LOW COST INTELLIGENT ARM ACTUATOR USING PNEUMATIC ARTIFICIAL MUSCLE WITH BIOFEEDBACK CONTROL

Save this PDF as:
 WORD  PNG  TXT  JPG

Size: px
Start display at page:

Download "LOW COST INTELLIGENT ARM ACTUATOR USING PNEUMATIC ARTIFICIAL MUSCLE WITH BIOFEEDBACK CONTROL"

Transcription

1 LOW COST INTELLIGENT ARM ACTUATOR USING PNEUMATIC ARTIFICIAL MUSCLE WITH BIOFEEDBACK CONTROL Salman Afghani, Yasir Raza, Bilal Haider Department of Research & Development Electronics Engg., APCOMS, Rawalpindi Pakistan ABSTRACT Hard Exoskeletons and arm actuators have already been designed and available in industry but they are expensive, heavy and cumbersome so to reduce these drawbacks a low cost lightweight intelligent arm actuator has been designed, constructed and evaluated. It consists of a pneumatic artificial muscle, constructed using a football bladder and covered by parachute material to limit its expansion. Pneumatic artificial muscle is under the control of micro controller that keep monitoring and controlling the air pressure of artificial muscle using biofeedback amplifier provided to micro controller from cuff bladder - which detects the muscle tension. KEYWORDS Intelligent Arm actuator, less price pneumatic Artificial Muscle, biofeedback control, low cost Arm actuator. I. INTRODUCTION A pneumatic artificial muscle is non linear and contractile type actuators, they are not commonly used in robotic or man machine systems. At present Electromagnetic motors such as AC motors, DC motors, stepper motors, and linear motors are widely used which are not as lightweight as a pneumatic artificial muscle, also a pneumatic artificial muscle has a direct transmission capability whereas electromagnetic motors has not. Electric motors has power to weight ratio of about 100 (W/kg) and their torque to weight ratios range is within 1-10 (Nm/Kg)[1]. Whereas power to weight ratios of PAM actuators is reported in excess of 1000 (W/kg)[2]. Pneumatic artificial muscles are not use widely due to difficulty in controlling them accurately although they have high power to weight ratio but with less controlling capabilities as compared to electric motors In next section after Pneumatic Artificial Muscle we explained our system design considering the feedback control system and new design for detection of muscle tension. II. PNEUMATIC ARTIFICIAL MUSCLE In order to develop PAM, initially we used motorcycle and cycle tyre tubes but displacement produced from tubes wasn t enough to load object. So for more displacement we used football bladder which gave us our desired displacement. Lightweight parachute material was used to make cover for football bladder, to limit the expansion of bladder to some specific extent. Parachute material was sewed in folding to more strengthen the muscle. Special input nozzle for bladder was designed to insert and release air more easily. Hooks were installed on both sides of muscle to easily hook with body. Following formula can be used to calculate the generated force of PAM if energy losses and energy needed to contact PAM is neglected. dv F = p dl (1) 69 Vol. 3, Issue 1, pp

2 In above stated formula p represents the gauge pressure, V represents the volume of PAM and l represents the length of PAM after contraction as shown in fig 1 and dv/dl is the muscle s effective area [3]. Figure 1. PAM s concept of operation Figure 2. Testing of PAM III. FEEDBACK CONTROL SYSTEM Feedback of PAM is taken and provided back to microcontoller after signal amplification, where micro controller reads and processes the feedback signal and control PAM accordingly. Two types of system were design and experimented Three state system and two state system 3.1 Three State System Figure 3 System Block diagram 70 Vol. 3, Issue 1, pp

3 Where V ref1 is the voltage nominal voltage level of Bio feedback amplifier and V ref2 is the voltage where PAM s expansion limit has reached. E1 and E2 give us the difference of voltages between V ref1 to Bio feedback voltage and V ref2 to PAM feedback voltage respectively. Fuzzy controller reads the value of E1 and produces a 3 state system considering trapezoidal logic. Table 1 Three state values State # Biofeedback Voltage E 1 Bio feedback Fuzzy PAM status Range (v) Representation State Positive Positive Feedback Stretched State Nominal Value Hold position State Negative Negative Feedback Inflated Full Three State Diagram Figure 4 Fuzzy logic diagram Figure 5 Three State Diagram 71 Vol. 3, Issue 1, pp

4 Flow Diagram for Three State system Figure 6 Flow Diagram for Three State system 3.2 Muscle tension sensing unit/ Bio feedback amplifier Automatic control of PAM needs a system which automatically detects the muscle tension and provide to micro controller. A new idea of muscle tension detection is used i-e a cuff bladder is attached at muscle of a person and tension is detected by detection the change in air pressure of cuff bladder occurred due to expansion or contraction of person s muscle, using air pressure sensor[4]. To achieve this we did back engineering of digital blood pressure monitor which measures blood pressure by detecting the change in pressure using pressure sensor so we used its bladder, pump and pressure sensor and controlled all of them from micro controller. Cuff Bladder Air Pressure Sensor Instrumentation Amplifier with signal conditioning V out Figure 7 Block diagram of sensing unit We can sense muscle tension at two different locations of our Arm i-e Bicep and Wrist. Experiments are done on both but shown for wrist configuration. 72 Vol. 3, Issue 1, pp

