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The manufacturing process for corrugated paper products is usually mass production and batch-by-batch production. Therefore, a high-speed mass production is required. Because the conveyer speed of the production line in a corrugated paper plant is very fast, unwanted material loss or even process interruption may occur during the cutting or clipping process if the corrugated paper on the conveyer is slanted. Hence, the paper alignment on a conveyer is important and necessary. In this study, we install photo-couples at both edges directly over the conveyer path to detect whether or not the corrugated paper is slanted from the number difference between non-activated photo-couples of the two edges. The deviated angle is calculated through a computer program using the detected information, and a servomotor-driven wheel aligns the paper in accordance with the calculated angle. This work reduces the material waste and promotes the production reliability and utility rate of the material for a corrugated paper plant. [ABSTRACT FROM AUTHOR]

The paper presents the essential theoretical elements related to the construction and operation of numerical control machines, starting from a study of the theoretical aspects related to the design of a CNC typewriter. The block diagrams of the machine, the interconnections between the component blocks and the operation of the whole system are highlighted. The paper also describes the implementation of the typewriter. It starts from a detailed diagram of the wiring and connections between the component elements, up to the presentation and commentary of how to create the program for the microcontroller used. Finally, the testing and operation of this CNC is detailed, from the design of the drawing to its actual realization, with the help of the designed and implemented assembly. CNC systems allow the repetitive production of the same parts, exactly the same and without deviations. Unlike a human operator who cannot execute two identical parts, the repeatability achieved by machines with numerical controls is clearly superior, so the reproducibility component is ensured. [ABSTRACT FROM AUTHOR]

Servo control systems are widespread used in modern industry as systems where the information processing and generation is primary instead of energy conversion. Their current evolution is remarkable both from technological and performances side. The aim of this paper is to demonstrate how can impact reconfigurable hardware technology (associated to last generation digital electronics) the design and implementation of modern servo systems. For this purpose a typical dc motor control application has been implemented upon a FPGA-based framework that embeds hardware reconfigurable technology. The physical implementation process has been completed then with last-generation software technologies application in order to enhance the achieved dynamic performances. The final result of the research and implementation efforts is a laboratory setup that exceeds with its versatility and flexibility. Exhibits modularized and compact hardware topology that may be easily reconfigured for a wide range of various servo control applications. Additionally, proves robustness and safety operation. The paper also unfolds the detailed design steps of the experimental test bench and presents precise measurement results. All these may be considered as a useful framework for future implementations of modern servo control systems.

This study focuses on active vibration control for a single-link composite box manipulator by using a single actuator for driving and control actions. Model extraction and system identification techniques are studied to obtain mathematical models of the manipulator. The state space model is extracted from the finite element model using modal analysis conducted in ANSYS, while the system identification approach is an experimental modeling method using the input and output signals of the system. The input signals are defined as triangular and trapezoidal motion profiles, while the output signals are the acceleration signals of the manipulator. Proportional derivative and positive position feedback controllers are implemented on the obtained mathematical models to reduce residual vibrations. The simulation results are successfully verified by experiments, and uncontrolled/controlled results are evaluated with reduction rates. [ABSTRACT FROM AUTHOR]

Chicken poultry business is becoming a crucial sector for sustainable food supply in the Philippines. To increase the health of chicken in coops and thus the output of chicken meat and eggs, several innovations and inventions have been made. The creation of an automated chicken feeding device might therefore be highly beneficial for the expansion of the poultry sector. This equipment may take the role of a worker in the chicken feeding process, introducing a semiautomatic procedure and thus solving the industry's labor shortage problem. The main processor of the automated chicken feeding system is a Raspberry Pi 3 Model B+. The machine consists of five main components: a Raspberry Pi with an amplifier that makes noise to draw the attention of free-range chicken; a Raspberry Pi with a pi camera that counts and detects the chickens; a Raspberry Pi with a servomotor that moves the food from storage to a container; a Raspberry Pi with a load cell that controls the number of feed to avoid food waste; and a Raspberry Pi with a temperature sensor that monitors the freshness of food. This enhances the coop's atmosphere while lowering labor costs, conserving food, and ensuring that the chicken are fed on time. [ABSTRACT FROM AUTHOR]

