The Experts below are selected from a list of 315 Experts worldwide ranked by ideXlab platform

M T Pham - One of the best experts on this subject based on the ideXlab platform.

  • Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves
    IEEE Transactions on Control Systems Technology, 2013
    Co-Authors: M T Pham, Mahdi Tavakoli, Richard Moreau, Jean-pierre Simon, Tanneguy Redarce
    Abstract:

    In past research on the control of pneumatic actuators, typically proportional servoValves have been used for achieving high-performance control of the mass flow rate. In this brief, we instead use fast-switching ON/OFF Valves due to their distinct advantages in terms of low cost and small size. Accurate control of pneumatic actuators with ON/OFF Solenoid Valves is a challenge since the system dynamics is both discrete input and highly nonlinear. In this brief, we apply a hybrid control algorithm to a pneumatic actuator with ON/OFF Valves. Such a control approach is developed for choosing the best control vector at each sample time to track the reference state (i.e., desired force) in the inner force control loop within a bilateral teleoperation system. Experimental results show that good teleoperation transparency is achieved despite all the obstacles such as discrete input and nonlinear behavior of the pneumatic-actuated teleoperation system.

  • Sliding-Mode Control of Nonlinear Discrete-Input Pneumatic Actuators
    2011
    Co-Authors: Sean Hodgson, Mahdi Tavakoli, M T Pham
    Abstract:

    This paper proposes a sliding mode law for precise position control with minimal switching activity for a robotic system that uses on/off (Solenoid) pneumatic actuators. For a two-chamber pneumatic actuator with four binary Solenoid Valves, there is a total of sixteen possible input combinations defined directly from the state of the four on/off Solenoid Valves present in the system. However, only seven of these discrete operating modes are considered both functional and unique. Accordingly, we use a seven-mode sliding controller that minimizes the position error using modes that have both the necessary and sufficient amounts of drive energy and, thus, involve reduced switching activity. An analysis of the closed- loop system stability is carried out. The performance of the proposed control design is experimentally verified on a single pneumatic actuator comprising of two chambers driven by four on/off Solenoid Valves.

  • Force Tracking of Pneumatic Servo Systems Using On/Off Solenoid Valves Based on a Greedy Control Scheme
    Journal of Dynamic Systems Measurement and Control, 2011
    Co-Authors: M T Pham, Richard Moreau, Jean-pierre Simon, Tanneguy Redarce
    Abstract:

    This paper presents a new predictive greedy control law for the control of electropneumatic systems using Solenoid Valves. The method is based on a predictive model of the mass flow rate of the Valves. For this strategy, a control vector, depending on the number of possible configurations for the Solenoid Valves, is defined. In order to evaluate the new approach, a comparison has been performed with a classical PWM control for a force tracking problem. The experimental results show that not only the accuracy in steady state but also the dynamic behavior of the pressures is better in the case of greedy control than PWM control.

  • Sliding Mode Control of a Pneumatic Haptic Teleoperation System with On/off Solenoid Valves
    2011
    Co-Authors: M T Pham, Mahdi Tavakoli, Richard Moreau
    Abstract:

    This paper presents a novel bilateral control scheme for pneumatic teleoperation systems that are actuated by low cost Solenoid Valves. A sliding mode control is incorporated into a two-channel, bilateral teleoperation architecture involving position-position, force-force, or force-position schemes. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design is experimentally verified on a single-degree-of-freedom pneumatic teleoperation system actuated by on/off Valves. Moreover, experiment results demonstrate high accuracies in terms of position and force tracking in the teleoperation system.