5 3.2.1 Instrumentation Amplifier We performed many experiments on instrumentation amplifier to get our optimal value as the output of the sensor was very low value of voltage. We used different values of resistors in our circuit to get maximum output. During experiments we came to know that when we adjust the values of resistors at 10k we gain much better output but yet its value was low but as compare to our other experimental values of resistors it was much batter so fixed the value of 10k except feedback resistors R1 and Rgain. For R1 we again perform different experiments to increase its gain, and by placing the value of 670k we got the maximum output from our circuit and along with Rgain where we place the resistor of value 570 ohm we achieved the best and the maximum output value of voltage as compare to any other values of resistors. Our final range of voltage was from 0.64v to 4.20v. 3.3 Two state system Figure 8 Instrumentation Amplifier Schematic In case of operational amplifier, there is a trade off between linearization and Amplification. Output voltage of a pressure sensor was very less so we also tried another type of system by increasing amplification and decreased linearization which finally gave us almost a digital output value of Instrumentation Amplifier i-e 0.67V in relaxed position and 4.5V at tensed position of muscle. This reduced our system to only 2 states as shown in fig Two State Diagram Figure 9 Two State Diagram 73 Vol. 3, Issue 1, pp

6 3.3.2 Flow Diagram for Two State System IV. DISCUSSION AND RESULTS Figure 10 Flow Diagram We considered this two state system as well as three state system for this arm actuator and both performed pretty well, Two state system just reduced the complexity involved in fuzzy logic control and our system became simple. Table 2 contains the values and results obtained from two state system. Whereas three state system includes complexity of system but give more smooth and intelligent behaviour of system. Table 1 contains values and results of three state system. As mentioned above that we can sense muscle tension from two different locations of a body but when we used bicep location for sensing, we observed disturbance in muscle tension sensor due to expansion of PAM. Whereas it works fine for wrist configuration. State # Muscle tension detected? V. CONCLUSION AND EXPERIMENT Table 2 Two state values Inst Amp Voltage (V) Bio feedback binary representation PAM status State 1 No Stretched State 2 Yes Inflated Low Cost Arm Actuator with Pneumatic Artificial Muscle can be designed using a simple football bladder and parachute material and also it can easily be controlled and made intelligent using biofeedback control. Biofeedback can be taken from two locations of Arm i-e Bicep or Wrist. Biofeedback amplifier can be modified in two types of systems Three states system and two states system. Three states system is more intelligent due to its fuzzy logic control but it s more complex than two states system. We can also enhance and design our project to whole body of a person to 74 Vol. 3, Issue 1, pp

7 make a complete soft exoskeleton lieu of hard exoskeletons that has already been developed throughout the world. PAM Sensing Unit Lightweight harness REFERENCES [1]. F. Daerden, Conception and Realization of Pleated Pneumatic Artificial Muscles and Their Use as Compliant Actuation Elements, PhD Dissertation, Vrije Universiteit Brussel, July 1999 [2]. Frank Daerden, Dirk Lefeber THE CONCEPT AND DESIGN OF PLEATED PNEUMATIC ARTIFICIAL MUSCLES Vrije Universiteit Brussel [3]. H. M. Paynter, "Hyperboloid of revolution fluid-driven tension actuators and methods of making", US Patent No , [4]. DIGITAL BLOOD PRESSURE MONITOR Journal of Applied Research and Technology, december, lamb / vol. 2, number 003 University National Autonomous Mexico, Federal District, Méxicopp Authors Salman Afghani Was born in Pakistan in Professor, PhD, Advanced man machine systems, MPhil, Industrial automation, Ms Mech Engg. Research Interest: Man Machine systems, robotics intelligent all terrain vehicles & submersibles, Zoological and Botanical computers, Non-intrusive botanical genetics using computer simulated time acceleration technique. Yasir Raza was born in Rawalpindi, Pakistan in He did BSEE in Electrical Engineering from University of Engineering and Technology, Taxila Pakistan Bilal Haider Was born in Rawalpindi, Pakistan in He did BSEE in Electrical Engineering from University of Engineering and Technology, Taxila Pakistan 75 Vol. 3, Issue 1, pp

Lab 7: Operational Amplifiers Part I

Lab 7: Operational Amplifiers Part I Lab 7: Operational Amplifiers Part I Objectives The objective of this lab is to study operational amplifier (op amp) and its applications. We will be simulating and building some basic op amp circuits,

More information

Design of an Arm Exoskeleton Controlled by the EMG Signal

Design of an Arm Exoskeleton Controlled by the EMG Signal Design of an Arm Exoskeleton Controlled by the EMG Signal Mark Novak Cornel College PHY312 December 2011 Professor Derin Sherman Introduction An exoskeleton is a supporting structure on the outside of

More information

Title: Open and Closed-Loop Control Systems - (Motor speed)

Title: Open and Closed-Loop Control Systems - (Motor speed) Title: Open and Closed-Loop Control Systems - (Motor speed) I. Objectives The object of this experiment is to investigate the principles of open and closed-loop control of a rotating body using a speed

More information

ELECTRICAL ENGINEERING

ELECTRICAL ENGINEERING EE ELECTRICAL ENGINEERING See beginning of Section H for abbreviations, course numbers and coding. The * denotes labs which are held on alternate weeks. A minimum grade of C is required for all prerequisite

More information

Safe Control of a Pneumatic Muscle Powered System

Safe Control of a Pneumatic Muscle Powered System Safe Control of a Pneumatic Muscle Powered System Michael Van Damme, Bram Vanderborght, Frank Daerden, Dirk Lefeber 28/6/2008 RSS 2008 1 Overview -Actuators -Safety - Safe control: PSMC -Conclusion 28/6/2008

More information

CIM Computer Integrated Manufacturing

CIM Computer Integrated Manufacturing INDEX CIM IN BASIC CONFIGURATION CIM IN ADVANCED CONFIGURATION CIM IN COMPLETE CONFIGURATION DL CIM A DL CIM B DL CIM C DL CIM C DL CIM B DL CIM A Computer Integrated Manufacturing (CIM) is a method of