In this paper, two controller design techniques such as linear active disturbance rejection control (LADRC) and generalized active disturbance rejection control (GADRC) are proposed for solar tracker system. The merit of the proposed method is that there is no need of tuning of proportional-integral-derivative (PID) parameters which is normally done in existing PID controller design techniques. As, the soft computing PID-based techniques involve very large iterations, so they consume much time. Also, these techniques are computationally inefficient. Therefore, to get rid of the conventional PID controller design topology, the LADRC scheme is proposed, which requires very few information of the system and even then the performance of the controller is impressive. The performance of the controller is further improved via GADRC scheme by including complete information of the system. Next, the robustness of proposed methods is investigated by the presence of system parametric uncertainty. Further, the performance of the proposed controllers is checked under time delays. Simulation results reveal that the proposed methods exhibit superb capability of disturbance rejection, high robustness and excellent transient performance in the presence of time delay in comparison to numerous existing PID-based control techniques. [ABSTRACT FROM AUTHOR]

The objective of this paper is to develop the control system for driving a mobile robot using the Arduino board, controlled by an ESP 32 logic processor, named SPIDER4LEGS. In order to be used in the oil and gas industry, for example for the internal inspection of oil product transport pipelines, the four-legged spider type robot version was chosen, especially due to the special mobility it offers. The created control system must ensure the control of the movement of the kinematic couplings in the construction of the legs, the monitoring and maintenance of stability as well as the establishment of the optimal stepping sequences. The control system is simple and it use the Wi-Fi communication, because it is the best way to transfer data between the robot and the operator, offering a lot of advantages.

In this paper, various methods for synchronizing the position of tape materials during automatic assembly have been analyzed. Methods for ensuring a constant relative position of two materials have been considered. A mechatronic transport system has been proposed, containing a servomotor, a linear guide with a ball screw, a movable carriage, a servomotor rotation angle sensor, and a photoelectric sensor for marks printed with a certain step on one of the tapes. Methods and control algorithms for the created mechatronic transport system have been proposed and described, which make it possible to ensure high assembly quality and the required position of the assembly components relative to each other. Numerical simulation of the proposed algorithms showed their high reliability and adaptability. [ABSTRACT FROM AUTHOR]

Due to its advantages of having a high power-to-weight ratio and being energy-efficient, the electro-hydraulic servo pump control system (abbreviated as EHSPCS) is frequently employed in the industrial field, such as the electro-hydraulic servo pump control (EHSPC) servomotor for steam turbine valve regulation control. However, the EHSPCS has strong nonlinearity and time-varying features, and the factors that cause system performance degradation are complex. Once a system failure occurs, it may lead to serious accidents, causing serious casualties and economic losses. To address the above issues, a system health assessment method based on LSTM-GRNN-ANN (LGA) deep neural network is proposed in this paper. Firstly, with oil volume gas content, servo motor air-gap flux density, and system leakage coefficient as the health assessment performance indicators, a health assessment performance index system for the EHSPCS is built, Furthermore, the system performance index threshold is set. Secondly, an LGA deep neural network is constructed by combining LSTM, GRNN and ANN, and a deep neural network based on the LGA is used to create an EHSPCS health assessment model. Subsequently, system feature parameter extraction, algorithm design, and parameter debugging are carried out. Finally, an EHSPCS experimental platform is established, typical system failure simulation experiments are designed, and comparative experimental analysis is conducted. The experimental findings demonstrate that the average accuracy of the system health assessment model based on the LGA deep neural network suggested in this paper is 96.37%, compared to 89.84%, 87.99% for LSTM and GRNN, which validates the accuracy of the system health assessment model based on the LGA deep neural network.

The objective of this paper is to develop the control system for driving a mobile robot using the Arduino board, controlled by an ESP 32 logic processor, named SPIDER4LEGS. In order to be used in the oil and gas industry, for example for the internal inspection of oil product transport pipelines, the four-legged spider type robot version was chosen, especially due to the special mobility it offers. The created control system must ensure the control of the movement of the kinematic couplings in the construction of the legs, the monitoring and maintenance of stability as well as the establishment of the optimal stepping sequences. The control system is simple and it use the Wi-Fi communication, because it is the best way to transfer data between the robot and the operator, offering a lot of advantages. [ABSTRACT FROM AUTHOR]

This article is devoted to the research and development of intelligent object temperature control systems. We will consider the relevance of using such systems in modern industry, pose problems related to temperature control, propose solutions that include machine learning methods and optimization algorithms, and draw conclusions about the applicability of this approach.

