IOP Conference Series: Materials Science and Engineering, 2017
Malaysia National Space Agency, ANGKASA is an organization that intensively undergoes many resear... more Malaysia National Space Agency, ANGKASA is an organization that intensively undergoes many researches especially on space. On 2011, ANGKASA had built Satellite Assembly, Integration and Test Centre (AITC) for spacecraft development and test. Satellite will undergo numerous tests and one of it is Thermal test in Thermal Vacuum Chamber (TVC). In fact, TVC is located in cleanroom and on a platform. The only available facilities for loading and unloading the satellite is overhead crane. By utilizing the overhead crane can jeopardize the safety of the satellite. Therefore, Motorized vertical platform (MAVeP) for transferring the satellite into the TVC with capability to operate under cleanroom condition and limited space is proposed to facilitate the test. MAVeP is the combination of several mechanisms to produce horizontal and vertical motions with the ability to transfer the satellite from loading bay into TVC. The integration of both motions to elevate and transfer heavy loads with high precision capability will deliver major contributions in various industries such as aerospace and automotive. Base plate subsystem is capable to translate the horizontal motion by converting the angular motion from motor to linear motion by using rack and pinion mechanism. Generally a system can be modelled by performing physical modelling from schematic diagram or through system identification techniques. Both techniques are time consuming and required comprehensive understanding about the system, which may expose to error prone especially for complex mechanism. Therefore, a 3D virtual modelling technique has been implemented to represent the system in real world environment i.e. gravity to simulate control performance. The main purpose of this technique is to provide better model to analyse the system performance and capable to evaluate the dynamic behaviour of the system with visualization of the system performance, where a 3D prototype was designed and assembled in Solidworks. From the Solidwork, the model was translated to Simmechanics with the system coordinate and specification i.e mass and inertia and actuator model was designed by using Simpower for simulating the system. Then, the system was integrated with controller by using conventional Proportional-Derivative (PD) controller with 0% steady state error, (ess) and 22.4% overshoot, (P.O) as the results.
ABSTRACT The performance of a feedback-controlled piezoelectric tube scanner is limited by its in... more ABSTRACT The performance of a feedback-controlled piezoelectric tube scanner is limited by its inherent nonlinear properties such as hysteresis and creep, its mechanical resonance modes and its displacement sensor bandwidth and associated noise properties. Capacitive sensors have emerged as the displacement sensor of choice in piezoelectric tube scanners. Resolution of a capacitive sensor is largely determined by its bandwidth and noise density which is typically in the order of 20 pm/root Hz for a +/-100 micrometer range. Consequently, to achieve sub-nanometer resolution, the sensors bandwidth needs to be made small. Achieving satisfactory tracking performance using a low-bandwidth displacement sensor is a challenging task. To improve the bandwidth, the piezoelectric strain voltage induced in the electrode opposite to the actuating electrode is used as a secondary measurement. A two-sensor-based H-infinity controller is designed and implemented on a prototype piezoelectric tube nanopositioning system. The tube is driven by a charge amplifier to reduce the hysteresis. Experimental results demonstrate a significant increase in the tracking bandwidth due to the use of the additional sensor.
This book is part of the Department of Mechatronics Engineering’s continuous effort to exchange i... more This book is part of the Department of Mechatronics Engineering’s continuous effort to exchange information, ideas share knowledge on the frontiers of Mechatronics and its application. The diverse applications of Mechatronics are all crucial to the commercial production for sustainable growth, economic and industrial development of a nation. This book presents 36 chapters covering wide range of topics in the field which should be useful to students, researchers and practicing engineers. The chapters are contributed by academic staff members from the Kulliyyah of Engineering, IIUM. It is hoped that the readers will find this book interesting and useful. Finally we would like to thank all the staff members and students who were able to contribute to this book. I would like to express my profound gratitude to everybody for your time and efforts in producing this book. Our special gratitude goes to the reviewer, Prof. Dr. Ali Chekima and a special thanks to Br. S.M.H. Banna Kasemi who has assisted us in compilation of this book. Asan G. A. Muthalif, PhD Chief Editor Department of Mechatronics Engineering, Faculty of Engineering, International Islamic University Malaysia, asan@iium.edu.my
The Mechatronics engineering program at the faculty of engineering, International Islamic Univers... more The Mechatronics engineering program at the faculty of engineering, International Islamic University Malaysia (IIUM) was established in 1994. It came into existence as a full-fledged department in 1998. Ever since its establishment, the department has produced the largest number of engineering students from IIUM and has been renowned as one of the best Mechatronics Engineering Department in Malaysia
Description The performance of piezoelectric tube scanner in Atomic Force Microscope (AFM) is lim... more Description The performance of piezoelectric tube scanner in Atomic Force Microscope (AFM) is limited by vibrations and nonlinearities exhibited by the piezoelectric material such as hysteresis and creep. The aforementioned limitations restrict the use of the piezoelectric tube scanner for fast and high resolution operations. As such, this thesis presents several ways of improving the speed and accuracy of piezoelectric tube scanner for the use in Atomic Force Microscopy. In this thesis, two types of feedback control approaches are ...
