Page 61 - ASME DSCC 2015 Program

Technical Program

Inertia Driven Controlled Passive Actuation
ConTRIBuTED SESSIon
1-18-1 TP4 Sensors and Actuators Contributed regular paper. DSCC2015-9786
Geroge Bellows f 4:00pm–6:00pm Douwe Dresscher, Theo J.A. de Vries, Stefano Stramigioli, University of
Twente, Enschede, Netherlands
Session Chair: Reza Tafreshi, Texas A&M University at Qatar
A serious problem with using electrical actuators in legged locomotion is the
Session Co-Chair: Edmond Richer, Southern Methodist University
significant energy loss. For this reason, we propose and analyse an alter-
native means of actuation: Controlled Passive Actuation. Controlled Passive
Sensor Signal limitations in Wheel Rotational Kinematics Estimation
Actuation aims at reducing the energy flow through electric actuators by
Model
actuating with a combination of an energy storage element and a Continu-
Contributed regular paper. DSCC2015-9769
ously Variable Transmission.
Jesse Paldan, University of Alabama at Birmingham, Birmingham, AL,
United States, Jeremy Gray, TARDEC, Clarkston, MI, United States, In this work, we present a method where we apply a Continuously Variable
Vladimir Vantsevich, University of Alabama at Birmingham, Hoover, AL, Transmission with a storage element in the form of a mass to change the
United States state of an other mass (``the load’’). An abstraction layer is created to
abstract the inertia-driven Controlled Passive Actuation to a source of
Wheel encoders play an important role in providing information about
effort, a force actuator. On this abstracted system, feedback control can
rotational kinematics of vehicle wheels. The sensor signals are utilized in
be applied to achieve control goals.
critical vehicle systems responsible for vehicle safety, traction and braking
With simulations and experiments, we show that inertia-driven Controlled
performance, and stability of motion. This paper starts with an analysis of
Passive Actuation can be used to control the state of an (inertial) load. The
different types of sensors that have been used in rotational wheel
experimental results show that the performance of the system is affected by
kinematics estimations and controls. The main attention is given to sensor
the internal dynamics and limited rate of change of the transmission ratio of
signal limitations related to the accuracy of measurement and response
the Continuously Variable Transmission.
time that are important for agile-to-real-time tire dynamics estimation.
A detailed analysis of the wheel rotational velocity estimation process is Active Sensing of Distributed Parameter Structures Enhanced by
presented for a conventional Hall Effect digital sensor. Through an Robust Consensus observer
analytical modelling, it is shown that this sensor can limit its accuracy due Contributed regular paper. DSCC2015-9793
to an increased time for signal information assembly caused by the Ehsan omidi, nima Mahmoodi, The University of Alabama, Tuscaloosa, AL,
number of impulses and transient (unsteady) rotational motion in unstable United States
road conditions.
A robust consensus observer is described in this paper for state estimation
A new concept of a rotational kinematics sensor is proposed and modeled
in active distributed parameter structures. To this end, a distributed parame-
as a multi-domain mechatronic system that includes new mechanical ele-
ter flexible structure is enhanced by piezoelectric layers to acquire position
ments as well as electrical and magnetic components. The sensor concept
data in a sensor network with certain directed topology. A decentralized
provides a smooth continuous signal through the full rotational angle of the
observer dynamics is designed to enforce consensus between the estimat-
wheel and precise information about the rotational velocity and its chang-
ed states by each sensor agent. The designed consensus estimator is then
es in different unstable road conditions. Computational examples of both
optimized using an Algebraic Riccati Equation. The robustness problem is
sensors (digital and proposed) are demonstrated with the use of a quar-
addressed using H-infinity performance constraints. The consensus state
ter-car model moving over a random road profile in stochastic gripping and
estimator is then numerically investigated to further support the theoretical
rolling resistance conditions. A comparison of the two sensors’ accuracy to
expectations, where a sensor network of four agents is used over a flexible
estimate the rotational velocity of the wheel is done with regard to an ‘ideal’
clamped-clamped beam. The optimal and robust systems are simulated and
sensor with a unity transfer function.
the results are illustrated and discussed. The robust consensus observer
successfully estimates the states of the system in existence of measurement
disturbances and in finite time, which makes the robust designed scheme
practical for numerous applications.
Coordinated Rate Control of a Hydraulic Excavator using Traditional
Joystick Hardware
Contributed regular paper. DSCC2015-9923
Samuel Seifert, Wayne J. Book, Georgia Institute of Technology, Atlanta,
GA, United States
This paper presents a novel user interface (UI) for coordinated rate control
(CRC) of an excavator end effector using traditional hardware. Coordinated
control of an excavator end effector alleviates the cognitive load created by
nonlinear arm dynamics on the excavator operator, allowing the operator to
perform tasks more quickly and with fewer errors. A human subject experi-
ment demonstrates the feasibility of excavator CRC using the traditional twin
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joystick setup, and compares operator performance between a CRC UI and
traditional excavator UI. Performance of the CRC UI was statically equivalent