Download or read book Nano scale Positioning Control and Motion Planning in Hard Disk Drives written by Uwe Boettcher and published by . This book was released on 2011 with total page 221 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this dissertation, we focus on optimization of cross-track and vertical positioning of the read/write element over the data track. First, a data-based approach is presented for modeling and controller design of a dual-stage servo actuator in a hard disk drive. Based on discrete-time models, different dual-stage track-following controllers were designed using classic and H-infinity loop shaping techniques. The controllers were implemented in real-time. Next, an input shaping algorithm based on convex optimization techniques is presented for closed-loop discrete-time linear time-invariant (LTI) system. The proposed algorithm allows closed-loop signals to be subjected to linear constraints on amplitude and rate of change. As an illustrative example the seeking process in a hard disk drive is investigated and experimentally verified. To study the dependence of the read signal on cross-track and vertical motion, a straightforward analytical model for the read back signal is derived for perpendicular and longitudinal magnetic recording. The model captures the contribution of a single bit rather than the contribution of a bit transition which makes it applicable to patterned media as well as continuous media. In addition, a novel method of measuring the relative head-medium spacing based on the measurement of the read back signal from servo sectors is developed. The spacing measurement is tested experimentally on a spin stand where the flying height is varied using the resistance heater element in a thermal flying height control slider. In addition, voltage step response measurements were obtained for data based modeling. Finally, a dynamic model of the resistance heater in a thermal flying height control (TFC) slider is identified based on experimentally obtained step-input data. A generalized realization algorithm is used for identification of a discrete-time dynamic model of the resistance heater. Based on the identified model and convex optimization techniques, a computational scheme is proposed to obtain optimized feed forward input profiles to the heater element that minimize repeatable flying height variations. The optimized input signals were applied to the heater and greatly reduced flying height variations were observed in spinstand experiments.

Download or read book Control Strategies and Motion Planning for Nanopositioning Applications with Multi axis Magnetic levitation Instruments written by Huzefa Shakir and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation is the first attempt to demonstrate the use of magnetic-levitation (maglev) positioners for commercial applications requiring nanopositioning. The key objectives of this research were to devise the control strategies and motion planning to overcome the inherent technical challenges of the maglev systems, and test them on the developed maglev systems to demonstrate their capabilities as the next-generation nanopositioners. Two maglev positioners based on novel actuation schemes and capable of generating all the six-axis motions with a single levitated platen were used in this research. These light-weight single-moving platens have very simple and compact structures, which give them an edge over most of the prevailing nanopositioning technologies and allow them to be used as a cluster tool for a variety of applications. The six-axis motion is generated using minimum number of actuators and sensors. The two positioners operate with a repeatable position resolution of better than 3 nm at the control bandwidth of 110 Hz. In particular, the Y-stage has extended travel range of 5 mm x 5 mm. They can carry a payload of as much as 0.3 kg and retain the regulated position under abruptly and continuously varying load conditions. This research comprised analytical design and development, followed by experimental verification and validation. Preliminary analysis and testing included open-loop stabilization and rigorous set-point change and load-change testing to demonstrate the precision-positioning and load-carrying capabilities of the maglev positioners. Decentralized single-input-single-output (SISO) proportional-integral-derivative (PID) control was designed for this analysis. The effect of actuator nonlinearities were reduced through actuator characterization and nonlinear feedback linearization to allow consistent performance over the large travel range. Closed-loop system identification and order-reduction algorithm were developed in order to analyze and model the plant behavior accurately, and to reduce the effect of unmodeled plant dynamics and inaccuracies in the assembly. Coupling among the axes and subsequent undesired motions and crosstalk of disturbances was reduced by employing multivariable optimal linear-quadratic regulator (LQR). Finally, application-specific nanoscale path planning strategies and multiscale control were devised to meet the specified conflicting time-domain performance specifications. All the developed methodologies and algorithms were implemented, individually as well as collectively, for experimental verification. Some of these applications included nanoscale lithography, patterning, fabrication, manipulation, and scanning. With the developed control strategies and motion planning techniques, the two maglev positioners are ready to be used for the targeted applications.