More information

SOLAR POWERED PROSTHETIC ARM STIMULATED BY EMG SIGNAL USING LabVIEW

SOLAR POWERED PROSTHETIC ARM STIMULATED BY EMG SIGNAL USING LabVIEW SOLAR POWERED PROSTHETIC ARM STIMULATED BY EMG SIGNAL USING LabVIEW Keerthana R 1, Uma K 2, Naseem A 3 1 Research Scholar, Department of BMIE, Avinashilingam University for Women, Tamilnadu, India 2 Faculty,

More information

MECE 102 Mechatronics Engineering Orientation

MECE 102 Mechatronics Engineering Orientation MECE 102 Mechatronics Engineering Orientation Mechatronic System Components Associate Prof. Dr. of Mechatronics Engineering Çankaya University Compulsory Course in Mechatronics Engineering Credits (2/0/2)

More information

Assignment 1: System Modeling

Assignment 1: System Modeling Assignment 1: System Modeling Problem 1. (10 pts.) Consider a biological control system consisting of a human reaching for an object. Below is a list of general block diagram elements (on the left, labeled

More information

HYDRAULIC ARM MODELING VIA MATLAB SIMHYDRAULICS

HYDRAULIC ARM MODELING VIA MATLAB SIMHYDRAULICS Engineering MECHANICS, Vol. 16, 2009, No. 4, p. 287 296 287 HYDRAULIC ARM MODELING VIA MATLAB SIMHYDRAULICS Stanislav Věchet, Jiří Krejsa* System modeling is a vital tool for cost reduction and design

More information

Strain gauge lab Part 1

Strain gauge lab Part 1 Strain gauge lab Part 1 In this lab, you will make measurements of mechanical strain in small aluminum beams as you bend them. We will continue this lab next week, so you will want to be careful to maintain

More information

CHAPTER.4: Transistor at low frequencies

CHAPTER.4: Transistor at low frequencies CHAPTER.4: Transistor at low frequencies Introduction Amplification in the AC domain BJT transistor modeling The re Transistor Model The Hybrid equivalent Model Introduction There are three models commonly

More information

Thermodynamic efficiency of an actuator that provides the mechanical movement for the driven equipments:

Thermodynamic efficiency of an actuator that provides the mechanical movement for the driven equipments: 1. Introduction 1.1. Industry Automation Industry automation is the term that describes a vital development programme of a production community where the project engineers build up automated manufacturing

More information

Modeling and Performance Analysis of a Permanent Magnet Brushless DC motor using Instrumentation Technique

Modeling and Performance Analysis of a Permanent Magnet Brushless DC motor using Instrumentation Technique Modeling and Performance Analysis of a Permanent Magnet Brushless DC motor using Instrumentation Technique Abhishek Jain 1, Prabhat Ranjan Sarkar 2, Mohd. Khursheed Siddique 3 Department of Electrical

More information

Actuation systems. Control code Command Signal. Microprocessor or Microcontroller PLANT

Actuation systems. Control code Command Signal. Microprocessor or Microcontroller PLANT Actuation systems Actuation systems are the elements of control systems which are responsible for transforming the output of a microcontrollers or microprocessor or control system into a controlling action

More information

Biorobotics - Build Your Own Robotic Air Muscle Actuator

Biorobotics - Build Your Own Robotic Air Muscle Actuator Biorobotics - Build Your Own Robotic Air Muscle Actuator An air muscle is a simple pneumatic device developed in the 1950's by J.L. McKibben. Like biological muscles, air muscles contract when activated.

More information

Design and Implementation of a 4-Bar linkage Gripper

Design and Implementation of a 4-Bar linkage Gripper IOSR Journal of Mechanical and Civil Engineering (IOSR-JMCE) e-issn: 2278-1684,p-ISSN: 2320-334X, Volume 11, Issue 5 Ver. IV (Sep- Oct. 2014), PP 61-66 Design and Implementation of a 4-Bar linkage Gripper

More information

Automatic Train Control based on the Multi-Agent Control of Cooperative Systems

Automatic Train Control based on the Multi-Agent Control of Cooperative Systems The Journal of Mathematics and Computer Science Available online at http://www.tjmcs.com The Journal of Mathematics and Computer Science Vol.1 No.4 (2010) 247-257 Automatic Train Control based on the Multi-Agent

More information

Robotics & Automation

Robotics & Automation Robotics & Automation Levels: Grades 10-12 Units of Credit: 1.0 CIP Code: 21.0117 Core Code: 38-01-00-00-130 Prerequisite: None Skill Test: 612 COURSE DESCRIPTION Robotics & Automation is a lab-based,

More information

A STUDY ON THE CONVENTIONAL AND FUZZY CONTROL STEEL-CUTTING PROCESS

A STUDY ON THE CONVENTIONAL AND FUZZY CONTROL STEEL-CUTTING PROCESS A STUDY ON THE CONVENTIONAL AND FUZZY CONTROL STEEL-CUTTING PROCESS S. Bülent YAKUPOĞLU R. Nejat TUNCAY Murat YILMAZ e-mail: bulentsy@ixir.com e-mail: tuncay@elk.itu.edu.tr e-mail: mryilmaz@elk.itu.edu.tr

More information

EE 1202 Experiment #7 Signal Amplification

EE 1202 Experiment #7 Signal Amplification EE 1202 Experiment #7 Signal Amplification 1. Introduction and Goal: s increase the power (amplitude) of an electrical signal. They are used in audio and video systems and appliances. s are designed to

More information

LINEAR MOTOR CONTROL IN ACTIVE SUSPENSION SYSTEMS

LINEAR MOTOR CONTROL IN ACTIVE SUSPENSION SYSTEMS LINEAR MOTOR CONTROL IN ACTIVE SUSPENSION SYSTEMS HONCŮ JAROSLAV, HYNIOVÁ KATEŘINA, STŘÍBRSKÝ ANTONÍN Department of Control Engineering, Faculty of Electrical Engineering, Czech Technical University Karlovo

More information

Mathematical Modelling of Quadruple Tank System

Mathematical Modelling of Quadruple Tank System Mathematical Modelling of Quadruple Tank System Prof. D.Angeline Vijula 1, Anu K 2, Honey Mol P 3, Poorna Priya S 4 1 Associate professor, Dept of E.I.E, Sri Ramakrishna Engineering College, Coimbatore.

