In the present work a simulation model for examining the fundamental dynamic behaviour of a servo driven powertrain is developed. This powertrain consists of a permanent magnet synchronous motor, a cycloidal gearbox and a torque motor to apply a load. On basis of this model the selection of components for the design of a test rig is possible. This leads to the constructive draft of the test rig. In order to model the system, the fundamentals give a brief overview of the components incorporated in the test rig system. With ais of the specified task the simulation purpose is defined and the modelling process enabled. The subsequent system analysis is performed intensively to decompose the system into subsystems, which are then investigated to find the optimal modelling approach for the given simulation task. Particular emphasis is put on the investigation of the cycloidal gearbox subsystem and it shows, that approaches for modelling the dynamic behaviour of the gearbox as a whole have only been published partially. Therefore, the available modelling approaches are analysed and suitable models are developed as conceptual models. Those will be formalised and implemented in Matlab/Simulink. The model is verified and simulation experiments are performed, that help in the selection of suitable test rig components. On basis of a flexible test rig, finally the constructive draft is presented.:1 Introduction 1.1 Motivation 1.2 Procedure 2 Fundamentals 2.1 Definitions 2.2 Modelling 2.3 Servo Drive 2.3.1 Introduction 2.3.2 Permanent Magnet Synchronous Motor 2.3.3 Servo Inverter 2.3.4 Control System 2.4 Torque Motor 2.5 Gearbox 3 Specified Task 4 System Analysis 4.1 Introduction 4.2 Servo Inverter 4.3 Control System 4.4 Servo Motor 4.5 Transmission Elements 4.6 Cycloidal Gearbox 5 Model Formalisation 5.1 Introduction 5.2 Servo Inverter 5.3 Control System 5.4 Servo Motor 5.5 Transmission Elements 5.6 Cycloidal Gearbox 6 Model Implementation 6.1 Introduction 6.2 Servo Inverter 6.3 Control System 6.4 Servo Motor 6.5 Transmission Elements 6.6 Cycloidal Gearbox 7 Simulation 7.1 Introduction 7.2 Solver 7.3 Verification 7.4 System Evaluation 7.4.1 Sensitivity Analysis 7.4.2 Stability Analysis 8 Design of the Test Rig 8.1 Selection of the components 8.2 Constructive Draft 9 Summary and Outlook

The implementation of portable electroencephalography (EEG) systems has been known to be complex. During ambulation, the integrity of recorded EEG signals is often impaired by motion artifacts and the time and effort required to set up the system is excessive. The use of single-channel EEG systems with dry, active electrodes (AEs) for signal acquisition is a topic of current interest. AEs are electrodes which have integrated bioamplifier circuitry and are known to be less susceptible to motion artifacts and environmental interference. In this report, the design of an AE preamplifier for the purpose of improving single-channel EEG recordings is presented. Initially, a thorough literature review was performed, exploring the available knowledge and state-of-the-art technology. Thereafter, the design specifications were set and the appropriate topology and circuit design techniques were selected to maximize the amplifier’s performance. Ultimately, three different preamplifier topologies were designed and their performance compared with one another as well as with established medical device standards and state-of-the-art AEs. The results of one preamplifier showed comparable performance with state-of-the-art AEs. Therefore, this topology was selected for a deep analysis and physical layout design. The layout of the selected preamplifier was designed and its parasitics extracted. The post layout performance of the design proved to be comparable to the schematic level performance, with a CMRR of 153dB, IRNV of 0.89µVRMS and an electrode offset tolerance of 450mV. The preamplifier design presented in this report has proven to be comparable with state-of-the-art AE preamplifiers and demonstrates potential for the advancement of AE performance in single-channel EEG systems. / Implementeringen av bärbara elektroencefalografisystem (EEG) har varit känd för att vara komplex. Vid rörelse påverkas ofta reliabiliteten av de inspelade EEGsignalerna av rörelseartefakter samt av att tiden och det arbete som krävs för att ställa in systemet blir överdrivet lång. Användandet av singelkanals EEG-system, med torra aktiva elektroder (AE) under inspelningen, är ett aktuellt ämne. En AE är en elektrod som har en integrerad bioförstärkarkrets och är känd för att vara både mindre mottaglig för rörelseartefakter och för störning från omgivningen. I denna rapport presenteras utformningen av en AE-förförstärkare för singelkanals EEGinspelningar. Inledningsvis utfördes en grundlig litteraturöversikt där den rådande kunskapen och toppmoderna tekniken undersöktes. Därefter bestämdes designspecifikationerna, lämpliga topologier samt kretsdesigntekniker, för att maximera förstärkarens prestanda. Slutligen konstruerades tre olika förstärkares topologier och deras prestanda jämfördes med varandra liksom med etablerade medicin tekniska standarder och toppmoderna AE. Resultaten av en förförstärkare visade sig ha jämförbar prestanda med toppmoderna AE. Därför valdes denna topologi ut för en djupanalys och för fysisk layoutkonstruktion. Layouten för den valda förförstärkaren utformades och dess parasiter extraherades. Utformningen av postlayouten visade sig vara jämförbar med prestanda på en schematisk nivå, med en CMRR på 153dB, IRNV på 0.89µVRMS och en elektrodoffsettolerans på 450mV. Förförstärkarens design som presenteras i denna rapport har visat sig vara jämförbar med toppmoderna AE-förförstärkare och visar potential till framsteg för AEprestanda i singelkanals EEG-system

