Synthesis of precision dosing system for liquid products based on electropneumatic complexes." Eastern-European Journal of Enterprise Technologies 6, no. 2 (114) (December 29, 2021): 125–35. http://dx.doi.org/10.15587/1729-4061.2021.247187.
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This paper reports the construction of a mathematical model for the process of dosing liquid foods (non-carbonated drinking water). The model takes into consideration the differential equations of changes in the kinematic parameters of the liquid in a dosing device's channels and the corresponding accepted initial and boundary conditions of the process. The boundary conditions account for the influence of software-defined airlift dosing modes using the driver and the geometry of the product pipeline. The current's value measured in mA (with an accuracy of 0.001 mA) relative to the standard scale Imin is Imax=4...20 mA. Individual stages of the dosing process were analytically described, followed by the analysis of separate stages and accepted assumptions. The accuracy achieved when testing the experimental sample of the dispenser, with the repetition of the dose displacement process, ranged between 0.35 % and 0.8 %. The reported results are related to the established dosage weight of 50 ml when changing the initial level of liquid in the tank of the dosing feeder by 10 mm. An experimental bench has been proposed for investigating the functional mechatronic dosing module under the software-defined modes to form and discharge a dose of the product. The bench operates based on proportional feedback elements (4–20 mA) for step and sinusoidal pressure control laws in the dosing device. The control model with working dosing modes has been substantiated. The control models built are based on proportional elements and feedback. During the physical and mathematical modeling, the influence of individual parameters on the accuracy of the product dose formation was determined; ways to ensure the necessary distribution of compressed air pressure, subject to the specified productivity of the dosing feeder, were defined. The study results make it possible to improve the operation of precision dosing systems for liquid products based on electro-pneumatic complexes
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Maskov, L. R., and V. Y. Kornilov. "Development of a model of an electrical complex for gas air cooling devices of gas field №1 gazprom dobycha Yamburg LLC with a centralized power supply system in the MATLAB/SIMULINK program." Power engineering: research, equipment, technology 24, no. 2 (June 13, 2022): 50–71. http://dx.doi.org/10.30724/1998-9903-2022-24-2-50-71.
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THE PURPOSE. To develop a model in MATLAB/SIMULINK environment for the system of mechatronic movement modules (MMD) of the electrical complex, which includes gas air coolers with centralized system of power supply of the gas field 1 of "Gazprom dobycha Yamburg" LLC. To analyze the energy efficiency of MMD ETC ACHE. To perform the experimental research of the EMD EMD ETC ACHE model in the dynamic modes in order to determine the regularity of the influence of single (group) starts on the power supply source overload. To develop a switching algorithm for MMD ETK AHE at direct starts of asynchronous motors (AD), providing restoration of the technological mode within the optimum time after the voltage disappearance for the centralized power supply system.METHODS. The results presented in work are received with use of methods of the theory of electric and magnetic circuits, the theory of electric drive and electric machines, methods of optimization of power supply systems, analytical and numerical methods of applied mathematics, methods of mathematical and computer modeling.RESULTS. In article urgency of a theme is described, features of construction and modelling of ETK GP in the environment MATLAB/SIMULINK with the centralized system of power supply are considered. The comparative analysis of existing methods and calculation of parameters of the substitution schemes of the MMD ETK GP was carried out. Approximate calculation of mechanical and inertial characteristics for creating a model of load (resistance moment) for the motor. The model of EMD of electric motor drive compressor unit was created, as close as possible to the real existing system on the basis of catalog (passport) data of individual elements of electric motor drive unit. There were analyzed and developed proposals to enhance power efficiency of EMD ETC AHE and algorithms, which provide optimal direct start-up of the AHE fan group within the set time after the power failure without overloading of the power supply source, were proposed.CONCLUSIONS. On the basis of results of computer modeling, the peculiarities of operation of EMD ETH ACHE, which require further study and development of corrective measures to improve energy efficiency and reliability of power supply system of GP. Combination of direct starts of single (group) fans of ACHE, obtained at this stage of research of EMD EMD ETC ACHE model, will create the basis (algorithm) for automated control system of this complex, which will ensure restoration of technological mode within optimum time after power outage without overloading of centralized power supply source. Calculation of parameters of individual elements of MMD model of ETC AVO will allow to use data to create other models of ETC GP, which will allow to conduct in-depth research and improve the energy efficiency of the entire system of power supply of GP.