More information

Manufacturing Equipment Modeling

Manufacturing Equipment Modeling QUESTION 1 For a linear axis actuated by an electric motor complete the following: a. Derive a differential equation for the linear axis velocity assuming viscous friction acts on the DC motor shaft, leadscrew,

More information

Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and Motion Optimization for Maritime Robotic Research

Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and Motion Optimization for Maritime Robotic Research 20th International Congress on Modelling and Simulation, Adelaide, Australia, 1 6 December 2013 www.mssanz.org.au/modsim2013 Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and

More information

Sensor assisted stick for the blind people

Sensor assisted stick for the blind people Sensor assisted stick for the blind people G.Prasanthi 1 P.Tejaswitha 2 1Professor, Dept. of Mechanical Engineering, JNTUA College of Engineering, Ananthapuramu, A. P. 2 PG Research Scholar, Product Design,

More information

Operational Amplifiers

Operational Amplifiers perational Amplifiers. perational Amplifiers perational amplifiers (commonly known as opamps) are integrated circuits designed to amplify small voltages (or currents) to usable levels. The physical packaging

More information

Industrial Automation Training Academy. PLC, HMI & Drives Training Programs Duration: 6 Months (180 ~ 240 Hours)

Industrial Automation Training Academy. PLC, HMI & Drives Training Programs Duration: 6 Months (180 ~ 240 Hours) nfi Industrial Automation Training Academy Presents PLC, HMI & Drives Training Programs Duration: 6 Months (180 ~ 240 Hours) For: Electronics & Communication Engineering Electrical Engineering Instrumentation

More information

INSTRUMENTATION AND CONTROL TUTORIAL 3 SIGNAL PROCESSORS AND RECEIVERS

INSTRUMENTATION AND CONTROL TUTORIAL 3 SIGNAL PROCESSORS AND RECEIVERS INSTRUMENTATION AND CONTROL TUTORIAL 3 SIGNAL PROCESSORS AND RECEIVERS This tutorial provides an overview of signal processing and conditioning for use in instrumentation and automatic control systems.

More information

Force/position control of a robotic system for transcranial magnetic stimulation

Force/position control of a robotic system for transcranial magnetic stimulation Force/position control of a robotic system for transcranial magnetic stimulation W.N. Wan Zakaria School of Mechanical and System Engineering Newcastle University Abstract To develop a force control scheme

More information

Design and Implementation of IR based Line Follower Robot for Cooperative Task Sharing

Design and Implementation of IR based Line Follower Robot for Cooperative Task Sharing Design and Implementation of IR based Line Follower Robot for Cooperative Task Sharing Pintu and Alka Dubey * School of Electronics, DAVV, Indore romiaad@gmail.com *,pintumore.31.elex@gmail.com ABSTACT-

More information

GenTech Practice Questions

GenTech Practice Questions GenTech Practice Questions Basic Electronics Test: This test will assess your knowledge of and ability to apply the principles of Basic Electronics. This test is comprised of 90 questions in the following

More information

HY-DIV268N-5A two phase hybrid stepper motor drive manual

HY-DIV268N-5A two phase hybrid stepper motor drive manual Product Link: HY-DIV268N-5A two phase hybrid stepper motor drive manual http://www.thanksbuyer.com/cnc-single-axis-tb6600-0-2-5a-two-phase-hybrid-stepper-motor-driver-controller-24891 一, an overview HY-DIV268N-5A

More information

Bourns Linear Motion Potentiometers Position Sensing Application Note

Bourns Linear Motion Potentiometers Position Sensing Application Note Bourns Linear Motion Potentiometers Position Sensing Application Note Abstract Bourns Linear Motion Potentiometers (LMPs) are an economical and reliable means of converting a mechanical displacement into

More information

Automated Bottle Filling System

Automated Bottle Filling System Automated Bottle Filling System Bipin Mashilkar 1, Pallavi Khaire 1, Girish Dalvi 1 1 Assistant Professor, Department of Mechanical Engineering, Fr.C.Rodrigues Institute of Technology, Maharashtra, India

More information

SECOND YEAR. Major Subject 3 Thesis (EE 300) 3 Thesis (EE 300) 3 TOTAL 3 TOTAL 6. MASTER OF ENGINEERING IN ELECTRICAL ENGINEERING (MEng EE) FIRST YEAR

SECOND YEAR. Major Subject 3 Thesis (EE 300) 3 Thesis (EE 300) 3 TOTAL 3 TOTAL 6. MASTER OF ENGINEERING IN ELECTRICAL ENGINEERING (MEng EE) FIRST YEAR MASTER OF SCIENCE IN ELECTRICAL ENGINEERING (MS EE) FIRST YEAR Elective 3 Elective 3 Elective 3 Seminar Course (EE 296) 1 TOTAL 12 TOTAL 10 SECOND YEAR Major Subject 3 Thesis (EE 300) 3 Thesis (EE 300)

More information

DESIGN OF 6 DOF ROBOTIC ARM CONTROLLED OVER THE INTERNET

DESIGN OF 6 DOF ROBOTIC ARM CONTROLLED OVER THE INTERNET DESIGN OF 6 DOF ROBOTIC ARM CONTROLLED OVER THE INTERNET G. Rajiv and Sivakumar Sathyabama University, Chennai, India E-Mail: Rajiv.srkm@gmail.com ABSTRACT The purpose of the project is to build a robotic

More information

Transistor Characteristics and Single Transistor Amplifier Sept. 8, 1997

Transistor Characteristics and Single Transistor Amplifier Sept. 8, 1997 Physics 623 Transistor Characteristics and Single Transistor Amplifier Sept. 8, 1997 1 Purpose To measure and understand the common emitter transistor characteristic curves. To use the base current gain

More information

Is mathematical logic needed in electrical engineering?