Download or read book High Speed Precision Motion Control written by Takashi Yamaguchi and published by CRC Press. This book was released on 2017-07-12 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: Edited by Takashi Yamaguchi, Mitsuo Hirate, and Chee Khiang Pang, with contributions from pioneers known for their ground-breaking work, High-Speed Precision Motion Control discusses high-precision and fast servo controls in hard disk drives (HDDs). The chapter authors describe the control technologies they’ve developed, most of which have already been successfully applied to mass production of HDDs. As the proposed methodologies have been verified on commercial HDDs at the very least, these advanced control technologies can also be readily applied to precision motion control of other mechatronic systems, e.g., scanners, micro-positioners, photocopiers, atomic force microscopes (AFMs), etc. Each self-contained chapter progresses from concept to technique and presents application examples in automotive, aerospace, aeronautical, and manufacturing engineering. The control technologies are categorized into high-speed servo control, precision control, and environment-friendly control, making it easy to find an appropriate control technology according to their domain of application. The book also makes MATLAB®/SIMULINK® codes for benchmark problems available for download. The control technologies described range from fundamental classical control theories to advanced topics such as multi-rate control. The content contains a healthy balance between materials from the contributor’s research works and that in the wider literature. The resulting resource empowers engineers and managers with the knowledge and know-how to make important decisions and policies.

Download or read book Nanopositioning Technologies written by Changhai Ru and published by Springer. This book was released on 2015-12-22 with total page 412 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers the state-of-the-art technologies for positioning with nanometer resolutions and accuracies, particularly those based on piezoelectric actuators and MEMS actuators. The latest advances are described, including the design of nanopositioning devices, sensing and actuation technologies and control methods for nanopositioning. This is an ideal book for mechanical and electrical engineering students and researchers; micro and nanotechnology researchers and graduate students; as well as those working in the precision instrumentation or semiconductor industries.

Download or read book Integration of Piezoelectric Sensing and Control for Nano Scale Vibration Suppression in Hard Disk Drives written by Sarah Helen Felix and published by . This book was released on 2010 with total page 188 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work takes an integrated mechatronic approach to combine a novel sensing scheme with appropriate control methods to improve vibration suppression in hard disk drives (HDDs). Thin-film piezoelectric ZnO strain sensors were integrated into a PZT-actuated HDD suspension by fabricating the sensors directly onto the steel suspension structure that carries the read/write head. This technology allowed for the addition of sensors at arbitrary locations without significantly altering the dynamics of the suspension design. Moreover, the sensors had excellent resolution in the high frequency range where mechanical modes in the suspension are problematic. As a benchmark comparison, a similar PZT-actuated suspension was implemented using self-sensing, wherein a bridge circuit was used to extract a sensing signal from the PZT actuators. Both strategies were deployed in experimental disk drives and used to measure and model system dynamics. Feedback control was explored using the auxiliary ZnO sensors, with the objective of targeting high-frequency structural vibrations excited by airflow. Optimal closed-loop control simulations with a nominal plant model predicted up to 30% improvement in suppression of windage-induced vibrations with high-resolution strain sensing at increasing sampling rates. A simple feedback damping controller was successfully operated experimentally on instrumented suspension prototypes. Finally, an adaptive lattice filter was formulated that utilized strain sensing to respond to uncertain disturbance conditions and attain optimal performance online. Simulations demonstrated that the filter achieved rapid recovery of optimal performance when varying windage disturbed the suspension.

Download or read book Design Modeling and Control of Nanopositioning Systems written by Andrew J. Fleming and published by Springer. This book was released on 2014-05-15 with total page 418 pages. Available in PDF, EPUB and Kindle. Book excerpt: Covering the complete design cycle of nanopositioning systems, this is the first comprehensive text on the topic. The book first introduces concepts associated with nanopositioning stages and outlines their application in such tasks as scanning probe microscopy, nanofabrication, data storage, cell surgery and precision optics. Piezoelectric transducers, employed ubiquitously in nanopositioning applications are then discussed in detail including practical considerations and constraints on transducer response. The reader is then given an overview of the types of nanopositioner before the text turns to the in-depth coverage of mechanical design including flexures, materials, manufacturing techniques, and electronics. This process is illustrated by the example of a high-speed serial-kinematic nanopositioner. Position sensors are then catalogued and described and the text then focuses on control. Several forms of control are treated: shunt control, feedback control, force feedback control and feedforward control (including an appreciation of iterative learning control). Performance issues are given importance as are problems limiting that performance such as hysteresis and noise which arise in the treatment of control and are then given chapter-length attention in their own right. The reader also learns about cost functions and other issues involved in command shaping, charge drives and electrical considerations. All concepts are demonstrated experimentally including by direct application to atomic force microscope imaging. Design, Modeling and Control of Nanopositioning Systems will be of interest to researchers in mechatronics generally and in control applied to atomic force microscopy and other nanopositioning applications. Microscope developers and mechanical designers of nanopositioning devices will find the text essential reading.

