Investigation of the relation between repeatability and preload for linear guides based on a position controlled input

Increasing demand for higher precision machines is arising in the high-tech industry. Linear guides are often used to establish this highly accurate and highly repeatable motion. The amount and variation in preload play an important role in the total motion errors. The objective of this paper is to investigate the relation between preload and...

Position controller for a flapping-wing drone using ultra wide band

The continuous improvement and miniaturisation of elements in drones have been essential for making flapping-wing drones a reality. This thesis presents an integral approach for accurate indoor position control and estimation on flapping-wing drones. The approach considers three main aspects to enhance transient response of the drone. The first...

Smart offshore heavy lift operations

Autonomous vessels have developed into a popular research area in both industry and academia. The application of autonomy in offshore and coastal engineering could offer a safe and efficient solution to offshore transportation and operation. However, the state of the art in research has focused on waterborne transportation. Very limited research...

Dynamics of a machine tool cross-slide

Within a great variety in high tech industry there is an increasing demand for complex shaped turning workpieces with diameters up to a meter and accuracy within microns. Examples are bearings in offshore wind energy and high precision applications. For the production of these parts CNC controlled turning machines are used. A motorized spindle...

On the positive stabilizability and contollability of linear discrete-time systems

This paper is a research in positive controllability and stabilizability for discrete-time linear systems. Several conditions are given and explained for both single input as multiple input systems. Also the connection between controllability and reachability will be mentioned. Furthermore, a method for multiple input positive controllability is...

Position control of a quadrotor MAV while compensating for discrete jumps in the pose estimate

The trajectory tracking efficiency of a quadrotor Micro Aerial Vehicle (MAV) position controller is decreased by discrete jumps in the pose estimate provided by a localization algorithm. This paper presents a solution to this problem by first introducing a new quadrotor MAV position control architecture followed by two methods that can...

Stability analysis and efficiency of EMPC for Type-1 systems

Experience mapping based predictive controller (EMPC) is a recently developed controller based on the concepts of Human Motor Control. It has been demonstrated to out-perform other classical controllers like proportional-derivative (PD), model reference based adaptive controller (MRAC), linear quadratic regulator (LQR) and the linear...

Hybrid Force-Position Control of the Motion Compensated Gangway

Motion compensation for personnel transfer has greatly reduced costs and increased accessibility for offshore assets operation and maintenance. Solutions exist using hexapods or gangways that make a stiff connection by clamping to a customized offshore structure. State of the art gangways allow for a stepless workflow and have a rubber tip which...

Nonlinear Geometric Control of a Quadrotor with a Cable-Suspended Load

A quadrotor is a type of Unmanned Aerial Vehicle that has received an increasing amount of attention recently with many applications being actively investigated. Possible applications include search and rescue, surveillance, supply of food and medicines in emergency situations and object manipulation in construction and transportation. An...

Steering Micro-Robotic Swarm by Dynamic Actuating Fields

We present a general solution for steering microrobotic<br/>swarm by dynamic actuating fields. In our approach, the<br/>motion of micro-robots is controlled by changing the actuating<br/>direction of a field applied to them. The time-series sequence<br/>of actuating field’s directions can be computed automatically.<br/>Given a target position in...

Hybrid design combining position and rate control allows intuitive workspace extension for teleoperation

A common method to obtain workspace extension of the slave's workspace is through rate control because it has an unlimited workspace of the slave. However, when contact interaction with the remote environment is needed, position control is often proposed due to the force feedback. To benefit from the strengths of both of these control types,...

Validity improvement of evolutionary topology optimization: Procedure with element replaceable method

The aim of this paper is to enhance the validity of existing evolutionary topology optimization procedures. As this hard-killing scheme related to the element sensitivity values may lead to incorrect predictions of inefficient elements to be removed and the value of the objective function becomes sharply deteriorated during the iterations, a...

Position control - From anchoring to DP systems