Is mathematical logic needed in electrical engineering? Is mathematical logic needed in electrical engineering? Lauri Hietalahti, Lecturer, AMK, lauri.hietalahti@tamk.fi Abstract: Electrical engineering is based on deep know-how over the science and mathematical

More information

R f. V i. ET 438a Automatic Control Systems Technology Laboratory 4 Practical Differentiator Response

R f. V i. ET 438a Automatic Control Systems Technology Laboratory 4 Practical Differentiator Response ET 438a Automatic Control Systems Technology Laboratory 4 Practical Differentiator Response Objective: Design a practical differentiator circuit using common OP AMP circuits. Test the frequency response

More information

10 tips for servos and steppers a simple guide

10 tips for servos and steppers a simple guide 10 tips for servos and steppers a simple guide What are the basic application differences between servos and steppers? Where would you choose one over the other? This short 10 point guide, offers a simple

More information

REMOTE HOST PROCESS CONTROL AND MONITORING OF INDUSTRY APPLIANCES

REMOTE HOST PROCESS CONTROL AND MONITORING OF INDUSTRY APPLIANCES REMOTE HOST PROCESS CONTROL AND MONITORING OF INDUSTRY APPLIANCES 1 Abinath.T.R, 2 Sudhakar.V, 3 Sasikala.S 1,2 UG Scholar, Department of Electrical and Electronics Engineering, Info Institute of Engineering,

More information

DESIGN AND FABRICATION OF A CNC MACHINE FOR ENGRAVING AND DRILLING

DESIGN AND FABRICATION OF A CNC MACHINE FOR ENGRAVING AND DRILLING DESIGN AND FABRICATION OF A CNC MACHINE FOR ENGRAVING AND DRILLING Khan LA 1, Mehtab U 2, Hasan EU 3, Hussain Z 4 1 Associate Professor/Associate Dean University of Lahore Islamabad Campus 2,3,4 Department

More information

Miniature Motors Deliver Big Performance for Medical Analyzers. by Udayan Senapati, Ph.D.

Miniature Motors Deliver Big Performance for Medical Analyzers. by Udayan Senapati, Ph.D. thinkmotion Miniature Motors Deliver Big Performance for Medical Analyzers by Udayan Senapati, Ph.D. Miniature Motors Deliver Big Performance For Medical Analyzers Medical analyzers are the workhorse of

More information

Implementation of Fuzzy and PID Controller to Water Level System using LabView

Implementation of Fuzzy and PID Controller to Water Level System using LabView Implementation of Fuzzy and PID Controller to Water Level System using LabView Laith Abed Sabri, Ph.D University of Baghdad AL-Khwarizmi college of Engineering Hussein Ahmed AL-Mshat University of Baghdad

More information

Universal Exoskeleton Arm Design for Rehabilitation

Universal Exoskeleton Arm Design for Rehabilitation Journal of Automation and Control Engineering Vol. 3, No. 6, December 215 Universal Exoskeleton Arm Design for Rehabilitation Siam Charoenseang and Sarut Panjan Institute of Field Robotics, King Mongkut

More information

DTC B0361 Left Actuator Feedback Short to GND

DTC B0361 Left Actuator Feedback Short to GND Page 1 of 5 1998 Chevrolet Corvette Corvette (VIN Y) Service Manual Document ID: 329799 DTC B0361 Left Actuator Feedback Short to GND Circuit Description The HVAC control head receives a LH electric actuator

More information

Leran Wang and Tom Kazmierski {lw04r,tjk}@ecs.soton.ac.uk

Leran Wang and Tom Kazmierski {lw04r,tjk}@ecs.soton.ac.uk BMAS 2005 VHDL-AMS based genetic optimization of a fuzzy logic controller for automotive active suspension systems Leran Wang and Tom Kazmierski {lw04r,tjk}@ecs.soton.ac.uk Outline Introduction and system

More information

Section 7. Evaporator thermistor. Under-and-over pressure safety switches. Connections to the ECU

Section 7. Evaporator thermistor. Under-and-over pressure safety switches. Connections to the ECU Automatic Temperature Control Diagnosis and Repair Diagnosis of Automatic A/C Systems The most common automatic A/C system malfunctions tend to be the result of basic air conditioning problems. These problems

More information

Electronics. Discrete assembly of an operational amplifier as a transistor circuit. LD Physics Leaflets P4.2.1.1

Electronics. Discrete assembly of an operational amplifier as a transistor circuit. LD Physics Leaflets P4.2.1.1 Electronics Operational Amplifier Internal design of an operational amplifier LD Physics Leaflets Discrete assembly of an operational amplifier as a transistor circuit P4.2.1.1 Objects of the experiment

More information

Chapter 4 Coordinates Modelling of the Discrete Hexapod Manipulator via Artificial Intelligence

Chapter 4 Coordinates Modelling of the Discrete Hexapod Manipulator via Artificial Intelligence Chapter 4 Coordinates Modelling of the Discrete Hexapod Manipulator via Artificial Intelligence Felix Pasila and Roche Alimin Abstract This paper will present how to model the XYZ coordinates of a Discrete

More information

Final Year Projects at itm. Topics 2010/2011

Final Year Projects at itm. Topics 2010/2011 Final Year Projects at itm Topics 2010/2011 Chair of Information Technology in Mechanical Engineering Prof. Dr.-Ing. B. Vogel-Heuser Prof. Dr.-Ing. Frank Schiller Prof. Dr.-Ing. Klaus Bender Technische

