Documents disponibles écrits par cet auteur

High Precision Hydrostatic Actuation Systems for Micro- and Nanomanipulation of Heavy Loads / Habibi, Saeid in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 128 N°4 (Decembre 2006)

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 128 N°4 (Decembre 2006) . - 778-787 p. Titre : High Precision Hydrostatic Actuation Systems for Micro- and Nanomanipulation of Heavy Loads Titre original : Systèmes Hydrostatiques de Mise en Action de Précision Elevée pour Micro et Nanomanipulation des Charges Lourdes Type de document : texte imprimé Auteurs : Habibi, Saeid, Auteur ; Burton, Richard, Auteur ; Sampson, Eric Article en page(s) : 778-787 p. Note générale : Génie Mécanique Langues : Anglais (eng) Mots-clés : Système  hydrostatique  Déclancheur  électrohydraulique  Plateforme  piézoélectrique Index. décimale : 629.8 Résumé : In this paper reports on an important finding, that is, hydrostatic actuation systems are able to manipulate heavy loads with submicron precision and a large stroke. In this relation, the design of a high-precision hydrostatic actuation system referred to as the ElectroHydraulic Actuator (EHA) is presented. A laboratory prototype of this system has achieved an unprecedented level of performance by being able to move a large load of 20 Kg with a precision of 100 nm and a stroke of 12 cm. This level of performance places the hydrostatic actuation concept in competition with piezoelectric platforms in terms of positional accuracy. Experimental results from this prototype are reported and analyzed. En cet article rend compte d'une conclusion importante, c.-à-d., les systèmes hydrostatiques de mise en action peuvent manoeuvrer les charges lourdes avec la précision submicronique et une grande course. Dans cette relation, la conception d'un système hydrostatique à haute précision de mise en action désigné sous le nom du déclencheur électrohydraulique (EHA) est présentée. Un prototype de laboratoire de ce système a réalisé un niveau sans précédent d'exécution en pouvant déplacer une grande charge de 20 kilogrammes avec une précision de 100 nm et une course de 12 centimètres. Ce niveau d'exécution place le concept hydrostatique de mise en action en concurrence avec les plateformes piézoélectriques en termes d'exactitude de position. Des résultats expérimentaux de ce prototype sont rapportés et analysés. [article] High Precision Hydrostatic Actuation Systems for Micro- and Nanomanipulation of Heavy Loads = Systèmes Hydrostatiques de Mise en Action de Précision Elevée pour Micro et Nanomanipulation des Charges Lourdes [texte imprimé] / Habibi, Saeid, Auteur ; Burton, Richard, Auteur ; Sampson, Eric . - 778-787 p. Génie Mécanique Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 128 N°4 (Decembre 2006) . - 778-787 p. Mots-clés : Système  hydrostatique  Déclancheur  électrohydraulique  Plateforme  piézoélectrique Index. décimale : 629.8 Résumé : In this paper reports on an important finding, that is, hydrostatic actuation systems are able to manipulate heavy loads with submicron precision and a large stroke. In this relation, the design of a high-precision hydrostatic actuation system referred to as the ElectroHydraulic Actuator (EHA) is presented. A laboratory prototype of this system has achieved an unprecedented level of performance by being able to move a large load of 20 Kg with a precision of 100 nm and a stroke of 12 cm. This level of performance places the hydrostatic actuation concept in competition with piezoelectric platforms in terms of positional accuracy. Experimental results from this prototype are reported and analyzed. En cet article rend compte d'une conclusion importante, c.-à-d., les systèmes hydrostatiques de mise en action peuvent manoeuvrer les charges lourdes avec la précision submicronique et une grande course. Dans cette relation, la conception d'un système hydrostatique à haute précision de mise en action désigné sous le nom du déclencheur électrohydraulique (EHA) est présentée. Un prototype de laboratoire de ce système a réalisé un niveau sans précédent d'exécution en pouvant déplacer une grande charge de 20 kilogrammes avec une précision de 100 nm et une course de 12 centimètres. Ce niveau d'exécution place le concept hydrostatique de mise en action en concurrence avec les plateformes piézoélectriques en termes d'exactitude de position. Des résultats expérimentaux de ce prototype sont rapportés et analysés.

