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Articles 1 - 10 of 10
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Robust Pi Controller Design Satisfying Sensitivity And Uncertainty Specifications, O. Yaniv, Mark L. Nagurka
Robust Pi Controller Design Satisfying Sensitivity And Uncertainty Specifications, O. Yaniv, Mark L. Nagurka
Mechanical Engineering Faculty Research and Publications
This paper presents a control design method for determining proportional-integral-type controllers satisfying specifications on gain margin, phase margin, and an upper bound on the (complementary) sensitivity for a finite set of plants. The approach can be applied to plants that are stable or unstable, plants given by a model or measured data, and plants of any order, including plants with delays. The algorithm is efficient and fast, and as such can be used in near real-time to determine controller parameters (for online modification of the plant model including its uncertainty and/or the specifications). The method gives an optimal controller for …
Sufficient Conditions For Admittance To Ensure Planar Force-Assembly In Multi-Point Frictionless Contact, Shuguang Huang, Joseph M. Schimmels
Sufficient Conditions For Admittance To Ensure Planar Force-Assembly In Multi-Point Frictionless Contact, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
An important issue in the development of force guidance assembly strategies is the specification of an appropriate admittance control law. This paper identifies procedures for selecting the appropriate admittance to achieve reliable planar force-guided assembly for multi-point contact cases. Conditions that restrict the admittance behavior for each of the various types of two-point contact are presented. These conditions ensure that the motion that results from contact reduces part misalignment for each case. We show that, for bounded misalignments, if the conditions are satisfied for a finite number of contact configurations, the conditions ensure that force guidance is achieved for all …
Efficient Contact State Graph Generation For Assembly Applications, Feng Pan, Joseph M. Schimmels
Efficient Contact State Graph Generation For Assembly Applications, Feng Pan, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
An important aspect in the design of many automated assembly strategies is the ability to automatically generate the set of contact states that may occur during an assembly task. In this paper, we present an efficient means of constructing the set of all geometrically feasible contact states that may occur within a bounded set of misalignments (bounds determined by robot inaccuracy). This set is stored as a graph, referred to as an Assembly Contact State Graph (ACSG), which indicates neighbor relationships between feasible states. An ACSG is constructed without user intervention in two stages. In the first stage, all hypothetical …
Admittance Selection For Planar Force-Guided Assembly For Single-Point Contact With Friction, Shuguang Huang, Joseph M. Schimmels
Admittance Selection For Planar Force-Guided Assembly For Single-Point Contact With Friction, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
This paper identifies procedures for selecting the appropriate admittance to achieve reliable planar force-guided assembly for single-point frictional contact cases. A set of conditions that are imposed on the admittance matrix is presented. These conditions ensure that the motion that results from contact reduces part misalignment. We show that, for bounded misalignments, if an admittance satisfies the misalignment-reduction conditions at a finite number of contact configurations and a given coefficient of friction /spl mu//sub M/) then the admittance will also ensure that the conditions are satisfied at all intermediate configurations for all coefficients less than /spl mu//sub M/.
Business Case For Implementing Two Ergonomic Interventions At An Electric Power Utility, Patricia Seeley, Richard W. Marklin
Business Case For Implementing Two Ergonomic Interventions At An Electric Power Utility, Patricia Seeley, Richard W. Marklin
Mechanical Engineering Faculty Research and Publications
Ergonomics analysis of line workers in the electric power industry who work overhead on utility poles revealed some tasks for which less than 1% of the general population had sufficient strength to perform. During a 2-year study, a large Midwestern US electric utility provided a university with a team of represented workers and management. They evaluated, recommended, and monitored interventions for 32 common line worker tasks that were rated at medium to high magnitude of risk factors for musculoskeletal disorders (MSDs). Two of the recommended ergonomic interventions—the battery-operated press and cutter—were selected by the team as having the greatest potential …
Sufficient Conditions Used In Admittance Selection For Force-Guided Assembly Of Polygonal Parts, Shuguang Huang, Joseph M. Schimmels
Sufficient Conditions Used In Admittance Selection For Force-Guided Assembly Of Polygonal Parts, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
Admittance control approaches show significant promise in providing reliable force-guided assembly. An important issue in the development of these approaches is the specification of an appropriate admittance control law. This paper identifies procedures for selecting the appropriate admittance to achieve reliable force-guided assembly of planar polyhedral parts for single-point contact cases. A set of conditions that are imposed on the admittance matrix is presented. These conditions ensure that the motion that results from contact reduces part misalignment. We show that, for bounded misalignments, if an admittance satisfies the misalignment-reduction conditions at a finite number of contact configurations, then the admittance …
Robust Pi Controller Design Satisfying Gain And Phase Margin Constraints, Mark L. Nagurka, O. Yaniv
Robust Pi Controller Design Satisfying Gain And Phase Margin Constraints, Mark L. Nagurka, O. Yaniv
Mechanical Engineering Faculty Research and Publications
This paper presents a control design algorithm for determining PI-type controllers satisfying specifications on gain margin, phase margin, and an upper bound on the (complementary) sensitivity for a finite set of plants. Important properties of the algorithm are: (i) it can be applied to plants of any order including plants with delay, unstable plants, and plants given by measured data, (ii) it is efficient and fast, and as such can be used in near real-time to determine controller parameters (for on-line modification of the plant model including its uncertainty and/or the specifications), (iii) it can be used to identify the …
Design Of Predictive Controllers By Dynamic Programming And Neural Networks, Chen-Wen Yen, Mark L. Nagurka
Design Of Predictive Controllers By Dynamic Programming And Neural Networks, Chen-Wen Yen, Mark L. Nagurka
Mechanical Engineering Faculty Research and Publications
This paper proposes a method for the design of predictive controllers for nonlinear systems. The method consists of two phases, a solution phase and a learning phase. In the solution phase, dynamic programming is applied to obtain a closed-loop control law. In the learning phase, neural networks are used to simulate the control law. This phase overcomes the "curse of dimensionality" problem that has often hindered the implementation of control laws generated by dynamic programming. Experimental results demonstrate the effectiveness of the method
A Thermal Time-Constant Experiment, Kyle Ressler, Kyle Brucker, Mark L. Nagurka
A Thermal Time-Constant Experiment, Kyle Ressler, Kyle Brucker, Mark L. Nagurka
Mechanical Engineering Faculty Research and Publications
A simple experiment, well suited for an undergraduate course in mechatronics, is described in which thermal time-constant information is extracted from a heater-blower table-top system. In the experiment, a thermistor measures the temperature of a resistive-heater that is cooled by a blower and a microcontroller is used for data acquisition. The student is asked to determine the thermal time response, and in particular the thermal time-constant of the system, for different blower speeds. The experiment prompts questions about modeling a thermal system, and exposes the student to basic concepts of mechatronics including measurement and data analysis.
Aerodynamic Effects In A Dropped Ping-Pong Ball Experiment, Mark L. Nagurka
Aerodynamic Effects In A Dropped Ping-Pong Ball Experiment, Mark L. Nagurka
Mechanical Engineering Faculty Research and Publications
This paper addresses aerodynamic modeling issues related to a simple experiment in which a pingpong ball is dropped from rest onto a table surface. From the times between the ball-table impacts, the initial drop height and the coefficient of restitution can be determined using a model that neglects aerodynamic drag. The experiment prompts questions about modeling the dynamics of a simple impact problem, including the importance of accounting for aerodynamic effects. Two nonlinear aerodynamic models are discussed in the context of experimental results.