Current Issue : July-September Volume : 2023 Issue Number : 3 Articles : 5 Articles
The deployment of electro-mechanical actuators plays an important role towards the adoption of the more electric aircraft (MEA) philosophy. On the other hand, a seamless substitution of EMAs, in place of more traditional hydraulic solutions, is still set back, due to the shortage of real-life and reliability data regarding their failure modes. One way to work around this problem is providing a capillary EMA prognostics and health management (PHM) system capable of recognizing failures before they actually undermine the ability of the safety-critical system to perform its functions. The aim of this work is the development of a model-based prognostic framework for PMSM-based EMAs leveraging a metaheuristic algorithm: the evolutionary (differential evolution (DE)) and swarm intelligence (particle swarm (PSO), grey wolf (GWO)) methods are considered. Several failures (dry friction, backlash, short circuit, eccentricity, and proportional gain) are simulated by a reference model, and then detected and identified by the envisioned prognostic method, which employs a low fidelity monitoring model. The paper findings are analysed, showing good results and proving that this strategy could be executed and integrated in more complex routines, supporting EMAs adoption, with positive impacts on system safety and reliability in the aerospace and industrial field....
Joint stiffness of an elastic-joint robot can be changed according to joint stiffness requirements. A series elastic actuator (SEA) can reduce the contact stiffness between the body and the environment or human, which can further ensure interactive operation in a human–machine-compatible environment. However, the introduction of the SEA improves the complexity of the robot dynamics model. In this paper, we propose a control schema based on link-side acceleration measurement to eliminate the overshoot and vibration in the transient process of force control. An extended Kalman filter (EKF) algorithm that fuses photoelectric encoders and accelerometers is first presented based on the link-side acceleration measurement. Following this, based on the external torque estimation, the vibration reduction control algorithm is designed. The simulation model is built, and the algorithm design and simulation of position control and force control are carried out and finally tested on the real robot platform. The effectiveness of the control algorithm is proved. The experimental results show that the dynamic response of the external force estimation is about 2 ms faster than that of the force sensor, and the error between the estimated external torque and the real external torque is within ±0.16 N·m....
The design of sensor fault detection and isolation (FDI) systems has been studied widely by several authors of different fields of science (engineering, mathematics, physics) to ensure the continuous operation of systems or processes. This research presents the design and evaluation of a fault detection and isolation (FDI) system based on discrete fractional-orderhigh-gain observers (DFOHGO) for the outlet temperature sensors of a heat exchanger. The formulation of the discrete fractional-order observers is based on the Gr¨unwald–Letnikov fractional-order derivative. The FDI system is based on a bank of two DFOHGOs to carry out a residual evaluation. The obtained results showed that the DFOHGOs provide accurate estimations of the temperatures. This allows switching the faulty sensor signal to the temperature estimations provided by the DFOHGOs when a fault occurs....
In order to provide convenience for rehabilitation doctors to formulate rehabilitation plans for patients, this paper proposes a training method for exercise rehabilitation robots based on sensors. In this research, the customized wearable sensor and universal mobile terminal are used as the hardware. Based on the sensor, the motion capture algorithm and motion reconstruction algorithm are developed. The table of experimental results shows that the cost can be saved by using the sensor, and the data can be captured accurately, which can meet the needs of rehabilitation medicine for motor function evaluation and training guidance. The range of motion of the joint and the manual measurement value are within 5°, which can meet the needs of rehabilitation medicine for motor function evaluation and training guidance. The system delay is less than 0.5 s, which has good real-time performance and can respond quickly to emergencies, ensuring the safety of patients’ out-of-hospital rehabilitation. The training method of motion rehabilitation robot based on sensor is helpful for rehabilitation doctors to carry out statistical data of functional evaluation and is of great significance for rehabilitation doctors to make training plans for patients and carry out rehabilitation training....
A vibration sensing system with optical fiber speckles is demonstrated and optimized with different optical fiber diameters and speckle statistical algorithms. The types of fiber diameter and material lead to a different performance of fiber specklegram sensor (FSS), which has been experimentally explored. The signal intensity, demodulated from the speckles, is different when using multimode fibers with different diameters. At the same time, the sensing effect of different fibers depends on the speckle statistical algorithms. Accordingly, we use different statistical methods in theory and experiment to analyze the influence of fiber diameter and speckle statistical methods on the sensing performance. A vibration sensing system with optimized performance is achieved by the optimized types of optical fiber and the corresponding optimized algorithms, which are promising for sensing weak vibration, such as detecting....
Loading....