Inner-loop control for electro-hydraulic actuation systems / Mohammed A. El Sayed in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 1 (Janvier 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) . - 08 p. Titre : Inner-loop control for electro-hydraulic actuation systems Type de document : texte imprimé Auteurs : Mohammed A. El Sayed, Auteur ; Habibi, Saeid, Auteur Année de publication : 2012 Article en page(s) : 08 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Electrohydraulic  control  equipment  Hydraulic  actuators  Hydrostatics  Pumps Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : This article presents the development of a multiple inner-loop control strategy for improving the performance of hydrostatic actuation systems. In these actuators, the presence of nonlinearities associated with pump/motor static friction and backlash, pressure drop in the piping system, and nonlinear friction at the load have a significant effect on the performance and positional accuracy of the system. The effect of nonlinear friction at the pump/motor interface has been overcome by the use of a high gain pump-speed inner-loop control strategy. In this article, the concept of inner-loop control will be extended to target other specific sources of performance degradation. Velocity feedback will be incorporated in this manner to decrease the effects of pump backlash and nonlinear friction at the load. Simulation results supported by theoretical analysis indicate that a considerable improvement in performance can be achieved by the implementation of this control strategy. DEWEY : 553 ISSN : 0022-0434 En ligne : http://www.asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013400 [...] [article] Inner-loop control for electro-hydraulic actuation systems [texte imprimé] / Mohammed A. El Sayed, Auteur ; Habibi, Saeid, Auteur . - 2012 . - 08 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) . - 08 p. Mots-clés : Electrohydraulic  control  equipment  Hydraulic  actuators  Hydrostatics  Pumps Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : This article presents the development of a multiple inner-loop control strategy for improving the performance of hydrostatic actuation systems. In these actuators, the presence of nonlinearities associated with pump/motor static friction and backlash, pressure drop in the piping system, and nonlinear friction at the load have a significant effect on the performance and positional accuracy of the system. The effect of nonlinear friction at the pump/motor interface has been overcome by the use of a high gain pump-speed inner-loop control strategy. In this article, the concept of inner-loop control will be extended to target other specific sources of performance degradation. Velocity feedback will be incorporated in this manner to decrease the effects of pump backlash and nonlinear friction at the load. Simulation results supported by theoretical analysis indicate that a considerable improvement in performance can be achieved by the implementation of this control strategy. DEWEY : 553 ISSN : 0022-0434 En ligne : http://www.asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013400 [...]