Download or read book Index to IEEE Publications written by Institute of Electrical and Electronics Engineers and published by . This book was released on 1998 with total page 1234 pages. Available in PDF, EPUB and Kindle. Book excerpt: Issues for 1973- cover the entire IEEE technical literature.

Download or read book American Doctoral Dissertations written by and published by . This book was released on 2001 with total page 776 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Converging Technologies for Improving Human Performance written by Mihail C. Roco and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 477 pages. Available in PDF, EPUB and Kindle. Book excerpt: M. C. Roco and W.S. Bainbridge In the early decades of the 21st century, concentrated efforts can unify science based on the unity of nature, thereby advancing the combination of nanotechnology, biotechnology, information technology, and new technologies based in cognitive science. With proper attention to ethical issues and societal needs, converging in human abilities, societal technologies could achieve a tremendous improvement outcomes, the nation's productivity, and the quality of life. This is a broad, cross cutting, emerging and timely opportunity of interest to individuals, society and humanity in the long term. The phrase "convergent technologies" refers to the synergistic combination of four major "NBIC" (nano-bio-info-cogno) provinces of science and technology, each of which is currently progressing at a rapid rate: (a) nanoscience and nanotechnology; (b) biotechnology and biomedicine, including genetic engineering; (c) information technology, including advanced computing and communications; (d) cognitive science, including cognitive neuroscience. Timely and Broad Opportunity. Convergence of diverse technologies is based on material unity at the nanoscale and on technology integration from that scale.

Download or read book Commerce Business Daily written by and published by . This book was released on 2000 with total page 2086 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Introduction to Autonomous Robots written by Nikolaus Correll and published by . This book was released on 2016-04-25 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces concepts in mobile, autonomous robotics to 3rd-4th year students in Computer Science or a related discipline. The book covers principles of robot motion, forward and inverse kinematics of robotic arms and simple wheeled platforms, perception, error propagation, localization and simultaneous localization and mapping. The cover picture shows a wind-up toy that is smart enough to not fall off a table just using intelligent mechanism design and illustrate the importance of the mechanism in designing intelligent, autonomous systems. This book is open source, open to contributions, and released under a creative common license.

Download or read book Nanoscale Science and Technology written by Robert Kelsall and published by John Wiley & Sons. This book was released on 2005-11-01 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nanotechnology is a vital new area of research and development addressing the control, modification and fabrication of materials, structures and devices with nanometre precision and the synthesis of such structures into systems of micro- and macroscopic dimensions. Future applications of nanoscale science and technology include motors smaller than the diameter of a human hair and single-celled organisms programmed to fabricate materials with nanometer precision. Miniaturisation has revolutionised the semiconductor industry by making possible inexpensive integrated electronic circuits comprised of devices and wires with sub-micrometer dimensions. These integrated circuits are now ubiquitous, controlling everything from cars to toasters. The next level of miniaturisation, beyond sub-micrometer dimensions into nanoscale dimensions (invisible to the unaided human eye) is a booming area of research and development. This is a very hot area of research with large amounts of venture capital and government funding being invested worldwide, as such Nanoscale Science and Technology has a broad appeal based upon an interdisciplinary approach, covering aspects of physics, chemistry, biology, materials science and electronic engineering. Kelsall et al present a coherent approach to nanoscale sciences, which will be invaluable to graduate level students and researchers and practising engineers and product designers.

Download or read book Nanotechnology Research Directions IWGN Workshop Report written by R.S. Williams and published by Springer Science & Business Media. This book was released on 2013-03-09 with total page 367 pages. Available in PDF, EPUB and Kindle. Book excerpt: energy production, environmental management, transportation, communication, computation, and education. As the twenty-first century unfolds, nanotechnology's impact on the health, wealth, and security of the world's people is expected to be at least as significant as the combined influences in this century of antibiotics, the integrated circuit, and human-made polymers. Dr. Neal Lane, Advisor to the President for Science and Technology and former National Science Foundation (NSF) director, stated at a Congressional hearing in April 1998, "If I were asked for an area of science and engineering that will most likely produce the breakthroughs of tomorrow, I would point to nanoscale science and engineering. " Recognizing this potential, the White House Office of Science and Technology Policy (OSTP) and the Office of Management and Budget (OMB) have issued a joint memorandum to Federal agency heads that identifies nanotechnology as a research priority area for Federal investment in fiscal year 2001. This report charts "Nanotechnology Research Directions," as developed by the Interagency W orking Group on Nano Science, Engineering, and Technology (IWGN) of the National Science and Technology Council (NSTC). The report incorporates the views of leading experts from government, academia, and the private sector. It reflects the consensus reached at an IWGN-sponsored workshop held on January 27-29, 1999, and detailed in contributions submitted thereafter by members of the V. S. science and engineering community. (See Appendix A for a list of contributors.

