12:30―12:50
Roberto Oboe, Università di Padova, Italy
In this paper we describe the use of MEMS based accelerometers for the compensation of the effects of self-induced and external vibrations in commercial Hard Disk Drives (HDDs). Using a formal analysis on the HDD mechanics, the effects of a generic roto-translation of the HDD on the head position are evaluated. It is also shown that such effects can be compensated by using a feed forward compensation which makes use of a weighted sum of the signals provided by a pair of linear and one rotational accelerometer, properly placed on the HDD's body. As for the rotational acceleration, this has been obtained by using a recently developed MEMS-based, low cost rotational accelerometer. Experimental results presented here show that a 20 dB reduction on a commercial HDD can be achieved with a simple, variable gain feedforward compensator. Effective reduction is achieved … | An Integrated Studio Approach to Teaching Basic Electronics to First Year Mechatronics Degree Students
Robin Sarah Bradbeer, City University of Hong Kong, PRC
The introduction of studio teaching at City University of Hong Kong allowed for a comparative study of the benefits of this form of teaching. A four-year longitudinal study was carried out using the Introductory Electronics courses designed for First Year Mechatronic Engineering degree students. A similar group in the same department studying Manufacturing Engineering was used as a control. It has been shown during preliminary analysis of the data that students using the teaching studio approach acquire a deeper understanding of the subject as well as achieving better grades than those students using the more traditional approaches. | 12:50―13:10 |
Roberto Oboe, Alessandro Beghi, Paolo Capretta, Università di Padova, Francesco Chrappan Soldavini, STMicroelectronics, Italy
In this paper we describe a simulator for the evaluation of the performance of different control algorithms and strategies, applied to Hard Disk Drives (HDD) with Single Stage (SSA) and Dual Stage Actuators (DSA). In order to perform realistic simulations, each part of the HDD must be described with high level of detail. As for the mechanics, the usual inertia plus resonance model of the Voice Coil Motor (VCM) has been enriched with non-linear friction modeling and, in case of DSA, with the dynamic coupling between primary and secondary actuator. The non-linear friction model has been tuned on experimental data, using an experimental system presented in the paper. As for the electronics, the VCM driver model is included and quantizations in Position Error Signal (PES) measurement and computation …
| W3A | Robotic Manipulation in Space | Human―Machine Interfaces II | W3B | SALA PLATEA | 15:30―16:50 | | Steven Dubowsky, USA | CHAIR | Tzyh-Jong Tarn, USA | Véronique Perdereau, France | CO-CHAIR | Dong-Soo Kwon, Korea | Space Robotics — Driver for a New Mechatronic Generation of Light-Weight Armas and Multifingered Hands
G. Hirzinger, J. Butterfaβ, M. Grebenstein, M. Hähnle, I. Schäfer, N. Sporer, DLR, Germany
Based on the longterm goal «robonauts for space» the paper describes recent design and development efforts in DLR`s robotics lab towards a new generation of «mechatronic» ultra-light weight robots with articulated hands. The design of fully sensorized joints with complete state feedback and the underlying mechanisms are outlined. The second light-weight arm generation is available now; in the same way the second generation a most highly integrated 4 finger-hand is near completion. Thus it is hoped that big steps towards a new generation of space as well as service and personal robots have been achieved.
| 15:30―15:50 | Obstacle Avoidance Methods for a Passive Haptic Display
Davin K. Swanson, Wayne J. Book, Georgia Institute of Technology, USA
An existing two degree-of-freedom passive haptic display is used to perform obstacle avoidance tasks. Two types of controllers are examined. One attempts to control the velocity direction of the display's handle in order to guide the user around obstacles. The other controller selectively kinematically constrains the device to a single degree of freedom. The inherent passivity constraint of the haptic display imposes performance limitations on the two controllers.
| Fuzzy and Optimal Control of Two-Link Flexible Manipulator
Anthony Green, Jurek Z. Sasiadek, Carleton University, Canada
A Linear quadratic Gaussian (LQG) strategy control a two-link flexible robot manipulator tracking a two-dimensional square trajectory 12.6m x 12.6m. Slew angles together with Gaussian white process and white or non-white measurement noise are fed into an LQG regulator (Kalman filter). The FLC strategy incorporates two fuzzy controllers substituted for the LQR state-space dynamics equations. Trajectories were obtained for the LQG strategy with Gaussian white and non-white measurement noise. The trajectory obtained for white measurement noise closely approaches a perfect square while those obtained for non-white measurement noise deviate. The trajectory obtained with the FLC strategy is similar to that for LQG with white measurement noise. Fuzzy control is found to provide robustness in operation and be constructed with less mathematical complexity than LQG. The deviation … | |
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