More information

Sensors Collecting Manufacturing Process Data

Sensors Collecting Manufacturing Process Data Sensors & Actuators Sensors Collecting Manufacturing Process Data Data must be collected from the manufacturing process Data (commands and instructions) must be communicated to the process Data are of

More information

Using transistors as switches by Dan Morris

Using transistors as switches by Dan Morris Using transistors as switches by Dan Morris Intro A key aspect of proper hacking is the use of transistors for switching things on and off. A typical example is using a computer s parallel port to turn

More information

Automation System TROVIS 6400 TROVIS 6493 Compact Controller

Automation System TROVIS 6400 TROVIS 6493 Compact Controller Automation System TROVIS 6400 TROVIS 6493 Compact Controller For panel mounting (front frame 48 x 96 mm/1.89 x 3.78 inch) Application Digital controller to automate industrial and process plants for general

More information

Oscillometry. Figure 50: A recording of cuff pressure. The pressure is initially raised rapidly and then lowered slowly.

Oscillometry. Figure 50: A recording of cuff pressure. The pressure is initially raised rapidly and then lowered slowly. Oscillometry This method predates the method of Korotkoff but was not originally as popular. However, it is now the standard method for automated Blood Pressure measurement. In 1885 the French physiologist

More information

Test Code: 8094 / Version 1

Test Code: 8094 / Version 1 Blueprint Electromechanical Engineering Technology PA Test Code: 8094 / Version 1 Copyright 2014. All Rights Reserved. General Assessment Information Electromechanical Engineering Technology PA Blueprint

More information

DIFFERENT APPLICATIONS OF PROGRAMMABLE LOGIC CONTROLLER (PLC)

DIFFERENT APPLICATIONS OF PROGRAMMABLE LOGIC CONTROLLER (PLC) DIFFERENT APPLICATIONS OF PROGRAMMABLE LOGIC CONTROLLER (PLC) By, Maha M. Lashin Mechanical Engineering Department, Shoubra Faculty of Engineering, Banha University, Egypt. ABSTRACT Early Programming Logic

More information

UNIT II Robots Drive Systems and End Effectors Part-A Questions

UNIT II Robots Drive Systems and End Effectors Part-A Questions UNIT II Robots Drive Systems and End Effectors Part-A Questions 1. Define End effector. End effector is a device that is attached to the end of the wrist arm to perform specific task. 2. Give some examples

More information

Introduction to Process Control Actuators

Introduction to Process Control Actuators 1 Introduction to Process Control Actuators Actuators are the final elements in a control system. They receive a low power command signal and energy input to amplify the command signal as appropriate to

More information

Senior Year Project Report Writing Guidelines

Senior Year Project Report Writing Guidelines Senior Year Project Report Writing Guidelines Each student in the ECE-492 Senior Year Project class will be expected to hand in a project report on the day of presenting his/her work in front of a professor

More information

E/ECE/324/Rev.1/Add.12/Rev.7/Amend.4 E/ECE/TRANS/505/Rev.1/Add.12/Rev.7/Amend.4

E/ECE/324/Rev.1/Add.12/Rev.7/Amend.4 E/ECE/TRANS/505/Rev.1/Add.12/Rev.7/Amend.4 6 December 2012 Agreement Concerning the adoption of uniform technical prescriptions for wheeled vehicles, equipment and parts which can be fitted and/or be used on wheeled vehicles and the conditions

More information

Road Vehicles - Diagnostic Systems

Road Vehicles - Diagnostic Systems SSF 14230 Road Vehicles - Diagnostic Systems Keyword Protocol 2000 - Part 1 - Physical Layer Swedish Implementation Standard Document: SSF 14230-1 Status: Issue 3 Date: October 22, 1997 This document is

More information

UOM Robotics and Industrial Automation Laboratory

UOM Robotics and Industrial Automation Laboratory UOM Robotics and Industrial Automation Laboratory Department of Industrial and Manufacturing Engineering, RIAL Mission o to be a Centre of Excellence in Malta for research, development, teaching and outreach

More information

Adaptive Cruise Control of a Passenger Car Using Hybrid of Sliding Mode Control and Fuzzy Logic Control

Adaptive Cruise Control of a Passenger Car Using Hybrid of Sliding Mode Control and Fuzzy Logic Control Adaptive Cruise Control of a assenger Car Using Hybrid of Sliding Mode Control and Fuzzy Logic Control Somphong Thanok, Manukid arnichkun School of Engineering and Technology, Asian Institute of Technology,

More information

Michelin North America

Michelin North America www.centecinc.com SC Telephone: 864.527.7750 Outside SC: 800.227.0855 Michelin North America Industrial Maintenance Technical Interview Outline Industrial Maintenance Technical Interview Outline The Technical

More information

Analog Servo Drive 25A8

Analog Servo Drive 25A8 Description Power Range NOTE: This product has been replaced by the AxCent family of servo drives. Please visit our website at www.a-m-c.com or contact us for replacement model information and retrofit

More information

Actuators & Sensors. Assoc. Prof. Enver Tatlicioglu. Department of Electrical & Electronics Engineering Izmir Institute of Technology.

