Precise Control of Temperature Rising Speed of Wafer during Rapid Thermal Processing

In rapid thermal processing of a semiconductor wafer, it is important to keep a given temperature rising speed of the wafer during the temperature rising process. We made an experimental apparatus to measure the temperature rising speed of a ceramic ball of 2 mm in diameter heated with four halogen lamp heaters. The heating rate of the halogen lamp heaters was controlled by computer to keep a given temperature rising speed of 50 ℃/s with a controlling time interval of 0.1 s. We examined the effect of various heating control methods on the error of the temperature rising speed of the ceramic ball. We found that a combined method of control with prepared correlation and PID （proportional integral derivative） control is a good method to decrease the error of the temperature rising speed. The average error of the temperature rising speed is 0.5 ℃/s, and the repetition error is almost zero for the temperature rising speed of 50 ℃/s from 330 ℃ to 370 ℃. We also measured the effects of artificial control delay time and measuring error of the monitoring temperature on the error of the temperature rising speed.     

Electromagnetic Torque Estimation of a Three-Phase Induction Motor for Setting the Feedrate of a Milling Machine

In this paper, it presents a project of a fuzzy controller and a neural estimator to control a coordinate table powered by three-phase induction motor, aiming to implement an intelligent milling system. The position/speed control is performed using vector techniques of three-phase induction machines. The estimation of the motor electromagnetic torque is used for setting the feedrate of the table. The speed control is developed using TS （Takagi-Sugeno） fuzzy logic model and electromagnetic torque estimation using neural network type LMS （least mean square） algorithm. The induction motor is powered by a frequency inverter driven by a DSP （digital signal processor）. Control strategies are implemented in DSP. Simulation results are presented for evaluating the performance of the system.     

Position control optimization of aerodynamic brake device for high-speed trains

The aerodynamic braking is a clean and non-adhesion braking, and can be used to provide extra braking force during high-speed emergency braking. The research of aerodynamic braking has attracted more and more attentions in recent years. However, most researchers in this field focus on aerodynamic effects and seldom on issues of position control of the aerodynamic braking board. The purpose of this paper is to explore position control optimization of the braking board in an aerodynamic braking prototype. The mathematical models of the hydraulic drive unit in the aerodynamic braking system are analyzed in detail, and the simulation models are established. Three control functions--constant, linear, and quadratic--are explored. Two kinds of criteria, including the position steady-state error and the acceleration of the piston rod, are used to evaluate system performance. Simulation results show that the position steady state-error is reduced from around 12-2 mm by applying a linear instead of a constant function, while the acceleration is reduced from 25,71-3.70 m/s2 with a quadratic control function. Use of the quadratic control function is shown to improve system performance. Experimental results obtained by measuring the position response of the piston rod on a test-bench also suggest a reduced position error and smooth movement of the piston rod. This implies that the acceleration is smaller when using the quadratic function, thus verifying the effectiveness of control schemes to improve to system performance. This paper proposes an effective and easily implemented control scheme that improves the position response of hydraulic cylinders during position control.     

A Kinematic Analysis of Joint Synergy of the Lower Limb in Human Locomotion

This paper deals with the mode analysis of the kinematic structure of human locomotion. The authors investigated synergy mechanism of human locomotion from motion-captured data and EMG signal data. The authors extracted some common basic movements and residual modes, and analyzed the kinematical structures of limit cycle in joint angle space. The authors also implemented the numerical simulation analyses by using the motion captured data and EMG signal data to investigate the mechanical activities of human joints and to extract the mechanical structure of the limit cycle. The results show the joint synergy that is derived by the common basic modes, which expresses an inverted pendulum mode in support phase, and ballistic mode in swing phase with the kick-off motion in the most effective direction. This result can be guessed that the control strategy of human locomotion is simply based on the minimal control principle.     

Coupling Characteristics and Control of Dual Mechanical Port Machine with Spoke Type Permanent Magnet Arrangement

