Mechatronics Laboratory Research Articles

10 MW FOWT Semi-Submersible Multi-Objective Optimization: A Comparative Study of PSO, SA, and ACO

The present study aims to carry out a comparative Multi-Objective Optimization (MOO) of a 10 MW FOWT semi-submersible using three different metaheuristic optimization techniques and a sophisticated approach for optimizing a floating platform. This novel framework enables highly efficient 3D plots, an optimization loop, and the automatic and comparative output of solutions. Python, the main interface, integrated PyMAPDL and Pymoo for intricate modeling and simulation tasks. For this case study, the ZJUS10 Floating Offshore Wind Turbine (FOWT) platform, developed by the state key laboratory of mechatronics and fluid power at Zhejiang University, was employed as the basis. Key criteria such as platform stability, overall structural mass, and stress were pivotal in formulating the objective functions. Based on a preliminary study, the three metaheuristic optimization algorithms chosen for optimization were Particle Swarm Optimization (PSO), Simulated Annealing (SA), and Ant Colony Optimization (ACO). Then, the solutions were evaluated based on Pareto dominance, leading to a Pareto front, a curve that represents the best possible trade-offs among the objectives. Each algorithm’s convergence was meticulously evaluated, leading to the selection of the optimal design solution. The results evaluated in simulations elucidate the strengths and limitations of each optimization method, providing valuable insights into their efficacy for complex engineering design challenges. In the post-processing phase, the performances of the optimized FOWT platforms were thoroughly compared both among themselves and with the original model, resulting in validation. Finally, the ACO algorithm delivered a highly effective solution within the framework, achieving reductions of 19.8% in weight, 40.1% in pitch, and 12.7% in stress relative to the original model.

Применение роботов вертикального перемещения для очистки корпусов судов от обрастаний

Traditionally underwater robotics deals with UAVs and ROVs. This paper discusses a new type of robot for this application - vertical climbing robots. This type of robots has traditionally been considered for terrestrial use. However recent developments have confirmed the effectiveness of using such robots for underwater research. The article describes the work carried out in the Laboratory of robotics and mechatronics of the Ishlinsky Institute for Problems in Mechanics RAS on using climbing robots for technological operations in the aquatic. In particular we discuss issues of creating a robotic system for cleaning ship hulls from fouling. This work was carried out jointly with the St. Petersburg State Marine Technical University.

The Role of Instant Centers in Kinematics and Dynamics of Planar Mechanisms: Review of LaMaViP’s Contributions

Theoretical kinematics and dynamics is one of the research fields where LaMaViP (Laboratory of Mechatronics and Virtual Prototyping) operates, which is the lab leaded by the author at the University of Ferrara. In the last two decades, this research activity at LaMaViP has produced, among others, many novel results that highlight how instant centers’ (ICs) locations condition the kinetostatic and dynamic behaviors of planar mechanisms, and that provide tools suitable for design purposes. This paper reviews/summarizes the tools devised at LaMaViP for PM analysis and synthesis through ICs, and shows that they are a complete set of tools, which make the full description of PMs’ kinematics and dynamics possible, and that the new IC features, identified while setting up these tools, are relevant in machine design.

BIDIRECTIONAL CONTROLLED MULTIPLE SYNCHRONIZATION OF UNBALANCED ROTORS AND ITS EXPERIMENTAL EVALUATION

In the paper the problem of multiple controlled synchronization of a pair of unbalanced rotors is considered. A new bidirectional control law is proposed for multiple synchronization of rotors. A linear analysis of the dynamics of a simplified system model is presented, demonstrating the control system robustness with respect to the parameters of the vibration machine and controller. The main part of the paper is devoted to the description of the experimental results obtained at the Multiresonance Mechatronic Laboratory Setup, demonstrating the efficiency of the proposed approach and revealing its application scope.

