Design, development and control of a new generation high performance linear actuator for parallel robots and other applications

The main focus of this research is to design and develop a high performance linear actuator based on a four bar mechanism. The present work includes the detailed analysis (kinematics and dynamics), design, implementation and experimental validation of the newly designed actuator. High performance is characterized by the acceleration of the actuator end effector. The principle of the newly designed actuator is to network the four bar rhombus configuration (where some bars are extended to form an X shape) to attain high acceleration. Firstly, a detailed kinematic analysis of the actuator is presented and kinematic performance is evaluated through MATLAB simulations. A dynamic equation of the actuator is achieved by using the Lagrangian dynamic formulation. A SIMULINK control model of the actuator is developed using the dynamic equation. In addition, Bond Graph methodology is presented for the dynamic simulation. The Bond Graph model comprises individual component modeling of the actuator along with control. Required torque was simulated using the Bond Graph model. Results indicate that, high acceleration (around 20g) can be achieved with modest (3 N-m or less) torque input. A practical prototype of the actuator is designed using SOLIDWORKS and then produced to verify the proof of concept. The design goal was to achieve the peak acceleration of more than 10g at the middle point of the travel length, when the end effector travels the stroke length (around 1 m). The actuator is primarily designed to operate in standalone condition and later to use it in the 3RPR parallel robot. A DC motor is used to operate the actuator. A quadrature encoder is attached with the DC motor to control the end effector. The associated control scheme of the actuator is analyzed and integrated with the physical prototype. From standalone experimentation of the actuator, around 17g acceleration was achieved by the end effector (stroke length was 0.2m to 0.78m). Results indicate that the developed dynamic model results are in good agreement. Finally, a Design of Experiment (DOE) based statistical approach is also introduced to identify the parametric combination that yields the greatest performance. Data are collected by using the Bond Graph model. This approach is helpful in designing the actuator without much complexity.

Supplementary Eye Fields

The supplementary eye fields (SEFs) are located in dorsomedial frontal cortex and contribute to high-level control of eye movements. Recordings in the SEF reveal neural activity related to vision, saccades, and fixations, and electrical stimulation in the SEF evokes saccades and fixations. Inactivations and lesions of the SEF, however, cause minimal oculomotor deficits. The SEF thus processes information relevant to eye movements and influences critical oculomotor centers but seems unnecessary for generating action. Instead, the SEF has overarching, subtle functions that include limb-eye coordination, the timing and sequencing of actions, learning, monitoring conflict, prediction, supervising behavior, value-based decision making, and the monitoring of decisions.

Supplementary Eye Fields

The supplementary eye fields (SEFs) are located in dorsomedial frontal cortex and contribute to high-level control of eye movements. Recordings in the SEF reveal neural activity related to vision, saccades, and fixations, and electrical stimulation in the SEF evokes saccades and fixations. Inactivations and lesions of the SEF, however, cause minimal oculomotor deficits. The SEF thus processes information relevant to eye movements and influences critical oculomotor centers but seems unnecessary for generating action. Instead, the SEF has overarching, subtle functions that include limb-eye coordination, the timing and sequencing of actions, learning, monitoring conflict, prediction, supervising behavior, value-based decision making, and the monitoring of decisions.

Descending Control of Limb Movements in Drosophila melanogaster

Because the interactions between feedforward influences are inextricably linked during many motor outputs (including but not limited to walking), the contribution of descending inputs to the generation of movements is difficult to study. Here we take advantage of the relatively small number of descending neurons (DNs) in the Drosophila melanogaster model system. We first characterize the number and distribution of the DN populations, then present a novel load free preparation, which enables the study of descending control on limb movements in a context where sensory feedback can be is reduced while leaving the nervous system, musculature, and cuticle of the animal relatively intact. Lastly we use in-vivo whole cell patch clamp electrophysiology to characterize the role of individual DNs in response to specific sensory stimuli and in relationship to movement. We find that there are approximately 1100 DNs in Drosophila that are distributed across six clusters. Input from these DNs is not necessary for coordinated motor activity, which can be generated by the thoracic ganglion, but is necessary for the specific combinations of joint movements typically observed in walking. Lastly, we identify a particular cluster of DNs that are tuned to sensory stimuli and innervate the leg neuromeres. We propose that a multi-layered interaction between these DNs, other DNs, and motor circuits in the thoracic ganglia enable the diverse but well-coordinated range of motor outputs an animal might exhibit.

Age control points and sedimentation rates of ODP Hole 145-887B (Table 1)

Hole 887B of the Ocean Drilling Program (ODP) comprises a 44 m (750 kyr) long continuous section recovered from the Patton-Murray Rise, an elevated plateau that is largely isolated from turbidite deposition. The Patton-Murray area is centered under the Alaska Gyre, a region characterized by the domal upwelling of nutrient-rich waters. Marked increases in productivity and rapid settling of biogenic matter are suggested throughout the section by the episodic accumulation of diatomaceous oozes up to ~1 m thick that are accompanied by barium enrichments. Significant delta13Corg maxima in the major diatomaceous bands suggest that mixedlayer [CO2(aq)] may have been drawn down significantly during some of the productivity events. The episodes of enhanced productivity at Site 887 occur synchronously with short-lived minima in planktonic foram delta18O, suggesting a direct link to low salinity, or less likely, warming, events in the Gulf of Alaska. There is no obvious explanation for the events, but they may be related to seasonal incursions of meltwater from Alaska. We speculate that episodic input of meltwater- or dust-borne iron from Asian or Alaskan sources may have promoted the extraordinary diatom production events recorded in the sedimentary record.