Dual mechanical port machine（DMPM）, as a novel electromechanical energy conversion device, has attracted widespread attention. DMPM with spoke type permanent magnet arrangements（STPM-DMPM）, which is one of several types of DMPM, has been of interest recently. The unique coupling characteristics of STPM-DMPM are beneficial to improving system performance, but these same characteristics increase the difficulties of control. Now there has been little research about the control of STPM-DMPM, and this has hindered its practical application. Based on a mathematical model of STPM-DMPM, the coupling characteristics and the merits and demerits of such devices are analyzed as applied to a hybrid system. The control strategies for improving the disadvantages and for utilizing the advantage of coupling are researched. In order to weaken the interaction effect of torque outputs in the inner motor and the outer motor that results from coupling in STPM-DMPM, a decoupling control method based on equivalent current control is proposed, and independent torque control for the inner motor and outer motor is achieved. In order to solve address the problem of adequately utilization of coupling, minimizing the overall copper loss of the inner motor and the outer motor of STPM-DMPM is taken as the optimization objective for optimal control, and the purpose of utilizing the coupling adequately and reasonably is achieved. The verification tests of the proposed decoupling control and optimal control strategies are carried out on a prototype STPM-DMPM, and the experimental results show that the interaction effect of torque outputs in the inner motor and the outer motor can be markedly weakened through use of the control method. The overall copper loss of the inner motor and the outer motor can be markedly reduced through use of the optimal control method, while the power output remains unchanged. A breakthrough in the control problem of STPM-DMPM is accomplished by combining the control methods. Good performance in the control of ST     

Robotic Path Learning with Graphical User Interface

This paper describes an automated path generation method for industrial robots. Based on force control, a robotic subsystem has been developed for path automatic generation or path learning. Using a dummy tool and roughly taught guiding points around a part contour, the robot moves in position and force controlled hybrid mode, following the order of the guiding points and with contact force direction and value predefined. During the motion, robot actual position is recorded by the robot controller. After the motion, the recorded position data is used to generate a robot path program automatically. Robot lead-through may be used in the guiding point teaching. Furthermore, a GUI （graphical user interface） is developed on the teach pedant to guide through the guiding point creation and teaching, path learning, program verification and execution. The development has been incorporated into a robotic machining product option. Combination of the robot path learning function and GUI enhances the interaction between the robot and operator and drastically increases the level of robotic ease-of-use.     

Development of a Stabilized Pan/Tilt Platform and the State of the Art

In the context of this paper, a small scale, medium precision, stabilized pan/tilt platform is developed as a prototype, which is used to compare various stabilization algorithms experimentally. The overall performance of the system depends on rigid body dynamics, structural dynamics, servo control loops, stabilization control algorithm, sensor fusion algorithm and sensory feedback such as from the IMU （inertial measurement unit）. In the case that the response bandwidth of the overall system is high enough, the same hardware can also achieve active vibration isolation. All of these design aspects are investigated in the paper via numerical models and with their experimental verification.     

Fully Integrated Machine Control for Ultra Precision Machining

To meet the demands for highly advanced components with ultra precise contour accuracy and optical surface quality arising in the fields of photonics and optics, automotive, medical applications and biotechnology, consumer electronics and renewable energy, more advanced production machines and processes have to be developed. As the complexity of machine tools rises steadily, the automation of manufacture increases rapidly, processes become more integrated and cycle times have to be reduced significantly, challenges of engineering efficient machine tools with respect to these demands expand every day. Especially the manufacture of freeform geometries with non-continuous and asymmetric surfaces requires advanced diamond machining strategies involving highly dynamic axes movements with a high bandwidth and position accuracy. Ultra precision lathes additionally equipped with Slow Tool and Fast Tool systems can be regarded as state-of-the-art machines achieving the objectives of high quality optical components. The mechanical design of such ultra precision machine tools as well as the mechanical integration of additional highly dynamic axes are very well understood today. In contrast to that, neither advanced control strategies for ultra precision machining nor the control integration of additional Fast Tool systems have been sufficiently developed yet. Considering a complex machine setup as a mechatronic system, it becomes obvious that enhancements to further increase the achievable form accuracy and surface quality and at the same time decrease cycle times and error sensitivity can only be accomplished by innovative, integrated control systems. At the Fraunhofer Institute for Production Technology IPT a novel, fully integrated control approach has been developed to overcome the drawbacks of state-of-the-art machine controls for ultra precision processes. Current control systems are often realized as decentralized solutions consisting of various computational hardware components for setpoint generation, machine control, HMI （human machine interface）, Slow Tool control and Fast Tool control. While implementing such a distributed control strategy, many disadvantages arise in terms of complex communication interfaces, discontinuous safety structures, synchronization of cycle times and the machining accuracy as a whole. The novel control approach has been developed as a fully integrated machine control including standard CNC （computer numerical control） and PLC （programmable logic controller） functionality, advanced setpoint generation methods, an extended HMI as well as an FPGA （field programmable gate array）-based controller for a voice coil driven Slow Tool and a piezo driven Fast Tool axis. As the new control system has been implemented as a fully integrated platform using digital communication via EtherCAT, a continuous safety strategy could be realized, the error sensitivity and EMC susceptibility could be significantly decreased and the overall process accuracy from setpoint generation over path interpolation to axes movements could be enhanced. The novel control at the same time offers additional possibilities of automation, process integration, online data acquisition and evaluation as well as error compensation methods.     