The Sensitivity Adjustment Technique Within the Exoskeleton Control System

An exoskeleton system contains a human operator in the control loop, which imposes restrictions on the applied control algorithms and movement speed. Robotics is the central topic of the latest physical artificial intelligence that links computing, biology, chemistry, material science, mechanical engineering. This study explores the robotic exoskeleton system that contains a human operator in the control loop, which imposes restrictions on the applied control algorithms and movement speed. At the moment, there are a number of tasks in research projects towards exoskeleton control algorithms. These tasks include consideration of fatigue of a person arising from the control of the exoskeleton over long period of time. Operator’s fatigue, as a result of the monotonous operations, leads to the fact that the control efficiency decreases, and the positioning error will increase over time. Another task when controlling using human biopotentials is compensation of the influence of the operator's tremor on the control signal. Also, a very important factor is the adaptation of actuators to a change in the transient characteristics of external and internal forces. This article describes the results of tests of an arm exoskeleton device with DC drive located in the elbow joint and a control algorithm based on an electromyogram of the biceps brachii and triceps brachii of the operator. The structure and features of the experimental stand developed in the laboratory of robotics and mechatronics of IPMech RAS are shown. The sensitivity adjustment technique within the exoskeleton control system is proposed.

The Application of Virtual Reality to (Mechatronics Engineering) by Creating an Articulated Robotic Work Cell Using EON Reality V9.22.24.24477

Virtual reality, VR, offers many benefits to technical education, including the delivery of information through multiple active channels, the addressing of different learning styles, and experiential-based learning. This paper presents work performed by the authors to apply VR to engineering education, in three broad project areas: virtual robotic learning, virtual mechatronics laboratory, and a virtual manufacturing platform. The first area provides guided exploration of domains otherwise inaccessible, such as the robotic cell components, robotic kinematics and work envelope. The second promotes mechatronics learning and guidance for new mechatronics engineers when dealing with robots in a safe and interactive manner. And the third provides valuable guidance for industry and robotic based manufacturing, allowing a better view and simulating conditions otherwise inaccessible.

Study on Design and Combined Adaptive Control for a Remotely Operated Vehicle (VIAM-ROV900)

This paper presents the research of model-base design and control of Remotely Operated Vehicle (ROV) built in VietNam Automation & Mechatronics Laboratory (VIAMLAB). This is one of the most important types of underwater robots used in water environments for many purposes, especially for navy and marine industries. The design keeps our tethered ROV self-stabilized in the horizontal plane. It is also equipped with thrusters and sensor feedbacks, allowing 6 degrees-of-freedom motion. Moreover, cameras and grabber integrated into ROV support underwater survey tasks. In addition, the paper also simulates controllers with the main task of keeping depth for ROV. The controllers designed and surveyed here include: PID, optimal control (LQR), standard model control (MRAC) and combination controller between LQR and MRAC. The performance of the algorithm will be evaluated through simulation results using Matlab / Simulink.

Analysis of Innovations in Concentration of Solar Radiation

As part of my research work carried out successfully at the level of Master 2 in 2016, in the laboratory of Electrical Engineering, Mechatronics and Signal Processing, I designed a TVS central, which allowed me to replace the use of diesel fuel by solar energy in the production of electrical energy. This solar power plant was named: TVS system. Its solar energy collector is parabolic and well suited to urban areas. I have noticed that its installation, operation and maintenance are complex and require good training for officers working at the plant. The rural area is not electrified in Cameroon it has been very interesting to extend the use of the TVS system in rural areas since water and the sun being available in these places, it will work with steam which will allow to have a kW at lower cost. It will be a question for me in the context of performance research in the production of electricity, to redesign the TVS system with innovative solar energy collection equipment which also allows to add a thermal storage system to overcome lack of sunshine at night. The process of producing electricity from solar radiation is complex for concentrated solar energy, but direct for voltaic panels. Since the solar energy is not very dense, it is necessary to concentrate it to obtain exploitable temperatures for the production of high-power electricity. These sought temperatures are between 400°C and 600°C. Figure 1 below shows the capture of solar radiation and the movements of the thermal energy received until its transformation into mechanical movement driving the alternator. The solar energy production sector has become dynamic all over the world and we are witnessing various promising innovations which will announce the primordial place that renewable energies will occupy in the near future. Today, solar energy is estimated at 19% of the world's electric energy. During my thesis work, I propose to: analyze of innovations in concentration of solar radiation. [10]