Inhibitory Control is a Rate-Limiting Factor to Preschoolers' Use of Irregular Inflection

We investigated whether children’s inhibitory control is associated with their ability to produce irregular verb forms as well as learn from corrective feedback following their use of an over-regularized form. Forty-eight 3.5 to 4.5 year old children were tested on the irregular past tense and provided with adult corrective input via models of correct use or recasts of errors following ungrammatical responses. Inhibitory control was assessed with a three-item battery of tasks that required suppressing a prepotent response in favor of a non-canonical one. Results showed that inhibitory control was predictive of children’s initial production of irregular forms and not associated with their post-feedback production of irregulars. These findings show that children’s executive functioning skills may be a rate-limiting factor on their ability to produce correct forms, but might not interact with their ability to learn from input in this domain. Findings are discussed in terms of current theories of past-tense acquisition and learning from input more broadly.

Distributed Extremum-Seeking Control with Applications to High-Altitude Balloons

The real-time optimization of large-scale systems is a difficult problem due to the need for complex models involving uncertain parameters and the high computational cost of solving such problems by a decentralized approach. Extremum-seeking control (ESC) is a model-free real-time optimization technique which can estimate unknown parameters and can optimize nonlinear time-varying systems using only a measurement of the cost function to be minimized. In this thesis, we develop a distributed version of extremum-seeking control which allows large-scale systems to be optimized without models and with minimal computing power. First, we develop a continuous-time distributed extremum-seeking controller. It has three main components: consensus, parameter estimation, and optimization. The consensus provides each local controller with an estimate of the cost to be minimized, allowing them to coordinate their actions. Using this cost estimate, parameters for a local input-output model are estimated, and the cost is minimized by following a gradient descent based on the estimate of the gradient. Next, a similar distributed extremum-seeking controller is developed in discrete-time. Finally, we consider an interesting application of distributed ESC: formation control of high-altitude balloons for high-speed wireless internet. These balloons must be steered into a favourable formation where they are spread out over the Earth and provide coverage to the entire planet. Distributed ESC is applied to this problem, and is shown to be effective for a system of 1200 ballons subjected to realistic wind currents. The approach does not require a wind model and uses a cost function based on a Voronoi partition of the sphere. Distributed ESC is able to steer balloons from a few initial launch sites into a formation which provides coverage to the entire Earth and can maintain a similar formation as the balloons move with the wind around the Earth.

Application of multivariable control using artificial neural networks in a debutanizer distillation column

LOPES, Jose Soares Batista et al. Application of multivariable control using artificial neural networks in a debutanizer distillation column.In: INTERNATIONAL CONGRESS OF MECHANICAL ENGINEERING - COBEM, 19, 5-9 nov. 2007, Brasilia. Anais... Brasilia, 2007

Modeling and control algorithms for product phasing using smart belts

Nella seguente tesi è descritto il principio di sviluppo di una macchina industriale di alimentazione. Il suddetto sistema dovrà essere installato fra due macchine industriali. L’apparato dovrà mettere al passo e sincronizzare con la macchina a valle i prodotti che arriveranno in input. La macchina ordina gli oggetti usando una serie di nastri trasportatori a velocità regolabile.
Lo sviluppo è stato effettuato al Laboratorio Liam dopo la richiesta dell’azienda Sitma. Sitma produceva già un tipo di sistema come quello descritto in questa tesi. Il deisderio di Sitma è quindi quello di modernizzare la precedente applicazione poiché il dispositivo che le permetteva di effettuare la messa al passo di prodotti era un PLC Siemens che non è più commercializzato. La tesi verterà sullo studio dell’applicazione e la modellazione tramite Matlab-Simulink per poi proseguire ad una applicazione, seppure non risolutiva, in TwinCAT 3.

Application of multivariable control using artificial neural networks in a debutanizer distillation column

LOPES, Jose Soares Batista et al. Application of multivariable control using artificial neural networks in a debutanizer distillation column.In: INTERNATIONAL CONGRESS OF MECHANICAL ENGINEERING - COBEM, 19, 5-9 nov. 2007, Brasilia. Anais... Brasilia, 2007

Quantum Gate and Quantum State Preparation through Neighboring Optimal Control

Successful implementation of fault-tolerant quantum computation on a system of qubits places severe demands on the hardware used to control the many-qubit state. It is known that an accuracy threshold Pa exists for any quantum gate that is to be used for such a computation to be able to continue for an unlimited number of steps. Specifically, the error probability Pe for such a gate must fall below the accuracy threshold: Pe < Pa. Estimates of Pa vary widely, though Pa ∼ 10−4 has emerged as a challenging target for hardware designers. I present a theoretical framework based on neighboring optimal control that takes as input a good quantum gate and returns a new gate with better performance. I illustrate this approach by applying it to a universal set of quantum gates produced using non-adiabatic rapid passage. Performance improvements are substantial comparing to the original (unimproved) gates, both for ideal and non-ideal controls. Under suitable conditions detailed below, all gate error probabilities fall by 1 to 4 orders of magnitude below the target threshold of 10−4. After applying the neighboring optimal control theory to improve the performance of quantum gates in a universal set, I further apply the general control theory in a two-step procedure for fault-tolerant logical state preparation, and I illustrate this procedure by preparing a logical Bell state fault-tolerantly. The two-step preparation procedure is as follow: Step 1 provides a one-shot procedure using neighboring optimal control theory to prepare a physical qubit state which is a high-fidelity approximation to the Bell state |β01⟩ = 1/√2(|01⟩ + |10⟩). I show that for ideal (non-ideal) control, an approximate |β01⟩ state could be prepared with error probability ϵ ∼ 10−6 (10−5) with one-shot local operations. Step 2 then takes a block of p pairs of physical qubits, each prepared in |β01⟩ state using Step 1, and fault-tolerantly prepares the logical Bell state for the C4 quantum error detection code.