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Torres-Corrales, Diana del Carmen, and Gisela Montiel-Espinosa. "Characterization of uses of trigonometric notions in Mechatronics Engineering from Mathematics Education." ECORFAN Journal Spain, June 30, 2019, 9–21. http://dx.doi.org/10.35429/ejs.2019.10.6.9.21.
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From the Socioepistemological Theory we propose that even with the curricular articulation presented in school programs of Engineering it exists a disarticulation of uses of mathematical knowledge, this is displayed more emphatically when a student takes professionalizing courses. We proposed the research question of: what uses of trigonometric notions are given in Mechatronics Engineering when students solve problems in Robotics? we use the Socioepistemological Theory in tandem with the ethnographic method to identify and characterize them in their cultural framework. By the delimitation of the study to a community of Mechatronics Engineering in a Mexican university and the direct kinematics problem in the subject of Industrial Robotics, we characterize that trigonometric notions are given an arithmetic, metric, quantitative and algebraic usage, and by them, the Trigonometry acquires more significates aided by the construction of visual references that allow the mathematical modelling that was done, and from which we recognize in the pseudo-concrete models (drawing and kinematic schemes) the reason to be for Trigonometry as a tool for Robotics: the determination of the position in a circle or circular sector.
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Rennick, Chris, and Kenneth McKay. "Componential Theories of Creativity: A Case Study of Teaching Creative Problem Solving." Proceedings of the Canadian Engineering Education Association (CEEA), December 2, 2018. http://dx.doi.org/10.24908/pceea.v0i0.12991.
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Engineering is the discipline of applying scientific and mathematical tools to solve practical problems for society. At the core of a person’s problem-solving abilities is their creativity. This is a preliminary and exploratory theory-based paper summarizing the two most prevalent componential theories of creativity as applied to a case study. These theories outline a set of processes which contribute to a person’s ability to be creative in a domain. The components differ slightly between models, but include: motivation; domain-specific knowledge, skills, and abilities; and cognitive process of creativity including problem finding, ideation, and evaluation.To demonstrate the practical application of these theories to engineering pedagogy, they will be applied to a case study of a 2-day academic hackathon called “Tron Days”. Tron Days guides students through a multi-step modelling and verification process and concludes with teams of students designing and constructing a robotic arm. At the end of the second day, students demonstrated their functioning robotic prototypes. This event has now been run twice for first semester Mechatronics Engineering students, and similar implementations with different problems have been run in seven other engineering programs at the same institution. Each section of this paper will demonstrate the application of componential theories of creativity by drawing connections to the Tron Days event.
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Iskandarani, Mahmoud Zaki. "Effect of Driver Response on Efficiency of Vehicular Communication using Penalty Cost Function (EVCPCF)." Open Transportation Journal 17, no. 1 (January 11, 2023). http://dx.doi.org/10.2174/18744478-v17-e230111-2022-32.
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Background and objective: This study examines and takes into account three key timing factors that have an impact on the effectiveness of human-machine interfaces (HVI). A threshold-based mechanism is created to account for both cooperative driving and advanced vehicle control system (AVCS) scenarios. For AVCS and cooperative driving, the developed model takes into account on-board machine interface time, human interface time, and transmission time.. Methods: A threshold function that represents the penalty cost of a slow driver reaction is presented in order to enable adaptive intelligence, enhance HVI design, and increase vehicle safety. The Penalty Cost Function (PCF) is used to make vehicle control systems intervene and take control in situations where the driver is responding slowly to safety and warning messages. Additionally, this study demonstrates that AVCS-based vehicular systems are more responsive overall and are less impacted by the PCF function than cooperative systems. Results: The mathematical models created through this work allowed for a limiting efficiency value and capping for each driving scenario, according to comparative plots. This will improve the creation of more reliable control systems as part of a vehicle's mechatronics, which will affect how vehicles communicate with one another in a cooperative setting. MATLAB simulation was used to verify the mathematical model. The simulation covered two limiting cases of 0.33 and 0.5 and used incrementing numbers of vehicles (10, 20, 30, 40, 50) to check the impact of increasing vehicle numbers on communication efficiency and examine that both AVCS and AVCS with cooperative will have close levels and converge at limiting values. Conclusion: The successfully completed simulation demonstrated that throughput decreased as the number of vehicles increased, although in the limiting case, both scenarios and the driving system changed virtually by the same percentage.