An overview on Robotic Applications for Cultural Heritage and Built Cultural Heritage

Focus is an overview on Robotics application for Cultural heritage and Built Cultural Heritage (a term that includes all the Architectural, Archaeological, and generally constructed artifacts). In the field of analysis and restoration of Cultural Heritage and Built Cultural Heritage it is interesting to have accurate and efficient operating methodologies. Indeed, robots and robotic systems can be designed and used for these applications. The join between DART (Laboratory of Documentation, Analysis, Survey of Architecture and Territory), LARM (Laboratory of Robotics and Mechatronics) of Cassino University and the LAREA (LAboratorio di Rilievo E Architettura) of Tor Vergata University, it was an example in sharing different knowledges and competences and in developing innovative robotic applications, which are able to operate in Cultural Heritage and Built Cultural Heritage.

Simulation in virtual reality: Robotic training and surgical applications

Two case studies are performed in this study; one with 4-dof robotic system, the other 6-dof industrial robot arm . Both robot arms are actually operated in Mechatronics Laboratory, Gaziantep University. Different motion trajectories are designed, and implemented for training, medical tasks and surgical operations base. Simulations are built by using VR Toolbox in Matlab. Virtual reality environment is achieved through Simulink with real time examples . The motions and trajectories necessary for training and surgical applications are directly seen. This enables the surgeons training with many benefits; greater control during tasks reduced training periods, possibility of error free tasks for example.

Desarrollo en Blender del gemelo digital de una estación electro-neumática para su aplicación en laboratorios virtuales

This paper presents the development of the digital twin of an electro-pneumatic station composed with 3 pistons, to implement this station in virtual laboratories. The objective of this station is to have an economical alternative for the accomplishment of practices of automation that counts on the capacity to connect through Ethernet with PLCs of the mark of Allen Bradley and with all the PLCs that communicate under the protocol Modbus TCP. Later, in order to develop the digital twin presented in this paper, an electro-pneumatic physical station was taken from the Mechatronics laboratory at the Universidad Tecnológica de Queretaro, the development of this digital twin was done through the free software Blender, complementing it with programming in Python for the Ethernet TCP communication with the different programmable logic controllers. Finally, we carried out the validation of this project through the connection of both the digital twin and the physical station taken as a model, with a ControlLogix PLC. This work will allow the future to implement low-cost virtual laboratories in universities, training centers and interested institutions. The laboratories will have multiple practice scenarios that result in students better prepared in the programming of automated systems in the industry.

Development of an ultra short baseline–aided buoy for underwater targets localization

Autonomous underwater vehicles localization and navigation are challenging due to the lack of Global Positioning System underwater: alternative techniques have then to be used in order to measure the position of the vehicle. To this aim, sensor fusion methods based on acoustic positioning systems are often exploited. This article faces the study and the improvement of the localization of an underwater target through an ultra short baseline–aided buoy built by the Mechatronics and Dynamic Modelling Laboratory of the University of Florence. Such a buoy relies on an ultra short baseline device for the localization and is aided by a proper sensor set in order to compensate variations in its pose. First, a study of the underwater localization based on the ultra short baseline technique is provided. The measurement errors entailed by the buoy motion are then analyzed and preliminarily compensated, exploiting linear least squares methods. Subsequently, filtering techniques are considered with the aim to further increase the accuracy of the ultra short baseline measurements. Due to the nonlinearities of the sensors characteristics, extended Kalman filter has been used, with different models for stationary and moving targets. The solutions proposed have been validated through experimental tests conducted with MArine Robotic Tool for Archaeology autonomous underwater vehicles built by the Mechatronics and Dynamic Modelling Laboratory. The results evidence an improved vehicle localization, suggesting interesting future developments concerning both mechanical and computational solutions.

Stabilization System of a Bipedal non-anthropomorphic Robot AnyWalker

We present a bipedal walking non-anthropomorphic robot AnyWalker developed in the laboratory of robotics and mechatronics of the Kuban State University. The goal is to be able to overcome obstacles exceeding the size of the robot itself. In addition to the degrees of freedom due to the joints between the links, the robot is equipped with reaction wheels enhancing its dynamic stabilization capabilities. This paper presents a study of the stability zones in the frontal plane of the robot with and without the reaction wheel support.