The past two decades have witnessed the development of finite-time stabilization as a hot spot in control area. Using the technique of finite-time stabilization, control system or observer can be designed such that the system error or estimation error converges to zero in finite time. This property is valuable for mission-critical systems with stringent time specification. This paper takes the permanent magnet synchronous AC motor, which has been widely used in industrial servo systems, as the target system for control. In the field-oriented framework, position servo controllers are designed for motor position-speed loop, using a combination of finite-time control law and finite-time observer. Comparison will be made with a conventional controller which only achieves asymptotic convergence. An experimental test-bench is established using a TMS320F28335 digital signal processor, and experiment results are presented to verify the effectiveness of the designs. The comprehensive experiments is adopted in the undergraduate module of computer control system practice and the graduate modules of control engineering, which can help students appreciate the potential of advanced control techniques, and inspire on them the desire for creativity. [ABSTRACT FROM AUTHOR]

Although previous investigations reported a reduced sense of agency when individuals act with traditional machines, little is known about the mechanisms underpinning interactions with human-like automata. The aim of this study was twofold: (1) to investigate the effect of the machine's physical appearance on the individuals' sense of agency and (2) to explore the cognitive mechanisms underlying the individuals' sense of agency when they are engaged in a joint task. Twenty-eight participants performed a joint Simon task together with another human or an automated artificial system as a co-agent. The physical appearance of the automated artificial system was manipulated so that participants could cooperate either with a servomotor or a full humanoid robot during the joint task. Both participants' response times and temporal estimations of action-output delays (i.e., an implicit measure of agency) were collected. Results showed that participants' sense of agency for self- and other-generated actions sharply declined during interactions with the servomotor compared with the human–human interactions. Interestingly, participants' sense of agency for self- and other-generated actions was reinforced when participants interacted with the humanoid robot compared with the servomotor. These results are discussed further. [ABSTRACT FROM AUTHOR]

This article describes a method for the real-time monitoring of the current consumed by a Dynamixel MX 64 AT servomotor used in the actuation system of modular mobile robotic platforms having differential locomotion and conventional wheels. The data acquisition method is based on an Arduino Mega 2560 development board interfaced with Matlab Simulink and the ASC712-5A hall sensor for current detection. A Simulink model is presented that performs the detection of a sensor reference voltage, which needs to be calibrated for a correct reading of the current. Due to the low resolution of the analog-to-digital converter with which the Arduino Mega is equipped, current monitoring is difficult to achieve, having large fluctuations and a lower resolution than the current absorbed by the servomotor. The solution to this problem is achieved by implementing, in the hardware construction, an ADS115 conversion module with 16-bit resolution, which leads to an increase in the measurement range of the ASC712-5A sensor. The current acquisition model with the Hall sensor is experimentally validated using measurements on the physical model of the drive wheel. This article further deals with the CAD and digital block modeling of mobile platforms with four and two wheels. The dynamic model of the robot is created in the Simulink–Simscape–Multibody environment and is used to determine the servomotor torques when the robot is moving along the predefined path. The torque variations are entered as variables in the Simulink digital block model of the robot. The Simulink model is simulated when moving along a square path, which determines the variation in the current absorbed by the motors. Experimental validation of the model is carried out using measurements on the functional models that operate in real conditions. A power consumption method is further proposed. [ABSTRACT FROM AUTHOR]

The paper presents the design and implementation of a ball-onbeam system using a Mitsubishi industrial equipment. The system is implemented both mechanically and in simulations. An industrial servo motor with a servo drive ensures the beam angle. An industrial PLC controls the system and an HMI display is used for the user interface. A dynamic mathematical model of the system is developed. It is used in simulations to design control algorithms. Simulations of the designed algorithms are performed in the Matlab/Simulink environment. They are implemented in PLC and hardware configured. An onscreen HMI user interface is created. The control performance is measured on a real system and is compared with simulation results. The system is used to control the ball position along the beam. Different control algorithms are available. The controller parameters can be changed by the HMI interface. The developed system can be used as an alternative to commercial systems to learn the control theory and the industrial hardware and software. [ABSTRACT FROM AUTHOR]