Actuators & Sensors. Assoc. Prof. Enver Tatlicioglu. Department of Electrical & Electronics Engineering Izmir Institute of Technology. Actuators & Sensors Assoc. Prof. Enver Tatlicioglu Department of Electrical & Electronics Engineering Izmir Institute of Technology Chapter 2 Assoc. Prof. Enver Tatlicioglu (EEE@IYTE) EE463 Introduction

More information

Differential Op Amp Single-Supply Design Techniques

Differential Op Amp Single-Supply Design Techniques Application Note SLOA07 September 00 Differential Op Amp Single-Supply Design Techniques Bruce Carter High Performance Linear ABSTRACT There is a lot of confusion about how to operate a fully differential

More information

Current Loop Tuning Procedure. Servo Drive Current Loop Tuning Procedure (intended for Analog input PWM output servo drives) General Procedure AN-015

Current Loop Tuning Procedure. Servo Drive Current Loop Tuning Procedure (intended for Analog input PWM output servo drives) General Procedure AN-015 Servo Drive Current Loop Tuning Procedure (intended for Analog input PWM output servo drives) The standard tuning values used in ADVANCED Motion Controls drives are conservative and work well in over 90%

More information

OPERATING MANUAL. Table of contents. 2 Phase Stepping Motor Driver 2M542. Rev. A. Introduction page 2. Specifications page 2 Timing chart page 3

OPERATING MANUAL. Table of contents. 2 Phase Stepping Motor Driver 2M542. Rev. A. Introduction page 2. Specifications page 2 Timing chart page 3 2 Phase Stepping Motor Driver 2M542 OPEATING MANUAL Table of contents Introduction page 2 Specifications page 2 Timing chart page 3 Setting page 4 Current set page 4 educe current function page 4 Micro

More information

Lab 3. Transistor and Logic Gates

Lab 3. Transistor and Logic Gates Lab 3. Transistor and Logic Gates Laboratory Instruction Today you will learn how to use a transistor to amplify a small AC signal as well as using it as a switch to construct digital logic circuits. Introduction

More information

Induction generators are commonly used

Induction generators are commonly used Induction generators for small hydro schemes In developing countries, small hydro projects producing power outputs in the range 110kW are gaining popularity, particularly as isolated power supply schemes

More information

Plunger-Lift: Automated Control Via Telemetry

Plunger-Lift: Automated Control Via Telemetry Plunger-Lift: Automated Control Via Telemetry Technical Paper: B y St a n Mo r r o w, St a n Lu s k PO Box 130158 Tyler, TX 75713-0158 (903) 561-4851 FAX (903) 561-6567 Abstract Controlling plunger-lift

More information

E&I MAINTENANCE ENTRY TEST ENABLING OBJECTIVES. DESCRIBE hazards and precautions taken to avoid injury in the workplace.

E&I MAINTENANCE ENTRY TEST ENABLING OBJECTIVES. DESCRIBE hazards and precautions taken to avoid injury in the workplace. SAFETY Industrial DESCRIBE hazards and precautions taken to avoid injury in the workplace. Example #1: All of the following are common PPE used to perform maintenance activities EXCEPT: a. Safety Glasses

More information

APPLICATION OF ADVANCED SEARCH- METHODS FOR AUTOMOTIVE DATA-BUS SYSTEM SIGNAL INTEGRITY OPTIMIZATION

APPLICATION OF ADVANCED SEARCH- METHODS FOR AUTOMOTIVE DATA-BUS SYSTEM SIGNAL INTEGRITY OPTIMIZATION APPLICATION OF ADVANCED SEARCH- METHODS FOR AUTOMOTIVE DATA-BUS SYSTEM SIGNAL INTEGRITY OPTIMIZATION Harald Günther 1, Stephan Frei 1, Thomas Wenzel, Wolfgang Mickisch 1 Technische Universität Dortmund,

More information

Signal Conditioning Wheatstone Resistive Bridge Sensors

Signal Conditioning Wheatstone Resistive Bridge Sensors Application Report SLOA034 - September 1999 Signal Conditioning Wheatstone Resistive Bridge Sensors James Karki Mixed Signal Products ABSTRACT Resistive elements configured as Wheatstone bridge circuits

More information

The Electronic Scale

The Electronic Scale The Electronic Scale Learning Objectives By the end of this laboratory experiment, the experimenter should be able to: Explain what an operational amplifier is and how it can be used in amplifying signal

More information

Sensor-Based Robotic Model for Vehicle Accident Avoidance

Sensor-Based Robotic Model for Vehicle Accident Avoidance Copyright 2012 American Scientific Publishers All rights reserved Printed in the United States of America Journal of Computational Intelligence and Electronic Systems Vol. 1, 1 6, 2012 Sensor-Based Robotic

More information

Feature Extraction of MES (MyoElectricSignal) using Temporal approach for prosthetic arm control

Feature Extraction of MES (MyoElectricSignal) using Temporal approach for prosthetic arm control International Journal of Electronics and Computer Science Engineering 678 Available Online at www.ijecse.org ISSN- 2277-1956 Feature Extraction of MES (MyoElectricSignal) using Temporal approach for prosthetic

More information

Design of Automatic Transformer Winding Machine

Design of Automatic Transformer Winding Machine Design of Automatic Transformer Winding Machine Nishad S.Joshi 1, Chetan B. Bulbule 2, Sagar D.Domale 3,Prof.Jayashree Deka 4 1,2,3, B.E. Electrical, 4 Asst Prof. Electrical Engineering Department of Electrical

More information

Michelin North America, Inc. Industrial Maintenance Interview Outline

Michelin North America, Inc. Industrial Maintenance Interview Outline Michelin North America, Inc. Industrial Maintenance Interview Outline Copyright 2012 Michelin North America, Inc. All rights reserved. The Michelin Man is a registered trademark of Michelin North America,

More information

Digital Outputs and Relays

Digital Outputs and Relays Digital Outputs and Relays Many control tasks require only a binary type of output, i.e. turning on or off a switch, light, motor or other device. Examples would be turning on or off a conveyor, a gas

More information

Object Following Fuzzy Controller for a Mobile Robot

Object Following Fuzzy Controller for a Mobile Robot Copyright 2012 American Scientific Publishers All rights reserved Printed in the United States of America Journal of Computational Intelligence and Electronic Systems Vol. 1, 1 5, 2012 Irfan Ullah 1, Furqan

More information

DESIGN AND MANUFACTURING OF LOW-COST PROTOTYPE CNC MILLING MACHINE FOR MASS PRODUCTION ORIENTED SMALL SCALE INDUSTRY PROJECT REFERENCE NO: 38S0238