Download or read book Mechanics written by and published by . This book was released on 2002 with total page 500 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book The Grace of Kings written by Ken Liu and published by Simon and Schuster. This book was released on 2015-04-07 with total page 656 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the Time 100 Best Fantasy Books Of All Time Two men rebel together against tyranny—and then become rivals—in this first sweeping book of an epic fantasy series from Ken Liu, recipient of Hugo, Nebula, and World Fantasy awards. Hailed as one of the best books of 2015 by NPR. Wily, charming Kuni Garu, a bandit, and stern, fearless Mata Zyndu, the son of a deposed duke, seem like polar opposites. Yet, in the uprising against the emperor, the two quickly become the best of friends after a series of adventures fighting against vast conscripted armies, silk-draped airships, and shapeshifting gods. Once the emperor has been overthrown, however, they each find themselves the leader of separate factions—two sides with very different ideas about how the world should be run and the meaning of justice. Fans of intrigue, intimate plots, and action will find a new series to embrace in the Dandelion Dynasty.

Download or read book Biologically Inspired Robotics written by Yunhui Liu and published by CRC Press. This book was released on 2011-12-21 with total page 343 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic engineering inspired by biology—biomimetics—has many potential applications: robot snakes can be used for rescue operations in disasters, snake-like endoscopes can be used in medical diagnosis, and artificial muscles can replace damaged muscles to recover the motor functions of human limbs. Conversely, the application of robotics technology to our understanding of biological systems and behaviors—biorobotic modeling and analysis—provides unique research opportunities: robotic manipulation technology with optical tweezers can be used to study the cell mechanics of human red blood cells, a surface electromyography sensing system can help us identify the relation between muscle forces and hand movements, and mathematical models of brain circuitry may help us understand how the cerebellum achieves movement control. Biologically Inspired Robotics contains cutting-edge material—considerably expanded and with additional analysis—from the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). These 16 chapters cover both biomimetics and biorobotic modeling/analysis, taking readers through an exploration of biologically inspired robot design and control, micro/nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems. Contributors examine a wide range of topics, including: A method for controlling the motion of a robotic snake The design of a bionic fitness cycle inspired by the jaguar The use of autonomous robotic fish to detect pollution A noninvasive brain-activity scanning method using a hybrid sensor A rehabilitation system for recovering motor function in human hands after injury Human-like robotic eye and head movements in human–machine interactions A state-of-the-art resource for graduate students and researchers in the fields of control engineering, robotics, and biomedical engineering, this text helps readers understand the technology and principles in this emerging field.

Download or read book The Robotics Primer written by Maja J. Mataric and published by MIT Press. This book was released on 2007-08-17 with total page 325 pages. Available in PDF, EPUB and Kindle. Book excerpt: A broadly accessible introduction to robotics that spans the most basic concepts and the most novel applications; for students, teachers, and hobbyists. The Robotics Primer offers a broadly accessible introduction to robotics for students at pre-university and university levels, robot hobbyists, and anyone interested in this burgeoning field. The text takes the reader from the most basic concepts (including perception and movement) to the most novel and sophisticated applications and topics (humanoids, shape-shifting robots, space robotics), with an emphasis on what it takes to create autonomous intelligent robot behavior. The core concepts of robotics are carried through from fundamental definitions to more complex explanations, all presented in an engaging, conversational style that will appeal to readers of different backgrounds. The Robotics Primer covers such topics as the definition of robotics, the history of robotics (“Where do Robots Come From?”), robot components, locomotion, manipulation, sensors, control, control architectures, representation, behavior (“Making Your Robot Behave”), navigation, group robotics, learning, and the future of robotics (and its ethical implications). To encourage further engagement, experimentation, and course and lesson design, The Robotics Primer is accompanied by a free robot programming exercise workbook that implements many of the ideas on the book on iRobot platforms. The Robotics Primer is unique as a principled, pedagogical treatment of the topic that is accessible to a broad audience; the only prerequisites are curiosity and attention. It can be used effectively in an educational setting or more informally for self-instruction. The Robotics Primer is a springboard for readers of all backgrounds—including students taking robotics as an elective outside the major, graduate students preparing to specialize in robotics, and K-12 teachers who bring robotics into their classrooms.