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Technical Paper

Control of Grasping Force in Teleoperation Using Model Reference Adaptive Approach

The adaptation to changes in human operator dynamics and changes in working environment dynamics can be an important issue in designing high performance telerobotic systems. This paper describes an approach to force control in telerobotic hand systems in which model reference adaptive control techniques are used to adapt to changes in human operator and working environment dynamics. The techniques have been applied to force-reflective control of a single degree-of-freedom telerobotic gripper system at Wisconsin Center for Space Automation and Robotics (WCSAR). This adaptive gripping system is described in the paper along with results of experiments with human subjects in which the performance of the adaptive system was analysed and compared to the performance of a conventional non-adaptive system. These experiments emphasized adaptation to changes in compliance of gripped objects and adaptation to the on-set of human operator fatigue.
Journal Article

Effect of Different B20 Fuels on Laboratory-Aged Engine Oil Properties

Biodiesel-blended fuel is increasingly becoming available for diesel engines. Due to seasonal and economic factors, biodiesel available in filling stations can be sourced from varying feedstocks. Moreover, biodiesel may not contain the minimum oxidative stability required by the time it is used by the automotive consumer. With fuel dilution of engine oil accelerated by post-injection of fuel for regeneration of diesel particulate filters, it is necessary to investigate whether different biodiesel feedstocks or stabilities can affect engine oil properties. In this work, SAE 15W-40 CJ-4 is diluted with B20 fuel, where the B20 was prepared with soy methyl ester (SME) B100 with high Rancimat oxidative stability, SME B100 with low oxidative stability, and lard methyl ester (LME). The oils were then subjected to laboratory aging simulating severe drive cycles. At intermediate aging times, samples were obtained and additional B20 was added to simulate on-going fuel dilution.
Journal Article

Stator Side Voltage Regulation of Permanent Magnet Generators

Permanent magnet AC generators are robust, inexpensive, and efficient compared to wound-field synchronous generators with brushless exciters. Their application in variable-speed applications is made difficult by the variation of the stator voltage with shaft speed. This paper presents the use of stator-side reactive power injection as a means of regulating the stator voltage. Design-oriented analysis of machine performance for this mode of operation identifies an appropriate level of machine saliency that enables excellent terminal voltage regulation over a specified speed and load range, while minimizing stator current requirements. This paper demonstrates that the incorporation of saliency into the permanent magnet generator can significantly reduce the size of the reactive current source that is required to regulate the stator voltage during operation over a wide range of speeds and loads.