To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless manufacturing. For achieving this goal, past work has concentrated on force control algorithms at the system level with limited focus on performance expansion at the a...

abstract: this paper presents dynamic modelling and control of a linear prismatic series of elastic actuator. the capability of generating large torques is why this actuator is increasingly used in human-assistive robotic systems. due to having human in the loop, the actuator requires precise control. a fractional pid controller known for its improved performance is used for the control, due to...

Authors’ addresses: G. Kurz, I. Gilitschenski, and U. Hanebeck, Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Germany (e-mail: fgerhard.kurz, [email protected], [email protected]); S. Julier, Virtual Environments and Computer Graphics Group, Department of Computer Science, University College Lo...

The technique used to control the airflow is based on the electro-hydrodynamic actuator which is also called plasma actuator. This actuator ensures the airflow control thanks to the electric wind created by the electrical corona discharge. This ionic wind is developed at the profile surface tangential to the initial free airflow so that it has a significant effect on the boundary layer flow. Th...

Research and development on actuators has been accelerated with the aid of virtual prototyping software, like ANSYS. This is illustrated with two successful cases using ANSYS to design and optimize micro-electromechanical actuators. The first case is topology optimization of head suspension assembly for hard disk drive. The second case is design optimization of polymeric thermal micro-actuator....

The use of a virtual architecture in wireless sensor networks provides a powerful and fast partitioning into a set of clusters, each being locatable in space by the sink or base station (BS for short). We first propose a protocol for the detection of empty clusters due to poor distribution of sensors or in low-density network. After this detection, we propose a strategy to allow mobile sensors ...

In the last few years, a paradigm shift has been identified, from Complex Adaptive Systems towards Internet of Things and Cyber-Physical Systems of Systems. Systems that can integrate physical with virtual environments are creating complex systems. By connecting sensor data, actuator systems within a virtual environment information analysis is enhanced. The focus of the present paper is to disc...

The context of this paper is the design of a kinesthetic interface to virtual environments. Several kinesthetic interfaces have previously been developed. Minsky[ 15lhas developed a device for creating “virtual sandpaper”. A powered joystick interfaced to a real-time computer simulation allows the user to “feel” textured surfaces. The simulation implements textures as a mapping from joystick po...