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This article proposed a novel controller structure to track the non-linear behavior of the pneumatic muscle actuator (PMA), such as the elongation for the extensor actuator and bending for the bending PMA. The proposed controller consists of a neural network (NN) controller laid in parallel with the proportional controller (P). The parallel neural network proportional (PNNP) controllers provide a high level of precision and fast-tracking control system. The PNNP has been applied to control the length of the single extensor PMA and the bending angle of the single self-bending contraction actuator (SBCA) at different load values. For further validation, the PNNP has been applied to control a human-robot shared control system. The results show the efficiency of the proposed controller structure.

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This article proposed a novel controller structure to track the non-linear behavior of the pneumatic muscle actuator (PMA), such as the elongation for the extensor actuator and bending for the bending PMA. The proposed controller consists of a neural network (NN) controller laid in parallel with the proportional controller (P). The parallel neural network proportional (PNNP) controllers provide a high level of precision and fast-tracking control system. The PNNP has been applied to control the length of the single extensor PMA and the bending angle of the single self-bending contraction actuator (SBCA) at different load values. For further validation, the PNNP has been applied to control a human–robot shared control system. The results show the efficiency of the proposed controller structure.

This paper introduces the conceptual system design of micro-hydro/solar hybrid system for Kampung Semulong Ulu, Sri Aman, Sarawak. Currently, Kampung Semulong Ulu is powered by solar and diesel-generator energy systems. The existing solar system generates less than 160 W for each door of the longhouse. With the completion of micro-hydro system along with the existing solar panel in the village, the community is hoping to get the proper and continuous power generation. Community in Kampung Semulong Ulu is facing difficulties since solar is only available for a limited period and yield electricity within a limited range of load. On the other hand, the running cost of diesel-generator is very expensive and unaffordable. However, even with the existence of power generated by micro-hydro system, better utilization of the energy produced is still of vital importance due to the fact that the amount of energy generated is limited. Therefore, the conceptual system design of the hydro-solar system integration is presented. The proposed system is to ensure that the energy produced will be well-distributed and at the same time, both systems must be utilized sufficiently to ensure their sustainability. In overall, this paper presents the micro-hydro/solar hybrid system framework for off-grid application toward the community in Kampung Semulong Ulu.

Commissioning is defined as a process that transfers machines and plants into the operational state. In order to parameterize the included control loops, information about the properties of the controlled systems are required. Here is an approach, carried out for a variety of axes e.g. in a machine tool demands a lot of time and therefore becomes a large cost factor. Since a modal analysis of the machine is typically performed during the commissioning of the machine, the resulting modal parameters can be identified and also be applied for the design of axis controllers. We present a method for this course of action. Therewith, a default parameter setting for all drive control loops of the machine can be found, even considering interactions between different machine components. The approach leads to a shortened commissioning of complex electromechanical axes in combination with a better controller performance without additional experiments or expert knowledge. [ABSTRACT FROM AUTHOR]

This paper presents the design and development of a mini remotely operated vehicle (ROV) system for training purposes at the STRIDE Maritime Technology Division (BTM). The mini ROV is designed for operation in shallow water environments and is capable to dive up to 5.6 m depth. Based on the concept design developed using Solidwork, the buoyancy force and stability required to overcome the total weight of the platform was planned by tuning the locations of the thrusters and electronics compartment. The fabrication processes were divided into several developments including the controller system, thrusters and mainframe. The field test of the mini RO V was conducted successfully in the KD Duyong training pool, with no leakage problems occurring in the electronics compartment. However, maneuvering difficulties were .found at 5 m depth, as the thrusters needed to overcome the surrounding water pressure. This can be overcome using DC motors with the higher rating of motor torque. [ABSTRACT FROM AUTHOR]