IOP Conference Series: Materials Science and Engineering, 2017
Malaysia National Space Agency, ANGKASA is an organization that intensively undergoes many resear... more Malaysia National Space Agency, ANGKASA is an organization that intensively undergoes many researches especially on space. On 2011, ANGKASA had built Satellite Assembly, Integration and Test Centre (AITC) for spacecraft development and test. Satellite will undergo numerous tests and one of it is Thermal test in Thermal Vacuum Chamber (TVC). In fact, TVC is located in cleanroom and on a platform. The only available facilities for loading and unloading the satellite is overhead crane. By utilizing the overhead crane can jeopardize the safety of the satellite. Therefore, Motorized vertical platform (MAVeP) for transferring the satellite into the TVC with capability to operate under cleanroom condition and limited space is proposed to facilitate the test. MAVeP is the combination of several mechanisms to produce horizontal and vertical motions with the ability to transfer the satellite from loading bay into TVC. The integration of both motions to elevate and transfer heavy loads with high precision capability will deliver major contributions in various industries such as aerospace and automotive. Base plate subsystem is capable to translate the horizontal motion by converting the angular motion from motor to linear motion by using rack and pinion mechanism. Generally a system can be modelled by performing physical modelling from schematic diagram or through system identification techniques. Both techniques are time consuming and required comprehensive understanding about the system, which may expose to error prone especially for complex mechanism. Therefore, a 3D virtual modelling technique has been implemented to represent the system in real world environment i.e. gravity to simulate control performance. The main purpose of this technique is to provide better model to analyse the system performance and capable to evaluate the dynamic behaviour of the system with visualization of the system performance, where a 3D prototype was designed and assembled in Solidworks. From the Solidwork, the model was translated to Simmechanics with the system coordinate and specification i.e mass and inertia and actuator model was designed by using Simpower for simulating the system. Then, the system was integrated with controller by using conventional Proportional-Derivative (PD) controller with 0% steady state error, (ess) and 22.4% overshoot, (P.O) as the results.
ABSTRACT The performance of a feedback-controlled piezoelectric tube scanner is limited by its in... more ABSTRACT The performance of a feedback-controlled piezoelectric tube scanner is limited by its inherent nonlinear properties such as hysteresis and creep, its mechanical resonance modes and its displacement sensor bandwidth and associated noise properties. Capacitive sensors have emerged as the displacement sensor of choice in piezoelectric tube scanners. Resolution of a capacitive sensor is largely determined by its bandwidth and noise density which is typically in the order of 20 pm/root Hz for a +/-100 micrometer range. Consequently, to achieve sub-nanometer resolution, the sensors bandwidth needs to be made small. Achieving satisfactory tracking performance using a low-bandwidth displacement sensor is a challenging task. To improve the bandwidth, the piezoelectric strain voltage induced in the electrode opposite to the actuating electrode is used as a secondary measurement. A two-sensor-based H-infinity controller is designed and implemented on a prototype piezoelectric tube nanopositioning system. The tube is driven by a charge amplifier to reduce the hysteresis. Experimental results demonstrate a significant increase in the tracking bandwidth due to the use of the additional sensor.
This book is part of the Department of Mechatronics Engineering’s continuous effort to exchange i... more This book is part of the Department of Mechatronics Engineering’s continuous effort to exchange information, ideas share knowledge on the frontiers of Mechatronics and its application. The diverse applications of Mechatronics are all crucial to the commercial production for sustainable growth, economic and industrial development of a nation. This book presents 36 chapters covering wide range of topics in the field which should be useful to students, researchers and practicing engineers. The chapters are contributed by academic staff members from the Kulliyyah of Engineering, IIUM. It is hoped that the readers will find this book interesting and useful. Finally we would like to thank all the staff members and students who were able to contribute to this book. I would like to express my profound gratitude to everybody for your time and efforts in producing this book. Our special gratitude goes to the reviewer, Prof. Dr. Ali Chekima and a special thanks to Br. S.M.H. Banna Kasemi who has assisted us in compilation of this book. Asan G. A. Muthalif, PhD Chief Editor Department of Mechatronics Engineering, Faculty of Engineering, International Islamic University Malaysia, asan@iium.edu.my
The Mechatronics engineering program at the faculty of engineering, International Islamic Univers... more The Mechatronics engineering program at the faculty of engineering, International Islamic University Malaysia (IIUM) was established in 1994. It came into existence as a full-fledged department in 1998. Ever since its establishment, the department has produced the largest number of engineering students from IIUM and has been renowned as one of the best Mechatronics Engineering Department in Malaysia
Description The performance of piezoelectric tube scanner in Atomic Force Microscope (AFM) is lim... more Description The performance of piezoelectric tube scanner in Atomic Force Microscope (AFM) is limited by vibrations and nonlinearities exhibited by the piezoelectric material such as hysteresis and creep. The aforementioned limitations restrict the use of the piezoelectric tube scanner for fast and high resolution operations. As such, this thesis presents several ways of improving the speed and accuracy of piezoelectric tube scanner for the use in Atomic Force Microscopy. In this thesis, two types of feedback control approaches are ...
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