Inner-loop control for electromechanical (EMA) flight surface actuation systems / Habibi, Saeid in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°5 (Septembre 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 13 p. Titre : Inner-loop control for electromechanical (EMA) flight surface actuation systems Type de document : texte imprimé Auteurs : Habibi, Saeid, Auteur ; Jeff Roach, Auteur ; Greg Luecke, Auteur Année de publication : 2008 Article en page(s) : 13 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : control  equipment;  engines;  stress;  feedback;  stiction;  flight;  design;  signals;  transfer  functions;  frequency  response;  gears;  electric  motors Résumé : This manuscript pertains to the application of an inner-loop control strategy to electromechanical flight surface actuation systems. Modular electromechanical actuators (EMAs) are increasingly used in lieu of centralized hydraulics for the control of flight surfaces in the aerospace sector. The presence of what is termed as a dead zone in these actuators significantly affects the maneuverability, stability, and the flight profiles of aircrafts that use this actuation concept. The hypothesis of our research is that flight surface actuation systems may be desensitized to the effects of dead zone by using a control strategy with multiple inner loops. The proposed strategy involves (a) high-gain inner-loop velocity control of the driving motor and (b) inner-loop compensation for the differential velocity between the motor versus the aileron. The above hypothesis is confirmed by theoretical and simulated analyses using the model of an EMA flight surface actuator. Our results indicate that for small input signals, this strategy is very effective and that it can (a) considerably increase the bandwidth and the crossover frequency of the system and (b) considerably improve the time response of the system. Further to this analysis, this manuscript presents guidelines for the design of EMA systems. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Inner-loop control for electromechanical (EMA) flight surface actuation systems [texte imprimé] / Habibi, Saeid, Auteur ; Jeff Roach, Auteur ; Greg Luecke, Auteur . - 2008 . - 13 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 13 p. Mots-clés : control  equipment;  engines;  stress;  feedback;  stiction;  flight;  design;  signals;  transfer  functions;  frequency  response;  gears;  electric  motors Résumé : This manuscript pertains to the application of an inner-loop control strategy to electromechanical flight surface actuation systems. Modular electromechanical actuators (EMAs) are increasingly used in lieu of centralized hydraulics for the control of flight surfaces in the aerospace sector. The presence of what is termed as a dead zone in these actuators significantly affects the maneuverability, stability, and the flight profiles of aircrafts that use this actuation concept. The hypothesis of our research is that flight surface actuation systems may be desensitized to the effects of dead zone by using a control strategy with multiple inner loops. The proposed strategy involves (a) high-gain inner-loop velocity control of the driving motor and (b) inner-loop compensation for the differential velocity between the motor versus the aileron. The above hypothesis is confirmed by theoretical and simulated analyses using the model of an EMA flight surface actuator. Our results indicate that for small input signals, this strategy is very effective and that it can (a) considerably increase the bandwidth and the crossover frequency of the system and (b) considerably improve the time response of the system. Further to this analysis, this manuscript presents guidelines for the design of EMA systems. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Nonlinear estimation techniques applied on target tracking problems / Andrew Gadsden in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 5 (Septembre 2012) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 13 p. Titre : Nonlinear estimation techniques applied on target tracking problems Type de document : texte imprimé Auteurs : Andrew Gadsden, Auteur ; Habibi, Saeid, Auteur ; Darcy Dunne, Auteur Année de publication : 2012 Article en page(s) : 13 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Estimation  Target  tracking  Kalman  filter  Particle  filter  Smooth  variable  structure  filter  Sliding  mode  estimation Index. décimale : 629.8 Résumé : This paper discusses the application of four nonlinear estimation techniques on two benchmark target tracking problems. The first problem is a generic air traffic control (ATC) scenario, which involves nonlinear system equations with linear measurements. The second study is a classical ground surveillance problem, where a moving airborne platform with a sensor is used to track a moving target. The tracking scenario is set in two dimensions, with the measurement providing nonlinear bearing-only observations. These two target tracking problems provide a good benchmark for comparing the following nonlinear estimation techniques: the common extended and unscented Kalman filters (EKF/UKF), the particle filter (PF), and the relatively new smooth variable structure filter (SVSF). The results of applying the SVSF on the two target tracking problems demonstrate its stability and robustness. Both of these attributes make use of the SVSF advantageous over other popular methods. The filters performances are quantified in terms of robustness, resilience to poor initial conditions and measurement outliers, and tracking accuracy and computational complexity. The purpose of this paper is to demonstrate the effectiveness of applying the SVSF on nonlinear target tracking problems, which in the past have typically been solved by Kalman or particle filters. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...] [article] Nonlinear estimation techniques applied on target tracking problems [texte imprimé] / Andrew Gadsden, Auteur ; Habibi, Saeid, Auteur ; Darcy Dunne, Auteur . - 2012 . - 13 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 5 (Septembre 2012) . - 13 p. Mots-clés : Estimation  Target  tracking  Kalman  filter  Particle  filter  Smooth  variable  structure  filter  Sliding  mode  estimation Index. décimale : 629.8 Résumé : This paper discusses the application of four nonlinear estimation techniques on two benchmark target tracking problems. The first problem is a generic air traffic control (ATC) scenario, which involves nonlinear system equations with linear measurements. The second study is a classical ground surveillance problem, where a moving airborne platform with a sensor is used to track a moving target. The tracking scenario is set in two dimensions, with the measurement providing nonlinear bearing-only observations. These two target tracking problems provide a good benchmark for comparing the following nonlinear estimation techniques: the common extended and unscented Kalman filters (EKF/UKF), the particle filter (PF), and the relatively new smooth variable structure filter (SVSF). The results of applying the SVSF on the two target tracking problems demonstrate its stability and robustness. Both of these attributes make use of the SVSF advantageous over other popular methods. The filters performances are quantified in terms of robustness, resilience to poor initial conditions and measurement outliers, and tracking accuracy and computational complexity. The purpose of this paper is to demonstrate the effectiveness of applying the SVSF on nonlinear target tracking problems, which in the past have typically been solved by Kalman or particle filters. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000005 [...]

