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RISA Hybrid Haptic Sensation for Teleoperation of Hydraulic Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a control scheme is designed for stable haptic teleoperation of hydraulic manipulators. The controller results in a stable position tracking for the hydraulic actuator (slave) in both unconstrained and ...
Controller Design and Stability Analysis of Output Pressure Regulation in Electrohydrostatic Actuators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a robust fixed-gain linear output pressure controller is designed for a double-rod electrohydrostatic actuator using quantitative feedback theory (QFT). First, the family of frequency responses of the system ...
Optimization-Driven Controller Design for a High-Performance Electro-Hydrostatic Asymmetric Actuator Operating in All Quadrants
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents an optimization-driven controller design for smooth and accurate position control of a single-rod electrohydrostatic actuator. The design approach uses logically guided iterative runs of the electrohydrostatic ...
The Cavitation Issue in Asymmetrical Axial-Piston Pumps
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Pump-controlled single-rod hydraulic actuators have long been the subject of intensive research toward building valve-less, more efficient systems. The main challenge is to deal with the uneven flows into and out of the ...
Fault-Tolerant Actuating Pressure Controller Design for an Electrohydrostatic Actuator Experiencing a Leaky Piston Seal
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Electrohydrostatic actuators (EHAs), as a class of pump-controlled hydraulic actuators, are known for energy efficiency and easy maintainability. Thus, they can be widely used in the situations where actuating pressure/force ...
A Practical Approach for Designing Fault-Tolerant Position Controllers in Hydraulic Actuators: Methodology and Experimental Validation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Design of fault-tolerant controllers (FTC) for hydraulic actuators is one of the challenges in the area of fluid power systems. In real applications, it is not possible to model or measure some faults accurately. For ...
Extended Thermal Model of a Hydraulic Piston Accumulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. Hydraulic piston accumulators are widely used for energy storage and shock absorption in a broad range of industrial applications. While simplified models are often sufficient for general dimensioning, detailed ...
A Lyapunov Stable Controller for Bilateral Haptic Teleoperation of Single-Rod Hydraulic Actuators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A Lyapunov stable control scheme is designed and implemented for bilateral haptic teleoperation of a single-rod hydraulic actuator. The proposed controller is capable of reducing position errors at master and slave sides, ...
A Lyapunov Stable Controller for Bilateral Haptic Teleoperation of Single-Rod Hydraulic Actuators Subjected to Base Disturbance
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a control scheme is developed and evaluated for stable bilateral haptic teleoperation of a single-rod hydraulic actuator subjected to base disturbance. The proposed controller, based on Lyapunov stability ...
The Effects of Aging and Dual Tasking on Human Gait Complexity During Treadmill Walking: A Comparative Study Using Quantized Dynamical Entropy and Sample Entropy
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Quantized dynamical entropy (QDE) has recently been proposed as a new measure to quantify the complexity of dynamical systems with the purpose of offering a better computational efficiency. This paper further investigates ...