• Industrial robot's servomotor bearing fault detection is presented. • Simple motion and welding motion of industrial robots is considered. • Currents signals of servomotor are converted to scalogram images for analysis. • Transfer learning expunged model training from scratch and streamlined operation. In consequence of their superior performance and durability, industrial robots have enjoyed widespread adoption across a variety of industries. However, despite their sturdy build, they are susceptible to malfunction. The servomotor is a fundamental component of industrial robots, and to ensure smooth and uninterrupted functioning, it is essential to detect any defects it may develop. Although research has addressed methods for detecting bearing failure, diagnosis of a servomotor bearing failure in the industrial robot remains difficult and requires intensive research. In this paper, a novel method for detecting servomotor bearing defects in the industrial robot is provided by integrating knowledge transfer via transfer learning. Initially, current signals of the servomotor are transformed to scalogram images. This processed data is utilized to build the model for fault detection. Applying transfer learning eliminates model training from scratch and streamlined operations. The purported approach shows an average accuracy of more than 99 %. [ABSTRACT FROM AUTHOR]

In this paper, the design of a system for the control of a solar panel motion by means of a servomotor based on an Arduino board is described. The system calculates optimum tracks and position of the sun to ensure that the solar panel is always directed to the sun in order to increase the amount of energy generated by the solar panel. The device makes use of four solar modules for detection and a servomotor to automatically rotate the solar panel to adjust it to the sun positionÎn acest articol, vă prezentam un sistem de dirijare pe placa Arduino, pentru servomotorul de mișcare a panoului solar, sistem de calculare a poziției optime a soarelui pentru a crește cantitatea de energie generată de panoul solar (deoarece va fi mereu cu fața la lumină). In acest dispozitiv sunt folosite patru module solare pentru detectare și un servomotor pentru a roti automat panoul solar în direcția luminii solare.

The new energy vehicle industry needs a large number of vehicle power batteries, and its production depends on high-speed and high-precision battery pole-piece cutting equipment, which is mainly composed of the electrode material roll uncoiling unit, buffering unit, main drive unit, and cutting unit. Due to the nonlinearity and high-speed intermittent motion mode of a servomotor, the existing control technology is difficult to apply to the cutting system. This article presents a multimotor linear velocity planning approach used to ensure synchronous and cooperative operation of the motors in the cutting system. To achieve fast and accurate positioning control of the main drive motor running in fast acceleration and deceleration, periodic and intermittent mode, an adaptive position controller based on data-driven modeling technique is proposed, which makes the parameters of the controller change with the operation state of the main drive motor so that the controller can obtain good positioning accuracy in a wide working range of the main drive motor. Two linear models are established to represent the relationship between the positioning error and the positioning controller parameters and the main drive motor running conditions. The parameters of the two models are estimated offline and the parameters of the adaptive position controller can be obtained online quickly. Thus, the proposed control method for the main drive motor can be easily realized by general PLC in practical application. Simulation study results show that using the proposed method, the positioning error of the main drive motor is less than 0.1 mm when cutting 89-mm-long battery pole-piece and cutting 1 to 3 pieces/s. This result is much better than that of the position controller with fixed parameters. [ABSTRACT FROM AUTHOR]

Compact geared servo drives are a common part of modern industrial automation; thus, their proper modelling is a necessary part for the application and control design. The presented paper focuses on the mathematical model of the cycloidal gearbox, which is used in the compact actuator with a permanent magnet synchronous motor. A measurement procedure to obtain the necessary gearbox parameters is presented along with its mathematical model. A new approach was used to model the stiction and nonlinear gearbox friction behaviour in all four quadrants. A simulation of the actuator with the modelled gearbox is described and its results are compared with the real system measurement. Obtained results show a high match between simulation and experimental results and confirm the correctness of the simulation model. [ABSTRACT FROM AUTHOR]

This article describes a method for the real-time monitoring of the current consumed by a Dynamixel MX 64 AT servomotor used in the actuation system of modular mobile robotic platforms having differential locomotion and conventional wheels. The data acquisition method is based on an Arduino Mega 2560 development board interfaced with Matlab Simulink and the ASC712-5A hall sensor for current detection. A Simulink model is presented that performs the detection of a sensor reference voltage, which needs to be calibrated for a correct reading of the current. Due to the low resolution of the analog-to-digital converter with which the Arduino Mega is equipped, current monitoring is difficult to achieve, having large fluctuations and a lower resolution than the current absorbed by the servomotor. The solution to this problem is achieved by implementing, in the hardware construction, an ADS115 conversion module with 16-bit resolution, which leads to an increase in the measurement range of the ASC712-5A sensor. The current acquisition model with the Hall sensor is experimentally validated using measurements on the physical model of the drive wheel. This article further deals with the CAD and digital block modeling of mobile platforms with four and two wheels. The dynamic model of the robot is created in the Simulink–Simscape–Multibody environment and is used to determine the servomotor torques when the robot is moving along the predefined path. The torque variations are entered as variables in the Simulink digital block model of the robot. The Simulink model is simulated when moving along a square path, which determines the variation in the current absorbed by the motors. Experimental validation of the model is carried out using measurements on the functional models that operate in real conditions. A power consumption method is further proposed.