This thesis dissertation mainly compares and investigates laboratory study of different implementation methodologies of applied control systems and how they can be adopted in industrial, as well as commercial, automation applications. Namely the research paper aims to assess or evaluate eventual feedback control loops' performance and robustness over multiple conventional or state-of-the-art technologies in the field of applied industrial automation and instrumentation by implementing a laboratory case study setup: the ball on beam system. Hence, the paper tries to close the gap between industry and academia by: first, conducting a historical study and background information of main evolutional and technological eras in the field of industrial process control automation and instrumentation. Then, some related basic theoretical as well as practical concepts are reviewed in Chapter 2 of the report before displaying the detailed design. After that, the next Chapter, analyses the ball on beam control system problem as the case studied in the context of this research through reviewing previous literature, modeling and simulation. The following Chapter details the proposed design and implementation of the ball on beam case study as if it is under the introduced distributed industrial automation architecture. Finally, Chapter 5 concludes this work by listing several points leaned, remarks, and observations, and stating possible development and the future vision of this research.

Servo valves are used in a broad variety of flow modulation applications. In the field of aerospace, servo valves are used in aero engines to meter fuel flow. The existing valves are labour intensive to manufacture and highly optimised such that to achieve improvements in performance requires a novel design. This research investigates smart material actuators and valve concepts. Specifically, a prototype pilot stage nozzle flapper valve is developed for the purpose of actuating a main stage spool. The typical nozzle flapper type servo valve uses a torque motor to actuate the flapper. In this research project, the torque motor has been substituted for two piezoelectric ring bender actuators. A novel mounting mechanism has been developed to secure the ring benders within the valve. Analytical and finite element models have been made to understand the displacement mechanism of a ring bender and the effects of the mount on the displacement and force from a ring bender, and the results were compared with experiment. The mounting stiffness at the inner and outer edges was found to decrease the displacement of the ring bender and it was found that the stiffness of the mount at the outer edge has a greater negative effect on displacement than the stiffness of the mount at the inner edge. The displacement of a ring bender was tested across the operational temperature range of an aero engine. It was found that the displacement of the ring bender is reduced at low temperatures and increases at high temperature. The variation of stiffness of the elastomeric mount was also tested with temperature and it was found that the displacement of a ring bender is significantly reduced when the mounting elastomer approaches its glass transition temperature. A prototype valve was built to test the pressures and flows that could be achieved at two control ports by using a ring bender as actuator. A single ring bender and two ring benders, mounted in tandem to provide redundancy, have been tested. An analytical model was developed and the predictions are compared with experimental results for pressures and flow. The full stroke of the valve was 300m when mounted and reduced to 150m when mounted in tandem with an inactive ring bender. The hysteresis of the valve is +/-10%. The pressures and flow at and between the control ports of the valve are consistent with the predictions.

