Showing papers in "Mechatronics in 2011"

TL;DR: The design of a prototype helicopter suitable for testing the direct approximate-adaptive control method is described, and the new method stops weight drift during a shake test and adapts on-line to a significant added payload, whereas e-modification cannot do both.

TL;DR: In this paper, a three degrees of freedom therapeutic exercise robot (physiotherabot) for the lower limbs of a patient who needs rehabilitation after a spinal cord injury (SCI), stroke, muscle disorder, or a surgical operation was developed.

TL;DR: In this paper, a parametric investigation for a tuned mass damper system was performed to determine the optimal passive and active parameters for a floating barge-type wind turbine, and the performance was calculated as a function of active power consumption and stroke of the actuator.

TL;DR: In this paper, an active fault-tolerant controller (AFTC) and a passive fault tolerant controller (PFTC) are designed for a 4.8 MW, variable speed, variable pitch wind turbine model with a fault in the pitch system.

TL;DR: In this article, a power assisted steering technology and its torque distribution control system were proposed, due to the independent driving characteristics of four-wheel-independent-drive electric vehicle. And the results verified that, the proposed differential drive torque assisted steering system cannot only reduce the steering efforts significantly, as well as ensure a stiffer steering feel at high vehicle speed and improve the returnability of the vehicle, but also keep the lateral stability of vehicle.

TL;DR: The turning motion of UAVs is shown to be less efficient from the viewpoints of route length, duration and energy, and the problem of coverage Path Planning in a convex polygon area is transformed to width calculation of the convexpolygon, and a novel algorithm to calculate the widths of convex polygons with time complexity O ( n ) is developed.

TL;DR: A comprehensive nonlinear model for an unmanned helicopter system, which is built by the research team at the National University of Singapore, is presented and is capable of achieving the desired performance in accordance with the military standard under examination.

TL;DR: In this paper, an experimental study of the fractional order proportional and derivative (FO-PD) controller systematic design is presented, to validate the control performance for the FOP systems with generalized fractional capacitor membrane model.

TL;DR: The proposed gait phase analysis methods have been applied to actual gait data, and the results show that the proposed methods have the potential of tools for diagnosing the status of a patient and evaluating a rehabilitation treatment.

TL;DR: In this paper, individual blade pitch state space (IBP SS) control and disturbance accommodating control (DAC) that reject wind speed perturbations are applied on a 5MW wind turbine mounted on the barge and tension leg floating platforms for performance comparison in above rated wind speed region.

TL;DR: The Distributed Flight Array (DFA) as discussed by the authors is a multi-rotor vehicle that is being developed at ETH Zurich, which consists of autonomous single rotor modules that are able to drive, dock with its peers, and fly in a coordinated fashion.

TL;DR: In this article, combined feedback/feedforward blade pitch control is compared to industry standard feedback control when simulated in realistic turbulent winds, and two feedforward designs are studied: collective-pitch model-inverse feedforward using a non-causal series expansion and individual-Pitch gain-scheduled shaped compensator.

TL;DR: In this article, an exponential Stribeck friction model is used to fit two lines on the experimental data relating steady-state velocities to actuator pressure differentials, and the parameters of the fitted lines are obtained using an iterative optimization technique.

TL;DR: In this paper, a pitch control system for a large wind turbine driven by a variable-speed pump-controlled hydraulic servo system was developed and verified for the path tracking control and path-positioning control of the pitch controller of the wind turbines by practical experiments in a full-scale test rig under different path profiles, load torques, and random wind speeds.

TL;DR: In this paper, a LS-SVM model is proposed and trained by introducing the current input value and input variation rate as the input data set to formulate a one-to-one mapping.

TL;DR: In this article, a vertical vibration model of human body is introduced to make the modeling of seat suspension systems more precise, and a dynamic output feedback controller of order equal to the plant is designed, where an effective multiplier expansion is used to convert the controller design to a convex optimization problem.

TL;DR: In this paper, a new model predictive control method for time-optimal point-to-point motion control of mechatronic systems is presented, and the formulation of time optimal behavior within the model predictive controller framework and the structure of the underlying optimization problem are discussed and modifications are presented in order to decrease the computational load of the numerical solution method such that sampling rates in the millisecond range and long prediction horizons are feasible.

TL;DR: In this paper, a light detection and ranging system is used to measure conditions at a distance in front of wind turbines and is therefore suited to providing preview information of wind disturbances before they impact the turbine blades.

TL;DR: A meta-model based method is proposed to integrate the system design and simulation models of MTSs through a bidirectional model transformation approach based on a triple graph grammar (TGG), which facilitates the automatic model consistency and traceability between systemDesign and simulation.

TL;DR: Experimental results demonstrated that the transferring skills to a robot can generalize the transferred skills to grasp new objects.

TL;DR: In this article, a method for the identification of embedded piezoelectric stack actuator parameters in combination with a real-time capable hysteresis compensation measure is presented.

TL;DR: The model uses a combination of the Lyapunov technique and graph theory embedded in the virtual structure to create an efficient architecture and control algorithm that enables them to work both individually and in meaningful robot formations.

TL;DR: In this article, a wind farm controller is developed that distributes power references among wind turbines while it reduces their structural loads, based on a spatially discrete model of the farm, which delivers an approximation of wind speed in the vicinity of each wind turbine.

TL;DR: In this article, the full body kinematics of a radial symmetrical six-legged robot with statically stable movements are reviewed using the robot screw theory and exponential product equations, the velocities and accelerations referring to the object reference frame of each robot part are presented in a compact form.

TL;DR: In this paper, a high dynamic test-rig with a nominal power of 13.2 MW and a peak power capacity of 16.8 MW was developed to guarantee reliable and cost-effective wind turbine drive trains.

TL;DR: Experimental results prove the relevance of the distributed approach for the detection of the user motion intention through a measurement of the interaction force distribution of the robot-mediated rehabilitation.

TL;DR: The approach provides a systematic procedure for flight control design process with a set of design tools that enables control engineers to rapidly synthesize, analyze and validate a candidate controller design.

TL;DR: In this article, the authors present a fault detection system for wind turbines that has been developed, analyzed, and improved across years of experiments to protect the turbines as each new controller is tested.

TL;DR: An efficient omnidirectional vision system for real-time object detection, developed for the robotic soccer team of the University of Aveiro, CAMBADA, and an efficient approach for detecting arbitrary FIFA balls, which is an important topic of research in the Middle Size League.

TL;DR: In this paper, a drive train optimization method for design of light-weight robots is proposed, where the optimal selections of motors and gearboxes from a limited catalog of commercially available components are done simultaneously for all joints of a robotic arm.