Search results for "Mechatronics"
showing 9 items of 29 documents
Development of a vision-based measurement system for relative motion compensation
2014
Masteroppgave i mekatronikk MAS 500 Universitetet i Agder 2014 Motion compensation is used in many applications where no relative motion between two objects is desired. In the offshore industry, motion compensation systems are used to increase the operational window during load transfers like crane operations or positioning of gangways for personell transfer. In most systems one or more motion reference units (MRU) are used to measure motion with respect to a world reference frame and compensate for this motion. For motion compensation between two independently moving objects, a MRU-based solution becomes complex when measurements must be exchanged and combined. Vision systems have existed …
Mixed l-/l1 fault detection observer design for positive switched systems with time-varying delay via delta operator approach
2014
Published version of an article in the journal: International Journal of Control, Automation and Systems. Also available from the publisher at: http://dx.doi.org/10.1007/s12555-013-0466-1 This paper investigates the problem of fault detection observer design for positive switched systems with time-varying delay via delta operator approach. A new fault sensitivity measure, called l-index, is proposed. The l- fault detection observer design and multi-objective l -/l1 fault detection observer design problems are addressed. Based on the average dwell time approach and the piecewise copositive type Lyapunov-Krasovskii functional method in delta domain, sufficient conditions for the existence of …
Teaching Motion Control in Mechatronics Education Using an Open Framework Based on the Elevator Model
2022
Universities and other educational institutions may find it difficult to afford the cost of obtaining cutting-edge teaching resources. This study introduces the adoption of a novel open prototyping framework in the context of mechatronics education, employing low-cost commercial off-the-shelf (COTS) components and tools for the motion control module. The goal of this study is to propose a novel structure for the motion control module in the engineering mechatronics curriculum. The objective is to foster a new teaching method. From a methodology perspective, students are involved in a series of well-organised theoretical lectures as well as practical, very engaging group projects in the lab.…
Investigating the User Experience of Virtual Reality Rehabilitation Solution for Biomechatronics Laboratory and Home Environment
2021
Virtual reality (VR) technology is a promising tool in physical rehabilitation. Research indicates that VR-supported rehabilitation is beneficial for task-specific training, multi-sensory feedback, diversified rehabilitation tasks, and patient motivation. Our first goal was to create a biomechatronics laboratory with a VR setup for increasing immersion and a motion platform to provide realistic feedback to patients. The second goal was to investigate possibilities to replicate features of the biomechatronics laboratory in a home-based training system using commercially available components. The laboratory comprises of a motion platform with 6-degrees-of-freedom (Rexroth eMotion), fitted wit…
The Norwegian Motion-Laboratory
2018
This paper contains an overview of the equipment currently available in the Norwegian Motion Laboratory, a description of the IT networking infrastructure in the laboratory, a GitHub link to open source code developed, description of the PyQt-based graphical user interface, presentation of robot forward and inverse kinematics, presentation of equations of motion for the suspended load motion and a description of the full system kinematics. The paper ends with a list of research experiments and publications from the laboratory to date.
Motion-control techniques of today and tomorrow: a review and discussion of the challenges of controlled motion
2020
Motion-control technologies are at the core of multiple mechatronic products and applications. Wherever actuated motion takes place in machines and components, either position or force setting (or trajectory tracking), or even a combination of both, are demanded from the control system. In high-performance mechatronic systems, including micro- and/or nanoscale motion (such as data-storage devices, machine tools, manufacturing tools for electronics components, and industrial robots), the required specifications in motion performance, such as response/settling time and trajectory/settling accuracy, should be sufficiently achieved [1].
Complex composite structures with integrated piezoelectric transducers
2016
International audience; Nowadays, in different industrial fields as transport or aerospace, a research effort is conducted to reduce the structural weight. One of the most promising solutions is the use of composite structures due to their high stiffness, their low mass density and their low damping factor. At the same time, there is an intensification of the operational dynamic environment and an increase of durability requirements. These different expectations seem to be contradictory. One solution to manage these points is to design and manufacture smart composite structures with a fully distributed set of integrated piezoelec-tric transducers. These structures are able to modify their m…
Mechatronic Design of a Four-Wheel drive mobile robot and differential steering
2021
This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. Th…
Enabling Energy Savings in Offshore Mechatronic Systems by using Self-Contained Cylinders
2019
This paper proposes a novel actuation system for an offshore drilling application. It consists of three self-contained electro-hydraulic cylinders that can share and store regenerated energy. The energy saving potential of the proposed solution is analyzed through a multibody system simulation. The self-contained system demonstrates superior energy efficiency compared to the benchmark system representing the state-of-the-art approach used today (i.e., valve-controlled cylinders by means of pressure-compensated directional control valves and counter-balance valves, supplied by a centralized hydraulic power unit). Due to the power on demand capability, the cancellation of the throttling losse…