  • sliding mode control of a pneumatic haptic teleoperation system with on off Solenoid Valves
    International Conference on Robotics and Automation, 2011
    Co-Authors: M T Pham, Mahdi Tavakoli, Richard Moreau
    Abstract:

    This paper presents a novel bilateral control scheme for pneumatic teleoperation systems that are actuated by low-cost Solenoid Valves. A sliding mode control is incorporated into a two-channel, bilateral teleoperation architecture involving position-position, force-force, or force-position schemes. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design is verified on a single-degree-of-freedom pneumatic teleoperation system with four on/off Solenoid Valves. Moreover, simulation results demonstrate high accuracies in terms of position and force tracking in the teleoperation system.

Richard Moreau - One of the best experts on this subject based on the ideXlab platform.

  • Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves
    IEEE Transactions on Control Systems Technology, 2013
    Co-Authors: M T Pham, Mahdi Tavakoli, Richard Moreau, Jean-pierre Simon, Tanneguy Redarce
    Abstract:

    In past research on the control of pneumatic actuators, typically proportional servoValves have been used for achieving high-performance control of the mass flow rate. In this brief, we instead use fast-switching ON/OFF Valves due to their distinct advantages in terms of low cost and small size. Accurate control of pneumatic actuators with ON/OFF Solenoid Valves is a challenge since the system dynamics is both discrete input and highly nonlinear. In this brief, we apply a hybrid control algorithm to a pneumatic actuator with ON/OFF Valves. Such a control approach is developed for choosing the best control vector at each sample time to track the reference state (i.e., desired force) in the inner force control loop within a bilateral teleoperation system. Experimental results show that good teleoperation transparency is achieved despite all the obstacles such as discrete input and nonlinear behavior of the pneumatic-actuated teleoperation system.

  • Force Tracking of Pneumatic Servo Systems Using On/Off Solenoid Valves Based on a Greedy Control Scheme
    Journal of Dynamic Systems Measurement and Control, 2011
    Co-Authors: M T Pham, Richard Moreau, Jean-pierre Simon, Tanneguy Redarce
    Abstract:

    This paper presents a new predictive greedy control law for the control of electropneumatic systems using Solenoid Valves. The method is based on a predictive model of the mass flow rate of the Valves. For this strategy, a control vector, depending on the number of possible configurations for the Solenoid Valves, is defined. In order to evaluate the new approach, a comparison has been performed with a classical PWM control for a force tracking problem. The experimental results show that not only the accuracy in steady state but also the dynamic behavior of the pressures is better in the case of greedy control than PWM control.

  • Sliding Mode Control of a Pneumatic Haptic Teleoperation System with On/off Solenoid Valves
    2011
    Co-Authors: M T Pham, Mahdi Tavakoli, Richard Moreau
    Abstract:

    This paper presents a novel bilateral control scheme for pneumatic teleoperation systems that are actuated by low cost Solenoid Valves. A sliding mode control is incorporated into a two-channel, bilateral teleoperation architecture involving position-position, force-force, or force-position schemes. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design is experimentally verified on a single-degree-of-freedom pneumatic teleoperation system actuated by on/off Valves. Moreover, experiment results demonstrate high accuracies in terms of position and force tracking in the teleoperation system.

  • sliding mode control of a pneumatic haptic teleoperation system with on off Solenoid Valves
    International Conference on Robotics and Automation, 2011
    Co-Authors: M T Pham, Mahdi Tavakoli, Richard Moreau
    Abstract:

    This paper presents a novel bilateral control scheme for pneumatic teleoperation systems that are actuated by low-cost Solenoid Valves. A sliding mode control is incorporated into a two-channel, bilateral teleoperation architecture involving position-position, force-force, or force-position schemes. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design is verified on a single-degree-of-freedom pneumatic teleoperation system with four on/off Solenoid Valves. Moreover, simulation results demonstrate high accuracies in terms of position and force tracking in the teleoperation system.