Many modern technological processes are implemented at high speeds of the machine tool operating bodies relative to the workpieces. With significant dimensions of the processed parts, rack-and-gear drives are used. The design features of the rack-and-gear drive require coordination of the servo drive with the machine operating bodies movement speeds using a gearbox. This paper considers the possibility of creating a gear-belt gearbox for drives of highspeed equipment. The applied gearbox should not cause additional errors in the movement process. The work carried out experimental investigations of a servomotor dynamic characteristics and the qualitative characteristics of measuring encoders, the gearbox influence on the displacement error, machine tool axis movement. The dynamic characteristics of a servomotor without load, assembled with a gearbox and as part of a controlled axis of a portal-type machine have been investigated. It is determined that the delay time of the movement start is no more than 0.002 s for a servomotor without load and as part of a gearbox, and the delay time of the movement start of the gearbox output shaft does not exceed 0.003 s. It has been determined that the maximum possible acceleration of the controlled bodies of the machine during using the considered drive is 8 m/s2. The dynamic error of the axis movement along a straight trajectory does not exceed 0.023 mm, and along a circular trajectory - 0.035 mm. The error of position determining for the operating body is no more than ±1 discrete. This indicates that the gearbox error is less than the error of the position measurement system used in the investigated machine. [ABSTRACT FROM AUTHOR]

One of the significant challenges in contemporary robotics concerns navigation systems and autonomous robots' location, being the detection and avoidance of obstacles an essential part of this system. This article proposed Paraconsistent Annotated Evidential Logic Eτ in the control algorithm for a terrestrial robot, and thus contribute with navigation systems, to avoid possible collisions with obstacles. A prototype terrestrial robot was then built with ultrasonic sensors for obstacle detection and a servomotor in steering control. Several performance tests were performed. It was noticed that by shortening the perception distances of the sensors, the performance of the robot's displacement proved to be satisfactory. [ABSTRACT FROM AUTHOR]

Robotic hands are still beyond a horizon from matching the grasping and manipulating capability of their human complements. To reduce the involvement of human beings in certain dangerous applications, this approach presents an acquisition method that extensively looks for the design of the human hand. The information obtained through this procedure is further analyzed, transfigured, and used to synthesize a reduced space of a robotic hand. It is mainly implemented based on wireless communication technology. The proposed system consists of an application that is installed in the smartphone and passes information to the Bluetooth module. The module converts information into data packets. The data is transferred to the servo motor through Arduino. The servo motor rotates as per the data received. At last, the robotic hand moves according to the rotation of the servo motor. Nowadays many industries use this robot hand for the safety of the people working where they use harmful chemicals like bromine chloride or others which are harmful to the skin. [ABSTRACT FROM AUTHOR]

The aim of this paper is to position the fingers of a Lobot uHand STM 32 type structure using the Hand Control software interface V1.0 [3]. A simulation can also be performed using the MAPLE programming environment to simulate the movement of a finger of the robotic structure (this can be applied to all fingers) as a comparison with their movement by using the Hand Control software interface.

The article discusses the process of servo drive control during welding using the SB-2000 welding unit. On the basis of technological process of welding of large-size tanks of launch vehicles power plants for modernization are revealed. A structural solution is proposed for process control and synchronization of electric drives with the use of servo motors. A technical solution and block diagram of the servo drive control algorithm are developed using the SINAMICS S120 modules of the SIEMENS company

Compact geared servo drives are a common part of modern industrial automation; thus, their proper modelling is a necessary part for the application and control design. The presented paper focuses on the mathematical model of the cycloidal gearbox, which is used in the compact actuator with a permanent magnet synchronous motor. A measurement procedure to obtain the necessary gearbox parameters is presented along with its mathematical model. A new approach was used to model the stiction and nonlinear gearbox friction behaviour in all four quadrants. A simulation of the actuator with the modelled gearbox is described and its results are compared with the real system measurement. Obtained results show a high match between simulation and experimental results and confirm the correctness of the simulation model.