Ocean wave is one of the renewable energy resources that these days various devices are used to extract its energy. Oscillating Water Column (OWC) installed on the shore is one of the wave energy absorption systems which has received attention due to its simple structure. Investigation of the pneumatic power is of great importance in such systems as the conversion of wave energy to pneumatic en...

In this paper a servomechanism vision control system, based on hand language, is presented. The control images are acquired by a generic webcam and processed, in the working phase, in quasi real time. For this processing, two approaches were considered: in the first one, we used the object control moments to identify the desired order; in the second approach, we used image control orientation h...

The use of material transfer units constructed from AGVs and robot manipulators is becoming popular in production lines with small production volumes and periods. This new material transfer unit is also called a mobile robot, which can quickly adapt to the change of the factory loyout. A mobile robot is sufficiently mobile that it can very flexibly perform tasks in the production line. A guidan...

New pneumatic actuators developed in the author's laboratory will be presented with their applications to new mechatronics. Examples of them are a pneumatic rubber actuator for compliant robots, a micro pneumatic tube actuator assisting the colonscope insertion, a pneumatic stepping motor with high torque and resolution, a pneumatic drive bicycle, an intelligent pneumatic cylinder which has enc...

A model of the servomechanism used for high-powered actuators in mechanical systems consists of a position feedback loop around the cascade connection of a memoryless saturation function with an integrator with a large time constant. The saturation function in the servomechanism has a linear high gain characteristics for a small input and so the equivalent time constant of the actuator servomec...

In the paper, a low friction pneumatic cylinder and a sliding table, and both of them are embedded with aerostatic bearings are designed. A low friction pneumatic table is constructed by combining the pneumatic cylinder and the sliding table. The characteristics for the friction force versus velocity of the pneumatic cylinder and the pneumatic table are measured. Moreover, a hybrid self-tuning ...

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The performance of the pneumatic servo systems improved greatly as the pneumatic servo valves became commercially available in the late 1980s. At present, one of the best pneumatic servo valves has a dynamic response of 100 Hz and a spool position accuracy of 2% to the full stroke. By using these pneumatic servo valves, the precise position control by the pneumatic servo system has entered a pr...

In this article we consider the formation control problem of a system of M agents with general nonlinear dynamics. We show that the problem of the agents moving in a formation along constant or periodic trajectories can be formulated as a nonlinear output regulation (servomechanism) problem and solved using known techniques. Then, we consider the example of formation control of agents with poin...