Design of a Preview Controller for Articulated Heavy Vehicles

The paper presents a preview controller design for ATS （active trailer steering） systems to improve high-speed stability of AHVs （articulated heavy vehicles）. An AHV consists of a towing unit, namely tractor or truck, and one or more towed units which called trailers. Individual units are connected to one another at articulated joints by mechanical couplings. Due to the multi-unit configurations, AHVs exhibit unique unstable motion modes, including jack-knifing, trailer swing and rollover. These unstable motion modes are the leading cause of highway accidents. To prevent these unstable motion modes, the preview controller, namely the LPDP （lateral position deviation preview） controller, is proposed. For a truck/full-trailer combination, the LPDP controller is designed to control the steering of the front and rear axle wheels of the trailing unit. The calculation of the corrective steering angle of the trailer front axle wheels is based on the preview information of the lateral position deviation of the trajectory of the axle center from that of the truck front axle center. Similarly, the steering angle of the trailer rear axle wheels is calculated by using the lateral position deviation of the trajectory of the axle center from that of the truck front axle. To perform closed-loop dynamic simulations and evaluate the vehicle performance measure, a driver model is introduced and it ＇derives＇ the AHV model based on well-defined testing specifications. The proposed preview control scheme in the continuous time domain is developed by using the LQR （linear quadratic regular） technique. The closed-loop simulation results indicate that the performance of the AHV with the LPDP controller is improved by decreasing rearward amplification ratio from the baseline value of 1.28 to 0.98 and reducing transient off-tracking by 95.03%. The proposed LPDP control algorithm provides an alternative method for the design optimization of AHVs with ATS systems.     

Temperature Control of a Thermal Plasma Torch with Inductive Coupling Using the Arduino Board

Plasma torch is a device that transforms electrical energy into heat carried by a gas and its safe operation is necessary to control her temperature. This paper presents the use of the Arduino board in temperature control of a plasma torch through fuzzy control. The plasma torch of this project was built so that a flow of water can circulate through your body, allowing its cooling. The cooling system mounted consists of one radiator, one expansion vase, one water pump and one temperature sensor. The heated water coming the plasma torch is passed by the temperature sensor. This is converted in a voltage and read by an analog input port of the Arduino. This processes the information received and makes the decision to turn on/off the radiator fan and/or powered the frequency inverter water pump to control the temperature. The graph of the fuzzy control showed an oscillation between 104 °F to 122 °F around the chosen reference 113 °F. The results show that it is possible to control the temperature of a plasma torch using the Arduino board and fuzzy logic.     

对焊钻杆热处理系统自动化改造

介绍了一个焊钻杆热处理智能控制系统。该系统对热处理的升温保温全过程实现闭环控制,温度检测采用固定式红外测温仪,控制算法采用β-GPC,使温度在基本无超调的情况下控制精度达到1％以内。     

Composite with Recyclable Loads for the Manufacture of Blocks to Build Popular Houses

The science space in a state school in Natal city was built using a composite consisting of gypsum, EPS （expanded polystyrene）, shredded tire, cement and water. Mechanical and thermal resistances were evaluated. Inside the blocks, three types of fillings （EPS plates, aluminum cans and 500 mL bottles of mineral water） were placed in order to obtain a walls with higher thermal resistance, but also to give it an ecologically correct order, considering that both the tire and the EPS occupy a large space in landfills and require years to be degraded when released into the environment. Compression tests were conducted according to the rules. The experiments demonstrated that the temperature difference between the internal and external surfaces on the walls reached levels above 12.0 ℃. It was also demonstrated that the proposed composite has adequate mechanical strength to be used for sealing walls. The proposed use of the composite can contribute to reduce the significant housing deficit of Brazil, producing popular houses at low cost and with little time to work.     

基于模糊预测控制的回转窑温度控制

介绍了模糊预测控制技术在水泥回转窑温度控制中的应用。水泥生产的关键环节在于水泥回转窑,其中最重要的就是对回转窑温度的控制。针对热工对象存在的大惯性、大迟延问题,运用T-S模糊模型的离线辨识算法对复杂的热工对象建模,得到了回转窑温度控制系统的线性化模型。     

Advanced Industrial Engineering in Next Generation of Manufacturing Systems

The article deals with possible approaches to the development trends in the industrial engineering in manufacturing organizations. The authors emphasize the need for integration of advanced industrial engineering in the next generation of manufacturing systems, which responds to new trends of production, innovation and advanced technology. This integration represents a sustainable development, so that humanization of work are increased, more effective use of natural and energy resources are achieved and production costs are reduced. Trends in the products manufacturing must meet both industrial engineering as well as production management. The development trends in the industrial engineering in manufacturing organizations must use methods and tools of advanced industrial engineering to achieve competitiveness. The second part of this article deals with specification of these approaches in next generation of production systems.     