Parameter estimation using a combined variable structure and Kalman filtering approach / Habibi, Saeid in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°5 (Septembre 2008) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 14 p. Titre : Parameter estimation using a combined variable structure and Kalman filtering approach Type de document : texte imprimé Auteurs : Habibi, Saeid, Auteur Année de publication : 2008 Article en page(s) : 14 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : modeling;  artificial  neural  networks;  errors;  filters;  Kalman  filters;  parameter  estimation;  stability;  noise  (sound);  filtration Résumé : A method that is often used for parameter estimation is the extended Kalman filter (EKF). EKF is a model-based strategy that implicitly considers the effect of modeling uncertainties. This implicit consideration often leads to the tuning of the filter by trial and error. When formulated for parameter estimation, the “tuned” EKF becomes sensitive to uncertainties in its internal model. The EKF’s robustness can be improved by combining it with the recently proposed variable structure filter (VSF) concept. In a combined form, the modeling uncertainties no longer affect stability, but impact the performance and the quality of the estimation process. Furthermore, the VSF concept provides a secondary set of indicators of performance that is in addition to the estimation error and that pertains to the range of parametric uncertainties. As such, the robustness of the combined method and its multiple indicators of performance allow the use of intelligent adaptation for improving the performance of the estimation process. For real-time applications, online neural network adaptation may be used to improve the performance by progressively reducing specific modeling uncertainties in the system. In this paper, a new parameter estimation method that uses concepts associated with the EKF, the VSF, and neural network adaptation is introduced. The performance of this method is considered and discussed for applications that involve parameter estimation such as fault detection. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Parameter estimation using a combined variable structure and Kalman filtering approach [texte imprimé] / Habibi, Saeid, Auteur . - 2008 . - 14 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 14 p. Mots-clés : modeling;  artificial  neural  networks;  errors;  filters;  Kalman  filters;  parameter  estimation;  stability;  noise  (sound);  filtration Résumé : A method that is often used for parameter estimation is the extended Kalman filter (EKF). EKF is a model-based strategy that implicitly considers the effect of modeling uncertainties. This implicit consideration often leads to the tuning of the filter by trial and error. When formulated for parameter estimation, the “tuned” EKF becomes sensitive to uncertainties in its internal model. The EKF’s robustness can be improved by combining it with the recently proposed variable structure filter (VSF) concept. In a combined form, the modeling uncertainties no longer affect stability, but impact the performance and the quality of the estimation process. Furthermore, the VSF concept provides a secondary set of indicators of performance that is in addition to the estimation error and that pertains to the range of parametric uncertainties. As such, the robustness of the combined method and its multiple indicators of performance allow the use of intelligent adaptation for improving the performance of the estimation process. For real-time applications, online neural network adaptation may be used to improve the performance by progressively reducing specific modeling uncertainties in the system. In this paper, a new parameter estimation method that uses concepts associated with the EKF, the VSF, and neural network adaptation is introduced. The performance of this method is considered and discussed for applications that involve parameter estimation such as fault detection. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

Sliding mode controller and filter applied to an electrohydraulic actuator system / Wang, Shu in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 133 N° 2 (Mars 2011) 

Permalink

The Extended Variable Structure Filter / Habibi, Saeid in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 128 N° 2 (Juin 2006) 

Permalink