The Compact Rescue Crawler is a pneumatic legged robot. Two legs of a hexapod were designed and built. The legs are controlled directly from operator inputs. The operator gives foot position inputs through two PHANToM haptic controllers. A PD controller with a supplementary force gain-scheduler control stroke lengths of each cylinder. The force-based position control technique allows the robot feet to track operator inputs to within 10% position error. A guided gait algorithm was developed to allow the operator to control all 6 legs simply by haptically guiding the front two. The operator records successful and collision-free trajectories and the gait coordinator plays the trajectories through the rear legs as they approach the detected obstacles. This hybrid gait algorithm allows the robot to proceed through a hazardous environment, guided by an operator, but without taxing the input capabilities of the human operator.

[pt] O uso do texto de Rm 5,12-21 quase exclusivamente nos debates a respeito da origem e da universalidade do pecado levou a uma supervalorização da discussão a respeito do segmento 12d, passando quase desapercebidos aspectos fundamentais para a compreensão da mensagem teológica contida no texto paulino. Um desses aspectos transcurados foram as alusões a Is 53,11-12. A presente pesquisa pretende ser uma contribuição para que se possa perceber os efeitos produzidos por essas alusões nos contemporâneos de Paulo, as quais trazem à mente dos ouvintes/leitores a figura do Servo que por seu conhecimento justifica a muitos presente no texto isaiano, como também as categorias bíblico-teológicas do Novo Êxodo e da Nova Criação contidas no seu contexto e com as quais está profundamente interligado. A partir disso, a recuperação do valor dessas alusões possibilitaria uma compreensão mais adequada do potencial hermenêutico, teológico e retórico da perícope, o que resultaria em uma verdadeira contribuição para o debate teológico tendo-se em vista o espaço que a perícope paulina ocupa em tal debate. A metodologia a ser utilizada será aquela proposta por G. K. Beale, a qual, contemplando os aspectos sincrônicos e diacrônicos da pesquisa, propõe uma análise exegético-interpretativa, mostrando-se assim muito adequada para que se possa perceber a intenção de Paulo ao utilizar o texto isaiano. / [en] The use of Romans 5:12-21 almost exclusively in debates regarding the origin and universality of sin has resulted in the super valorization of the discussion on segment 12d, with fundamental aspects for the understanding of the theological message comprised in the Pauline text going almost unnoticed. One of the pretermitted aspects was the allusions to Isaiah 53:11-12. The present research aims to contribute to a perception of the effects these allusions produced on Paul s contemporaries. They make the hearers/readers picture the image of the Servant who by his knowledge will justify many, present in Isaiah s text, as well as the biblical-theological categories of the New Exodus and the New Creation comprised in its context and to which it is strongly interconnected. Following that, the recovery of the value of these allusions would enable a more adequate understanding of the hermeneutical, theological and rhetorical potential of the pericope, which would result in a true contribution for the theological debate, considering that Paul s pericope plays an important role in such debate. The methodology used in this study will be that proposed by G. K. Beale, which, by contemplating the synchronic and diachronic aspects of the research, proposes an exegetical and interpretative analysis, therefore proving itself perfectly adequate to enable the perception of Paul s intention when using Isaiah s text.

Táto diplomová práca sa zaoberá implementáciou bezpečnostnej funkcie pre elektrický aktuátor, ktorá spočíva v riadení BLDC motora, po výpadku napájacieho napätia, keď je aktuátor poháňaný vstavanou pružinou.. Celé riadenie motora je navrhnuté v prostredí Matlab-Simulink technikou nazývanou návrh systému z modelu. Následne pomocou automatického generovania kódu bol získaný zdrojový kód, ktorý bol použitý v reálnom aktuátore a odtestovaný v reálnych podmienkach. Cieľom týchto testov bolo overiť reálnu možnosť nasadenia vyvinutých algoritmov v reálnych, komerčne dostupných produktoch.

The subject of this splitted article is the commissioning of a new application that may be part of a processing machine. At the example of the intermittent transport of small sized goods, for example, chocolate bars, ideas for increasing the maximum machine performance are discussed. Therefore, optimal process motion profiles are synthesised with the help of a computer simulation. In the first part of the paper, the modelling of the process was shown. This second part focusses on implementing the simulated motion approaches on an experimental test rig, whereby the new motion approach is compared to the conventional approach. Hence, the increasing of the performance can be proven. Eventually, possibilities for an online process control are observed which are necessary to prevent unstable process conditions.