  • Development of a hybrid control for a pneumatic teleoperation system using on/off Solenoid Valves
    2010
    Co-Authors: M T Pham, Mahdi Tavakoli, Richard Moreau
    Abstract:

    This paper presents a new predictive hybrid control law for a pneumatic teleoperation system using Solenoid Valves. Based on a predictive model of the mass flow rate of the Valves, this method is used within a four-channel (4CH) bilateral control architecture for haptic teleoperation. An analysis of the controller parameters is carried out in order to achieve acceptable performances. The results show that a good accuracy in position and force tracking of the teleoperation system is obtained.

Mahdi Tavakoli - One of the best experts on this subject based on the ideXlab platform.

  • Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves
    IEEE Transactions on Control Systems Technology, 2013
    Co-Authors: M T Pham, Mahdi Tavakoli, Richard Moreau, Jean-pierre Simon, Tanneguy Redarce
    Abstract:

    In past research on the control of pneumatic actuators, typically proportional servoValves have been used for achieving high-performance control of the mass flow rate. In this brief, we instead use fast-switching ON/OFF Valves due to their distinct advantages in terms of low cost and small size. Accurate control of pneumatic actuators with ON/OFF Solenoid Valves is a challenge since the system dynamics is both discrete input and highly nonlinear. In this brief, we apply a hybrid control algorithm to a pneumatic actuator with ON/OFF Valves. Such a control approach is developed for choosing the best control vector at each sample time to track the reference state (i.e., desired force) in the inner force control loop within a bilateral teleoperation system. Experimental results show that good teleoperation transparency is achieved despite all the obstacles such as discrete input and nonlinear behavior of the pneumatic-actuated teleoperation system.

  • Sliding-Mode Control of Nonlinear Discrete-Input Pneumatic Actuators
    2011
    Co-Authors: Sean Hodgson, Mahdi Tavakoli, M T Pham
    Abstract:

    This paper proposes a sliding mode law for precise position control with minimal switching activity for a robotic system that uses on/off (Solenoid) pneumatic actuators. For a two-chamber pneumatic actuator with four binary Solenoid Valves, there is a total of sixteen possible input combinations defined directly from the state of the four on/off Solenoid Valves present in the system. However, only seven of these discrete operating modes are considered both functional and unique. Accordingly, we use a seven-mode sliding controller that minimizes the position error using modes that have both the necessary and sufficient amounts of drive energy and, thus, involve reduced switching activity. An analysis of the closed- loop system stability is carried out. The performance of the proposed control design is experimentally verified on a single pneumatic actuator comprising of two chambers driven by four on/off Solenoid Valves.

  • Sliding Mode Control of a Pneumatic Haptic Teleoperation System with On/off Solenoid Valves
    2011
    Co-Authors: M T Pham, Mahdi Tavakoli, Richard Moreau
    Abstract:

    This paper presents a novel bilateral control scheme for pneumatic teleoperation systems that are actuated by low cost Solenoid Valves. A sliding mode control is incorporated into a two-channel, bilateral teleoperation architecture involving position-position, force-force, or force-position schemes. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design is experimentally verified on a single-degree-of-freedom pneumatic teleoperation system actuated by on/off Valves. Moreover, experiment results demonstrate high accuracies in terms of position and force tracking in the teleoperation system.

  • sliding mode control of a pneumatic haptic teleoperation system with on off Solenoid Valves
    International Conference on Robotics and Automation, 2011
    Co-Authors: M T Pham, Mahdi Tavakoli, Richard Moreau
    Abstract:

    This paper presents a novel bilateral control scheme for pneumatic teleoperation systems that are actuated by low-cost Solenoid Valves. A sliding mode control is incorporated into a two-channel, bilateral teleoperation architecture involving position-position, force-force, or force-position schemes. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design is verified on a single-degree-of-freedom pneumatic teleoperation system with four on/off Solenoid Valves. Moreover, simulation results demonstrate high accuracies in terms of position and force tracking in the teleoperation system.

