Victor Pomper

Bio: Victor Pomper is an academic researcher. The author has contributed to research in topics: Hydraulic machinery & Hydraulic fluid. The author has an hindex of 1, co-authored 1 publications receiving 2041 citations.

Hydraulic Control Systems

Abstract: Hydraulic Fluids. Fluid Flow Fundamentals. Hydraulic Pumps and Motors. Hydraulic Control Valves. Hydraulic Power Elements. Electrohydraulic Servovalves. Electrohydraulic Servomechanisms. Hydromechanical Servomechanisms. Nonlinearities in Control Systems. Pressure and Flow Control Valves. Hydraulic Power Supplies. Index.

Manufacturing Automation: Metal Cutting Mechanics, Machine Tool Vibrations, and CNC Design

Abstract: Metal cutting is a widely used method of producing manufactured products. The technology of metal cutting has advanced considerably along with new materials, computers, and sensors. This new edition treats the scientific principles of metal cutting and their practical application to manufacturing problems. It begins with metal cutting mechanics, principles of vibration, and experimental modal analysis applied to solving shop floor problems. Notable is the in-depth coverage of chatter vibrations, a problem experienced daily by manufacturing engineers. The essential topics of programming, design, and automation of CNC (computer numerical control) machine tools, NC (numerical control) programming, and CAD/CAM technology are discussed. The text also covers the selection of drive actuators, feedback sensors, modeling and control of feed drives, the design of real time trajectory generation and interpolation algorithms, and CNC-oriented error analysis in detail. Each chapter includes examples drawn from industry, design projects, and homework problems. This book is ideal for advanced undergraduate and graduate students, as well as practicing engineers.

Interval type-2 fuzzy logic systems: theory and design

Abstract: We present the theory and design of interval type-2 fuzzy logic systems (FLSs). We propose an efficient and simplified method to compute the input and antecedent operations for interval type-2 FLSs: one that is based on a general inference formula for them. We introduce the concept of upper and lower membership functions (MFs) and illustrate our efficient inference method for the case of Gaussian primary MFs. We also propose a method for designing an interval type-2 FLS in which we tune its parameters. Finally, we design type-2 FLSs to perform time-series forecasting when a nonstationary time-series is corrupted by additive noise where SNR is uncertain and demonstrate an improved performance over type-1 FLSs.

Adaptive robust motion control of single-rod hydraulic actuators: theory and experiments

Abstract: High-performance robust motion control of single-rod hydraulic actuators with constant unknown inertia load is considered. The two chambers of a single-rod actuator have different areas, so the dynamic equations describing the pressure changes in them cannot be combined into a single load pressure equation. This complicates controller design since it not only increases the system dimension but also brings in the stability issue of the added internal dynamics. A discontinuous projection-based adaptive robust controller (ARC) is constructed. The controller takes into account not only the effect of parameter variations coming from the inertia load and various hydraulic parameters but also the effect of hard-to-model nonlinearities such as uncompensated friction forces and external disturbances. It guarantees a prescribed output tracking transient performance and final tracking accuracy in general while achieving asymptotic output tracking in the presence of parametric uncertainties. In addition, the zero error dynamics for tracking any nonzero constant velocity trajectory is shown to be globally uniformly stable. Experimental results are obtained for the swing motion control of a hydraulic arm and verify the high-performance nature of the proposed strategy. In comparison to a state-of-the-art industrial motion controller, the proposed algorithm achieves more than a magnitude reduction of tracking errors. Furthermore, during the constant velocity portion of the motion, it reduces the tracking errors almost down to the measurement resolution level.

Human-robot interaction via the transfer of power and information signals

Abstract: Constrained motion in a class of human-controlled robotic manipulators called extenders is discussed. Extenders are defined as a class of robot manipulators worn by humans to increase mechanical strength while the wearer's intellect remains the central control system for manipulating the extender. The human, in physical contact with the extender, exchanges power and information signals with the extender. The present analysis focuses on the dynamics and control of human-robot interaction in the sense of the transfer of power and information signals. General models for the human, the extender, and the interaction between the human and extender are developed. The stability of the system of human, extender, and the object being manipulated is analyzed, and the conditions for stable maneuvers are derived. An expression for the extender performance is defined to quantify the force augmentation. The trade-off between stability and performance is described. The theoretical predictions are verified experimentally. >