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Серебренный, В., Vladimir Serebrennyj, А. Бошляков, Andrej Boshlyakov, А. Огородник, and Aleksandr Ogorodnik. "DRIVE UNIT MATHEMATICAL MODEL OF ROBOT GRIPPING DEVICES." Bulletin of Belgorod State Technological University named after. V. G. Shukhov, May 31, 2019, 123–35. http://dx.doi.org/10.34031/article_5d079791aeaae3.67485144.
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Today, the task of increasing the drive unit technical characteristics of robot gripping devices is relevant. In many respects, the drive motor and gear unit determine the quality of work of such modules, which can introduce additional elasticity, backlash and friction into the system. In turn, backlash and friction in the control loop decrease the speed and accuracy of the mechatronic module and can cause self-oscillations. However, significant progress in hardware performance of mechatronic and robotic systems makes it possible to more accurately estimate and control the force and torque state parameters in the output link and to carry out active algorithmic compensation for the effects of friction and elasticity.
Such observers are usually based on detailed mathematical models and allows to implement force control without the use of special sensors, which is especially important in advanced gripping devices due to the requirements imposed on the mass-dimensional parameters of the product. Therefore, the purpose of this article is to make a general mathematical model of the robot drive unit with a rational relationship of complexity and accuracy. The models’ parameters should be easily identified from the constituent elements of passport data or the experiment results. The model should allow estimating the state parameters of mechanical transmission in real time; take into account the main friction effects. However, it should be simple enough for analytical conclusion and numerical modeling. As part of the article, various friction models are considered. On the basis of this analysis, a modified friction model is proposed. It makes possible to estimate the state parameters of mechanical transmission in real time. It is built into the general mathematical model of the mechatronic module. The results of mathematical simulation are close to experimental data. The considered drive unit mathematical model can be used to identify the state parameters of the mechatronic module in real time and implement force control based on estimation. In addition, the obtained model allows to conduct mathematical simulation of the robot taking into account the drive unit dynamics.
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Wang, Bin, Haocen Zhao, and Zhifeng Ye. "A Co-modeling Method Based on Component Features for Mechatronic Devices in Aero-engines." International Journal of Turbo & Jet-Engines 34, no. 3 (January 1, 2017). http://dx.doi.org/10.1515/tjj-2016-0007.
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AbstractData-fused and user-friendly design of aero-engine accessories is required because of their structural complexity and stringent reliability. This paper gives an overview of a typical aero-engine control system and the development process of key mechatronic devices used. Several essential aspects of modeling and simulation in the process are investigated. Considering the limitations of a single theoretic model, feature-based co-modeling methodology is suggested to satisfy the design requirements and compensate for diversity of component sub-models for these devices. As an example, a stepper motor controlled Fuel Metering Unit (FMU) is modeled in view of the component physical features using two different software tools. An interface is suggested to integrate the single discipline models into the synthesized one. Performance simulation of this device using the co-model and parameter optimization for its key components are discussed. Comparison between delivery testing and the simulation shows that the co-model for the FMU has a high accuracy and the absolute superiority over a single model. Together with its compatible interface with the engine mathematical model, the feature-based co-modeling methodology is proven to be an effective technical measure in the development process of the device.
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Kashfutdinov, B. D., and A. F. Georgiev. "The features of solutions of dynamical systems with an external exciting load and non-conservative dynamical systems with pairwise interaction of degrees of freedom." Engineering Journal: Science and Innovation, no. 3 (111) (March 2021). http://dx.doi.org/10.18698/2308-6033-2021-3-2061.
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When mathematical models are developed, as a rule, a number of assumptions is done, which makes it possible to simplify the model, reduce its dimension and simulation time, or use the dimension reduction method. When modeling non-conservative systems with pairwise interaction of degrees of freedom, e.g. mechatronic systems, an elastic aircraft in a flow, an aeroelastic aircraft with an automated control system, etc., there is a desire to reduce the problem to a conservative dynamic system with harmonic action. The study shows that despite the apparent similarity of the tasks, they have significant differences that cannot be ignored. Differences in the behavior of conservative dynamical systems and non-conservative dynamical systems with pair interaction of degrees of freedom are considered. The results are demonstrated on the simplest example with an analytical solution, and in the finite element software package MSC.Nastran. The results of the solution in MSC.Nastran are compared with the results of the analytical solution.
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Hernández-Becerro, Pablo, Daniel Spescha, and Konrad Wegener. "Model order reduction of thermo-mechanical models with parametric convective boundary conditions: focus on machine tools." Computational Mechanics, September 24, 2020. http://dx.doi.org/10.1007/s00466-020-01926-x.