  • Development of a hybrid control for a pneumatic teleoperation system using on/off Solenoid Valves
    2010
    Co-Authors: M T Pham, Mahdi Tavakoli, Richard Moreau
    Abstract:

    This paper presents a new predictive hybrid control law for a pneumatic teleoperation system using Solenoid Valves. Based on a predictive model of the mass flow rate of the Valves, this method is used within a four-channel (4CH) bilateral control architecture for haptic teleoperation. An analysis of the controller parameters is carried out in order to achieve acceptable performances. The results show that a good accuracy in position and force tracking of the teleoperation system is obtained.

Tanneguy Redarce - One of the best experts on this subject based on the ideXlab platform.

  • Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves
    IEEE Transactions on Control Systems Technology, 2013
    Co-Authors: M T Pham, Mahdi Tavakoli, Richard Moreau, Jean-pierre Simon, Tanneguy Redarce
    Abstract:

    In past research on the control of pneumatic actuators, typically proportional servoValves have been used for achieving high-performance control of the mass flow rate. In this brief, we instead use fast-switching ON/OFF Valves due to their distinct advantages in terms of low cost and small size. Accurate control of pneumatic actuators with ON/OFF Solenoid Valves is a challenge since the system dynamics is both discrete input and highly nonlinear. In this brief, we apply a hybrid control algorithm to a pneumatic actuator with ON/OFF Valves. Such a control approach is developed for choosing the best control vector at each sample time to track the reference state (i.e., desired force) in the inner force control loop within a bilateral teleoperation system. Experimental results show that good teleoperation transparency is achieved despite all the obstacles such as discrete input and nonlinear behavior of the pneumatic-actuated teleoperation system.

  • Force Tracking of Pneumatic Servo Systems Using On/Off Solenoid Valves Based on a Greedy Control Scheme
    Journal of Dynamic Systems Measurement and Control, 2011
    Co-Authors: M T Pham, Richard Moreau, Jean-pierre Simon, Tanneguy Redarce
    Abstract:

    This paper presents a new predictive greedy control law for the control of electropneumatic systems using Solenoid Valves. The method is based on a predictive model of the mass flow rate of the Valves. For this strategy, a control vector, depending on the number of possible configurations for the Solenoid Valves, is defined. In order to evaluate the new approach, a comparison has been performed with a classical PWM control for a force tracking problem. The experimental results show that not only the accuracy in steady state but also the dynamic behavior of the pressures is better in the case of greedy control than PWM control.

  • Transparency of a pneumatic teleoperation system using on/off Solenoid Valves
    2010
    Co-Authors: M T Pham, Richard Moreau, Tanneguy Redarce
    Abstract:

    This paper presents a new predictive hybrid control law for a pneumatic teleoperation system using Solenoid Valves. Based on a predictive model of the mass flow rate of the Valves, this method is used within a four-channel (4CH) bilateral control architecture for haptic teleoperation. An analysis of the controller parameters is carried out in order to achieve acceptable performances. To evaluate the new strategy, a comparison study has been performed with a classical PWM control of a teleoperation system. The results show that the accuracy in position and force tracking in steady state but also the dynamic behavior of the pressures are better in the case of hybrid control than PWM control.

  • Comparison of a PWM and a hybrid force control for a pneumatic actuator using on/off Solenoid Valves
    2010
    Co-Authors: M T Pham, Richard Moreau, Tanneguy Redarce
    Abstract:

    This paper presents a new predictive hybrid control law for the control of electro-pneumatic systems using Solenoid Valves. The method is based on a predictive model of the mass flow rate of the Valves. In order to evaluate this strategy, a comparison study in simulation has been performed with a classical PWM control for a force tracking problem. The results show that the accuracy in steady state but also the dynamic behavior of the pressures are better in the case of the hybrid control than the PWM control. The validity of the theory has been verified through simulations.

Takamichi Nakamoto - One of the best experts on this subject based on the ideXlab platform.