基于Hammerstein模型的GMAW-P焊接熔深自适应预测控制

针对脉冲熔化极气体保护焊(Pulsed gas metal arc welding,GMAW-P)过程中焊接熔深的实时控制,使用脉冲峰值期间的电压变化幅值(ΔU)来表征焊接熔深变化,并且通过测量和控制ΔU的大小来间接达到熔深控制的目的。建立了以ΔU为输出和脉冲基值电流为输入的单输入单输出熔深控制系统。系统输入输出之间的静态关系模型显示该熔深控制系统具有一定非线性,因此,采用加入干扰的Hammerstein模型描述该非线性系统。在基于该Hammerstein模型的经典预测控制算法基础上,在控制过程中加入递推最小二乘法在线辨识模型参数,从而实现焊接熔深自适应控制。控制算法仿真和实时焊接试验表明该熔深控制算法能够较好地实现GMAW-P焊接过程中的熔深控制。变散热试验结果验证了该控制算法的有效性和适应性。     

Prediction of heat transfer coefficient of steel bars subjected to Tempcore process using nonlinear modeling

This paper deals with the prediction of heat transfer coefficient of steel bars subjected to Tempcore process. A nonlinear mathematical model, in terms of process variables, is developed using response surface methodology. Three significant control parameters are considered. Central composite design of experiments is structured and conducted using finite element method to formulate the predictive nonlinear model. Statistical analysis and experimental results suggest that the proposed model could be used for predicting heat transfer coefficient with adequate accuracy. The knowledge of heat transfer coefficient makes it possible to predict temperature evolution in the steel rods. As the temperature distribution affects the mechanical properties of steel rods, the proposed methodology can be effectively employed in controlling the quality of products.     

Numerical Simulation of New Friction Welded Joints

In developing the new friction welding technology, the thermal elastic-plastic stress analysis by the finite element method was carried out to seek the suitable welding conditions such as the friction pressure, the friction speed and the upset pressure. The results obtained are as follows： Heat transfer to the specimens and the intermediate material during friction process was made clear; The operational conditions such as the rotation number of the intermediate material and the friction pressure to reach the liquidus in the interface could be estimated; Further, as the overhang length near the interface is well related to the joint efficiency, we tried to obtain the operational conditions by numerical analysis to acquire a certain length of the overhang length near the interface.     

柱形锻件热处理过程中传热模拟分析

以YB-65柱形锻件为研究对象,试验测量其三种不同组织（珠光体、贝氏体、马氏体）的热物性参数,并用JMatPro热力学软件对其进行计算。采用敷偶法研究实际热处理过程中锻件内部温度场的变化,运用商用非线性有限元软件对不同热物性参数条件下锻件不透烧加热、淬火及回火过程中的温度场进行模拟。通过实测和模拟,建立起反映这一热处理过程的传热模型,确定该模型的物性参数、燃气炉加热的表面有效黑度,淬火换热系数等重要参数,模拟结果较好地反应了实际传热过程。     

Analytical Solutions of the Equations One Mechanical Thermal Model of a Helical Spring NiTi for Use in Heat Engine

Shape memory effect is capability of certain materials to recover its original shape after an apparently permanent deformation. The NiTi alloy of the composition is approximately equiatomic and it is the materials that exhibit the best characteristics for application of these properties, especially in the biomedical area, because of their excellent biocompatibility as： in the manufacture of medical and dental instruments, orthodontic wires, orthopedic materials, guide wires, stents, filters and components to realize the less invasive surgeries. In other areas, they are used for confections of electronic keys, spectacle frames, application in controllers, junction of pipes and electronic connectors among others. New research topics involving the application of these alloys super-elasticity are also known as pseudo elasticity. This event has an isothermal nature and involves the storage of potential energy in the shape memory effect and super-elasticity. In this context, this work falls within the scope of use of the technologies being an example of the work undertaken, in the course Graduate of Federal University of Pernambuco in skills in these technologies. It will present the results of a heat engine which engine element is a helical spring made of a NiTi alloy equiatomic with memory effect reversibly. The spring is triggered by a hot source （- 373.15 K） and a cold source （273.15 K）. The machine is capable of producing a reciprocating oscillating between the two sources. Heat equations and the equations that describe the dynamic behavior of the spring were developed. Through the development of dynamic equations, it can determine the minimum mass for the motion of the machine, as well as the instantaneous and average power and overall efficiency. You can check the functionality of the machine by way of the inclination angle of the propeller and the coefficient of static friction. Among the main results, it was observed that the overall performance of the machine compared to the machines of this categor