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Abstract Thermo-mechanical finite element (FE) models predict the thermal behavior of machine tools and the associated mechanical deviations. However, one disadvantage is their high computational expense, linked to the evaluation of the large systems of differential equations. Therefore, projection-based model order reduction (MOR) methods are required in order to create efficient surrogate models. This paper presents a parametric MOR method for weakly coupled thermo-mechanical FE models of machine tools and other similar mechatronic systems. This work proposes a reduction method, Krylov Modal Subspace (KMS), and a theoretical bound of the reduction error. The developed method addresses the parametric dependency of the convective boundary conditions using the concept of system bilinearization. The reduced-order model reproduces the thermal response of the original FE model in the frequency range of interest for any value of the parameters describing the convective boundary conditions. Additionally, this paper investigates the coupling between the reduced-order thermal system and the mechanical response. A numerical example shows that the reduced-order model captures the response of the original system in the frequency range of interest.
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Ren, Zhenxing. "An optimized excitation signal design for identification of PWA model and application to automotive throttles." Measurement and Control, November 11, 2022, 002029402211359. http://dx.doi.org/10.1177/00202940221135903.
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In the automotive application for Electronic Control Units (ECU), dynamic models with high-precision to simulate mechatronic actuators are required for various analysis and design tasks like Hardware-in-the-Loop (HiL) simulation. It is known that the modeling of systems with significant friction effects is not accessible. The piecewise-affine (PWA) model has recently attracted considerable interest due to its high approximation capability for modeling systems with friction. Because the model quality depends intensely on the test signal design, a model-free optimized excitation signal design for identifying PWA models is presented in this paper. The presented method is demonstrated with an automotive throttle, and a PWA model is identified with a four-step identification approach. The result shows that the optimization method can achieve a better model quality, which is sufficient for the HiL simulation.
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Lu, Yaodong, Yannick Aoustin, and Vigen Arakelian. "Mechatronic design of dynamically decoupled manipulators based on the control performance improvement." Robotica, October 27, 2022, 1–23. http://dx.doi.org/10.1017/s0263574722001485.
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Abstract The control of industrial robot manipulators presents a difficult problem for control engineers due to the complexity of their nonlinear dynamics models. Nonlinear controls based on feedback linearization are developed to meet control requirements. Model-based nonlinear control is highly sensitive to parameter errors and leads to problems of robustness for tracking trajectories at high speeds, and there is the additional problem of a heavy computational burden to consider in the design of nonlinear controllers. In this paper, a mechatronic design approach is proposed, which aims to facilitate controller design by redesigning the mechanical structure. The problem is approached in two steps: first, the dynamic decoupling conditions of manipulators are described and discussed, involving redistribution of the moving mass, which leads to the decoupling of motion equations. A classical linear control law is then used to track the desired efficient bang-bang profile trajectory. Then, in the presence of parameter uncertainty and external disturbances, the nonlinear controls with simple structures are adopted to stabilize the decoupled system asymptotically. An analysis of the results from a simulation of this approach demonstrates its effectiveness in controller design. The proposed improvement in control performance is illustrated via two spatial manipulators.
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Ray, Rahul, Laurence Nouaille, Briac Colobert, Laurine Calistri, and Gérard Poisson. "Design and position control of a robotic brace dedicated to the treatment of scoliosis." Robotica, January 9, 2023, 1–17. http://dx.doi.org/10.1017/s0263574722001825.
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Abstract This paper’s content focuses on designing and prototyping a robotic brace dedicated to treating scoliosis. Scoliosis is an abnormal spinal curvature affecting 1–3% of children and constitutes a major therapeutic problem. In moderate cases of deformity, passive brace treatment is performed. However, this approach can lead to important patient discomfort. So, we propose a robotic solution providing greater mobility and the possibility of adapting the procedure to each patient. The robotic brace we built and tested is composed of three specific rings adapted to the patient’s torso. Each independent module of two consecutive rings is movable through a Stewart–Gough platform-type mechanism. As the robotic brace is lightweight, it brings better portability and improves the patient’s comfort. The first part of the paper shows the state of the art of bracing techniques: from passive to active orthoses. Next, the mechatronics of the device is detailed, and the robot’s kinematic models are developed. The motion control principle is given. In the last part, motion tests were administered with a healthy human to validate the brace architecture choice and its position and motion control strategies.