This thesis describes the analysis, design and implementation of a high performance DSP-based servo drive for a limited-angle torque motor used in thermal imaging applications. A limited-angle torque motor is an electromagnetic actuator based on the Laws' relay principle, and in the present application the rotation required was from - 10° to + 10° in 16 ms, with a flyback period of 4 ms. To ensure good quality picture reproduction, an exceptionally high linearity of ±0.02 ° was necessary throughout the forward sweep. In addition, the drive voltage to the exciting winding of the motor should be less than the +35 V ceiling of the drive amplifier. A research survey shows that little literature was available, probably due to the commercial sensitivity of many of the applications for torque motors. A detailed mathematical model of the motor drive, including high-order linear dynamics and the significant nonlinear characteristics, was developed to provide an insight into the overall system behaviour. The proposed control scheme uses a multicompensator, multi-loop linear controller, to reshape substantially the motor response characteristic, with a non-linear adaptive gain-scheduled controller to compensate effectively for the nonlinear variations of the motor parameters. The scheme demonstrates that a demanding nonlinear control system may be conveniently analysed and synthesised using frequency-domain methods, and that the design techniques may be reliably applied to similar electro-mechanical systems required to track a repetitive waveform. A prototype drive system was designed, constructed and tested during the course of the research. The drive system comprises a DSP-based digital controller, a linear power amplifier and the feedback signal conditioning circuit necessary for the closed-loop control. A switch-mode amplifier was also built, evaluated and compared with the linear amplifier. It was shown that the overall performance of the linear amplifier was superior to that of the switch-mode amplifier for the present application. The control software was developed using the structured programming method, with the continuous controller converted to digital form using the bilinear transform. The 6- operator was used rather than the z-operator, since it is more advantageous for high speed sampling systems. The gain-scheduled control was implemented by developing a schedule table, which is controlled by the DSP program to update continuously the controller parameters in synchronism with the periodic scanning of the motor. The experimental results show excellent agreement with the simulated results, with linearity of ±0.05 ° achieved throughout the forward sweep. Although this did not quite meet the very demanding specifications due to the limitations of the experimental drive system, it clearly demonstrates the effectiveness of the proposed control scheme. The discrepancies between simulated and experimental results are analyzed and discussed, the control design method is reviewed, and detailed suggestions are presented for further work which may improve the drive performance.

Nous présentons un système de tracking optique-inertiel qui consiste en deux caméras stationnaires et une Sensor Unit avec des marqueurs optiques et une centrale inertielle. La Sensor Unit est fixée sur l'objet suivi et sa position et orientation sont déterminées par un algorithme de fusion de données. Le système de tracking est destiné à asservir un outil à main dans un système de chirurgie naviguée ou assistée par ordinateur. L'algorithme de fusion de données intègre les données des différents capteurs, c'est-à-dire les données optiques des caméras et les données inertielles des accéléromètres et gyroscopes. Nous présentons différents algorithmes qui rendent possible un tracking à grande bande passante avec au moins 200Hz avec des temps de latence bas grâce à une approche directe et des filtres dits invariants qui prennent en compte les symmétries du système. Grâce à ces propriétés, le système de tracking satisfait les conditions pour l'application désirée. Le système a été implementé et testé avec succès avec un dispositif expérimental. / We present an optical-inertial tracking system which consists of two stationary cameras and a Sensor Unit with optical markers and an inertial measurement unit (IMU). This Sensor Unit is attached to the object being tracked and its position and orientation are determined by a data fusion algorithm.The tracking system is to be used for servo-controlling a handheld tool in a navigated or computer-assisted surgery system.The data fusion algorithm integrates data from the different sensors, that is optical data from the cameras and inertial data from accelerometers and gyroscopes. We present different algorithms which ensure high-bandwidth tracking with at least 200Hz with low latencies by using a direct approach and so-called invariant filters which take into account system symmetries. Through these features, the tracking system meets the requirements for being used in the desired application.The system was successfully implemented and tested with an experimental setup.