DESIGN AND MANUFACTURING OF LOW-COST PROTOTYPE CNC MILLING MACHINE FOR MASS PRODUCTION ORIENTED SMALL SCALE INDUSTRY PROJECT REFERENCE NO: 38S0238 DESIGN AND MANUFACTURING OF LOW-COST PROTOTYPE CNC MILLING MACHINE FOR MASS PRODUCTION ORIENTED SMALL SCALE INDUSTRY PROJECT REFERENCE NO: 38S0238 COLLEGE : NANDI INSTITUTE OF TECHNOLOGY AND MANAGEMENT

More information

Measure Pressure and Flow

Measure Pressure and Flow Measure Pressure and Flow Install the EMANT300 USB DAQ and Stepper Motor Training Kit 1. Connect up the EMANT300 USB DAQ and Pressure and Air pump Adaptor as shown. EMANT300 USB DAQ Pressure and Air pump

More information

1A. Half wave rectifier design

1A. Half wave rectifier design CARLETON UNIVERSITY Department of Systems and Computer Engineering SYSC 3203 Project Title: EMG-Controlled Mouse Milestone #3B: EMG rectifier and integrator Since an EMG signal is not rhythmic in nature,

More information

Analog control unit for mobile robots

Analog control unit for mobile robots Analog control unit for mobile robots Soldering kit for experimentation For Fischertechnik robots and others Most diverse functions Requires no programming Patented sensor technology Summary We are pleased

More information

IEEE Projects in Embedded Sys VLSI DSP DIP Inst MATLAB Electrical Android

IEEE Projects in Embedded Sys VLSI DSP DIP Inst MATLAB Electrical Android About Us : We at Ensemble specialize in electronic design and manufacturing services for various industrial segments. We also offer student project guidance and training for final year projects in departments

More information

The NPN Transistor Bias and Switching

The NPN Transistor Bias and Switching The NPN Transistor Bias and Switching Transistor Linear Amplifier Equipment Oscilloscope Function Generator (FG) Bread board 9V Battery and leads Resistors:, 10 kω, Capacitors: ( 2) NPN Transistor Potentiometer

More information

MAS.836 HOW TO BIAS AN OP-AMP

MAS.836 HOW TO BIAS AN OP-AMP MAS.836 HOW TO BIAS AN OP-AMP Op-Amp Circuits: Bias, in an electronic circuit, describes the steady state operating characteristics with no signal being applied. In an op-amp circuit, the operating characteristic

More information

Series and Parallel Resistive Circuits

Series and Parallel Resistive Circuits Series and Parallel Resistive Circuits The configuration of circuit elements clearly affects the behaviour of a circuit. Resistors connected in series or in parallel are very common in a circuit and act

More information

Series-Parallel Circuits

Series-Parallel Circuits Chapter 6 Series-Parallel Circuits Topics Covered in Chapter 6 6-1: Finding R T for Series-Parallel Resistances 6-2: Resistance Strings in Parallel 6-3: Resistance Banks in Series 6-4: Resistance Banks

More information

Chapter 11 SERVO VALVES. Fluid Power Circuits and Controls, John S.Cundiff, 2001

Chapter 11 SERVO VALVES. Fluid Power Circuits and Controls, John S.Cundiff, 2001 Chapter 11 SERVO VALVES Fluid Power Circuits and Controls, John S.Cundiff, 2001 Servo valves were developed to facilitate the adjustment of fluid flow based on the changes in the load motion. 1 Typical

More information

Easy Step 1000 Stepper Driver Module

Easy Step 1000 Stepper Driver Module Easy Step 1000 Stepper Driver Module STEPPER MOTOR DRIVER MODULE Example Connection Diagram 2 The Easy Step 1000 (ES1000) is intended to be the link between a microprocessor and stepper motor. The ES1000

More information

Direct Torque Control of Brushless DC Motor Using PI and FuzzyController

Direct Torque Control of Brushless DC Motor Using PI and FuzzyController Direct Torque Control of Brushless DC Motor Using PI and FuzzyController D.Premalatha M.E Power Electronics and Drives(II Year) PA College of Engineering and Technology, Pollachi,Tamil Nadu,India Abstract

More information

Test Questions for learning objectives. (Select the best answer from the choices given)

Test Questions for learning objectives. (Select the best answer from the choices given) Chapter 1 Test Questions for learning objectives. (Select the best answer from the choices given) 1-1. Write the definition of a PLC 1) PLCs are designed for use in the control of a wide variety of manufacturing

More information

DESIGN AND IMPLEMENTATION OF A SIMPLE, LOW-COST ROBOTIC ARM

DESIGN AND IMPLEMENTATION OF A SIMPLE, LOW-COST ROBOTIC ARM DESIGN AND IMPLEMENTATION OF A SIMPLE, LOW-COST ROBOTIC ARM Mashad Uddin Saleh 1, Gazi Mahamud Hasan 2, Mohammad Abdullah Al Shohel 3, Md. Abul Hasnat Ferdous 4, Biswajit Biswas Dipan 5 Alumni, Dept. of

More information

Physics Worksheet Electric Circuits Section: Name: Series Circuits

Physics Worksheet Electric Circuits Section: Name: Series Circuits Do Now: (1) What is electric circuit? (2) Convert the following picture into schematic diagram. Series Circuits 4. Label every component of the circuit; identify each of the voltage and current. 5. Relation

More information

The George Washington University School of Engineering and Applied Science Department of Electrical and Computer Engineering

The George Washington University School of Engineering and Applied Science Department of Electrical and Computer Engineering The George Washington University School of Engineering and Applied Science Department of Electrical and Computer Engineering Final Design Report Dual Channel Stereo Amplifier By: Kristen Gunia Prepared

More information