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Increased availability of low-cost electronics has created a new breed of control system components; so called " smart " components , which can perform control responsibilities in the actua-tor and sensor components as well as in the controller. " Smart " components can communicate bi-directionally in networked control systems. We identify opportunities for(More)
In this paper, a controller featuring cross-coupled control and iterative learning control schemes is designed and implemented on a modular two-axis positioning system in order to improve both contour and tracking accuracy. Instead of using the standard contour estimation technique proposed with the variable gain cross-coupled control, a computationally(More)
This paper presents a new method to increase the available measurement resolution of quadrature encoder signals. The proposed method features an adaptive signal correction phase and an interpolation phase. Typical imperfections in the encoder signals including amplitude difference, mean offsets and quadrature phase shift errors are corrected using recursive(More)
—In the early days of computer control, only one centralized computer was responsible for executing the algorithms. Increasingly, computer control algorithms reside inside individual system components in a distributed fashion. Variable camshaft timing (VCT) is an appealing feature for automotive engines because it allows optimization of the cam timing over(More)
I certify that I have read this thesis and that in my opinion it is fully adequate, in scope and in quality, as a thesis for the degree of Master of Science. I certify that I have read this thesis and that in my opinion it is fully adequate, in scope and in quality, as a thesis for the degree of Master of Science. I certify that I have read this thesis and(More)
Increasing demand for micro/nano-technology related equipment resulted in growing interest for precision positioning systems. In this paper a modular controller combining cross-coupled control and iterative learning control approaches to improve contour and tracking accuracy at the same time is presented. Instead of using the standard error estimation(More)
Manufacturing techniques have advanced exponentially in recent years, providing means for production of smaller and more powerful electronics, which makes it compelling to design small and more powerful robots. Our work focuses on a mechanical design and position control of a modular mechatronic device called MechaCell. Mechacells are designed as modular(More)