Control and Stability Evaluation of the Bipedal Walking Robot AnyWalker

In the laboratory of robotics and mechatronics of the Kuban State University, a walking non-anthropomorphic robot has been developed, capable of overcoming obstacles exceeding the size of the robot. The robot has additional internal degrees of freedom, responsible for the compensation of deflections (the dynamic stabilization system). The article presents the results of the calculation of the stability zones in the frontal plane of the robot with and without a stabilization system.

A workbench for motion control experiments using programmable automation controllers in industrial automation laboratory at Kongu Engineering College

AbstractMechatronics Engineering has become an internationally recognized discipline with degree programmes offered in majority of the universities all around the world. Integrating mechanical, instrumentation, and programmable automation controller (PAC) for developing technical skills and expertise in system level integration to attain manufacturing and controller programming superiority has become the basic requirement for Mechatronics Laboratory. Divulging the graduates to servo control concept down the line to the programmable automation controller helps to gain the practical knowledge in the field of I/O interfacing, closed loop control, remote monitoring, and PLC motion control programming. Hence in this paper, a 3‐axis servo control system with HMI work bench case study has been presented to enable the graduates to learn multi‐disciplinary concepts in the field of material handling and precise position synchronous control of multi‐axis rotating system. With this work bench, applications of servo control such as electronic gearing (positioning), pick and place (material handling), and profiling (welding, machining) can be exposed to mechatronics graduates. Graduates with fundamental programming skills and apparently no‐practical experience with mechatronics systems can quickly learn how to incorporate control architectures with this work bench and prepare them to compete in Industry 4.0 environment.

Development of robotic mobile platform with the universal chassis system

The problem of stabilizing the position of mobile devices is extremely relevant at the modern level of technology development. This includes the problem of stabilizing aircraft and stabilizing the pitching of ships. In the laboratory of robotics and mechatronics of the Kuban State University, a robot is developed. The robot has additional internal degrees of freedom, responsible for compensating for deflections - the dynamic stabilization system.

Perancangan Dokumentasi Sistem Manajemen pada Laboratorium Mekatronika UNS Berdasarkan SNI ISO/IEC 17025 : 2008

<span class="fontstyle0">This research designed of documentation management system laboratory for Mechatronics Laboratory based on SNI ISO/IEC 17025:2008 refers to documentation management system laboratory in UPT Integrated Laboratory. Mechatronics laboratory is expanding the scope of the UPT Integrated Laboratory. Design of documentation management system laboratory required to obtain accreditation from KAN. Documents were designed consisting of level 1 Quality Guidelines, level 2 Procedures, level 3 Work Instrictions, and level 4 Forms. Design of the documents were done with five stages document requirements identification, business process identification, analysis the availability of the necessary documents, designing documents, and documents verification. From the stages, are known that 10 documents level 1 need adjustments, 2 documents level 3 and 11 documents level 4 need to be designed. On documents verification, it is known that there are documents that requires improvements in the format and content. If Mechatronics Laboratory develop, then required adjustments to the documents</span>

Underwater floating robot-fish: a comparative analysis of the results of mathematical modelling and full-scale tests of the prototype

The article presents a comparative analysis of the results of computer mathematical modelling of the motion of the underwater robot-fish implemented by using the MATLAB / Simulink package and fullscale tests of an experimental model developed in the laboratory of mechatronics and robotics of the SouthWest State University.

Experimental characterization of a binary actuated parallel manipulator

This paper describes the BAPAMAN (Binary Actuated Parallel MANipulator) series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics (LARM). Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy (SMA) actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.

Study of Inductive Sensors for Automotive Applications

There is an ever increasing demand for use of inductive speed sensors in a broad range of applications. They are used in typical applications such as cam and crank shaft position/speed and wheel and turbo shaft speed measurement. This paper describes the type of inductive sensor found on vehicles and the difficulties of detecting at low speeds. In the laboratory of Mechatronics an experimental device has been done to measure the speed using an inductive speed sensor. The experimental results are satisfactory and show the possibility of the inductive sensors to be used in automotive industry.