  • Optimization of Modulation Methods for Solenoid Valves to Realize an Odor Generation System.
    Sensors (Basel Switzerland), 2019
    Co-Authors: Manuel Aleixandre, Kaoru Nakazawa, Takamichi Nakamoto
    Abstract:

    An artificial olfactory system coupled with an odor generation system is herein reported. The artificial olfactory system is composed of four chemical sensors consisting of quartz crystal microbalances (QCMs) coated with room temperature ionic liquids (RTILs). The sensors are interrogated by four vector network analyzers, which are used to measure the series resonant frequency and motional resistance. The odor generation system can generate eight different odors and mix them in any composition. Solenoid Valves are used to switch the path and control the concentration of the different odors before blending. Two algorithms to control the Solenoid Valves, delta-sigma modulator, and simple pulse width modulation (PWM) are studied, optimized, and compared. Finally, the uncertainty of the odor generating system is calculated.

  • Multicomponent Olfactory Display Using Solenoid Valves and SAW Atomizer and its Blending-Capability Evaluation
    IEEE Sensors Journal, 2018
    Co-Authors: Takamichi Nakamoto, Shingo Kato, Gui Ping Qi
    Abstract:

    An olfactory display for blending many ingredients at any recipe was developed. It consists of microdispensers based upon Solenoid Valves and surface acoustic wave atomizer. The accuracy and stability were much improved compared with previous olfactory display using micropumps. Then, its blending capability was tested using sensory test such as triangle test. It was found that the scent blended in the proposed olfactory display was identical to the one blended in advance in the liquid phase. Finally, the durability of the amorphous Teflon coating used for enhancing atomization capability was investigated. The durability of the amorphous Teflon coating was much improved when the concentration of silane-coupling agent was modified.

  • demonstration of improved olfactory display using rapidly switching Solenoid Valves
    IEEE Virtual Reality Conference, 2009
    Co-Authors: Takamichi Nakamoto, Masashi Kinoshita, Keisuke Murakami, Ariyakul Yossiri
    Abstract:

    This article shows our research efforts toward the development of an olfactory display system for presenting odors with a vivid sense of reality. A multi-component olfactory display is developed, which enables generation of a variety of odors by blending multiple odor vapors with arbitrary ratios. In this research demo, the two contents using the olfactory display will be demonstrated. The first one is the experiment on odor approximation using odor components extracted from a mass spectrum database. The second one is the reproduction of video with smell. The temporal changes of odor kind and its concentration can be recorded and can be presented together with movie obtained from a web camera. People can enjoy the recorded video with scents.

  • Improvement of olfactory display using Solenoid Valves
    2007 IEEE Virtual Reality Conference, 2007
    Co-Authors: Takamichi Nakamoto, Hai Pham Dinh Minh
    Abstract:

    The research on olfactory sense in virtual reality has gradually expanded even though the technology is still premature. We have developed an olfactory display composed of multiple Solenoid Valves. In the present study, an extended olfactory display, where 32 component odors can be blended in any recipe, is described; the previous version has only 8 odor components. The size was unchanged even though the number of odor components was four times larger than that in the previous display. The complexity of blending was greatly reduced because of algorithm improvement. The blending method and the fundamental experiment using a QCM (quartz crystal microbalance) sensor are described here

  • movie with scents generated by olfactory display using Solenoid Valves
    IEICE Transactions on Fundamentals of Electronics Communications and Computer Sciences, 2006
    Co-Authors: Takamichi Nakamoto, Kenjiro Yoshikawa
    Abstract:

    We developed an olfactory display to blend 8 component odors at any composition. The Solenoid Valves controlled by an algorithm with delta sigma modulation showed the sufficient capability. Then, we developed a system for presenting a movie together with scents. We actually made a movie with scents and evaluated it using questionnaire survey. It was found that the scene with smell attracted the experimental subjects' attention and, moreover, the contrast of the pleasant smell with the offensive one emphasized their attention. Furthermore, we established several guidelines for producing movies with scents.