© This work deals with the elastostatic identification of industrial manipulators. By reviewing the basics of the physical elastic properties of both links and joints in the framework of the lumped stiffness modeling techniques, the Gramian nature of the stiffness matrices has been found out adequate to do so. Then, a novel optimization method has been developed, which incorporates the Gramian matrix formulation along a non-linear optimization process, acting as an intrinsic constraint for the conservativeness of the elastostatic modeling. Numerical and experimental analyses evince the effectiveness of the proposed method, as the elastostatic models obtained by means of the proposed technique predict more than 93.7% of the compliance deviations of a real industrial robot. The proposed method is simple enough to be jointly applicable to the most recent elastostatic model reduction techniques.

© 2021This work presents a novel approach for visual servoing of robotized aerospace manufacturing cells, based on the combined use of a camera and a 2D-beam scanner and a 1-D beam distance sensor attached to the end-effector of a collaborative robot. The proposed system can detect features associated with mechanical bounds over the aircraft structure, making possible the robot automatic online trajectory/path generation when the robot performs a target task over an aeronautical part. The effectiveness of this method is demonstrated by means of experimental evaluations carried out in unstructured environments without illumination and temperature control (simulating real shop floor conditions), evincing that the proposed approach is more robust. We also show that it is able to automatically generate and follow a target path with an accuracy of 0.40 mm and repeatability of 0.59 mm, which is roughly 2 times more accurate than the classical computer vision servoing used in the experiments. The proposed solution is suitable to applications in modern collaborative robotized aerospace assembly cells.

© 2021 IEEERobotic flight simulators have emerged as a low-cost alternative to conventional flight simulators. Despite the enormous potential, few research works have been conducted regarding the representativeness of the movement of these simulators. Thus, the present work seeks to propose an optimization of the washout filter using the genetic algorithm to obtain the parameters capable of maximizing pilot's acceleration perception during the plane's takeoff. 3 configurations were proposed: solution 1 that does not impose displacement limits for channel B of the simulator, solution 2 with a limited displacement of 15° for the channel B and solution 3 that considers the limit of 15° and a different configuration of the cost function. It was found that the solution that maximizes pilot perception is the solution 1. Solutions 2 and 3 were similar, which indicates that it is the best configuration to be obtained with the current workspace limitation. The comparison of the 3 solutions also indicates that the trail could be further explored to increase the sensation of acceleration during takeoff.

© 2020 IEEE.Optimization of motion cueing algorithms is a relevant topic in flight simulation industry. To achieve this goal, a representative model of the motion platform is needed. With this intent, this work presents a black-box approach to identify a model for the SIVOR flight simulator. The model receives position/orientation inputs in Cartesian space and streams out accelerations/angular speeds measured on the pilots' head. A comprehensive experimental analysis is carried out using a dataset based on isolated positional and rotational inputs. A frequency domain analysis is performed to evaluate signal measurement noise and to determine the model structure. As a result, a combination of continuous time linear transfer functions were identified to represent each of the direct and cross relations mapped throughout the process.

© 2020 IEEE.The aim of this work is to implement a representative dynamics model of the SIVOR flight simulator. Two experiments were conducted and used to estimate and validate the model; the first one excites one robot channel at once and the second excites more than one robot channel. Based on a previous study, we established the model structure. Three distinct approaches of black-box identification model were employed: transfer function models, space-state models and ARX models. The results obtained were similar and satisfactory for inputs until 1 Hz.

© 2019, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.This work aims at presenting an integrated development system to a motion real-time flight simulator using a robotic device. This flight simulator is called SIVOR (Simulador de Voo Robótico – Robotic Flight Simulator). This is a multidisciplinary project since it involves different systems with different level of complexity, which by itself give some challenges in how to develop this type of flight simulator. In order to have a flight simulator with base motion upon robotic device it is necessary the domain of systems like robotic, pilot modeling, filtering design, here called by washout filter, aeronautic modeling which includes traditional systems as automatic flight control, aerodynamic, propulsion, ground handling, sensors and actuation. Therefore a considerable effort in the development is demanded to have a representative aircraft model been executed in a real-time flight simulator with robotic motion. Thus this paper presents an integrated modeling process to represents all of the system in order to give a more maturity development cycle, in order to reduce the uncertainties presented in the begin of any project and that becomes more challenging for any complex system. The real-time motion flight simulator based upon robotic environment has a nonlinear flight mechanic model of EMBRAER 190-E2, and here won’t be presented in order to protect the intellectual property and compliance policies of EMBRAER S.A., the other systems will be explained in detail and a sensitive analysis is presented in order to demonstrated that an model based approach shall be used in this kind of flight simulator in order to speed up the maturity level of the system.

� 2019 by German Aerospace Center (DLR). Published by the American Institute of Aeronautics and Astronautics, Inc.The need for an optimized aircraft development cycle imposed by market constraints, associated with airliners demands for more cost-effective and safe operations, has become a challenge for aircraft OEM in face of new aircraft ever-growing complexity. Emergent behaviors during the development phase causing project schedule oscillations and delays in the adequate time to market, associated with accident statistics after entering into service phase (especially those associated with Loss of Control in Flight), force new approaches for the development of new aircraft. Based on this scenario, this manuscript describe the efforts to develop a flight simulation-engineering center based on a robotic motion platform. This promising configuration might contribute to overcome some of the previous problems due to augmented motion platform workspace. However, the limited robot payload capacity and the need for a commercial jet representative cockpit, generate critical design constraints and technological challenges to implement this configuration. This manuscript details the design strategy to build the flight simulator assisted by a robotic motion platform and also analyses possible applications.

© 2019, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.This paper presents the SIVOR project, an anthropomorphic-robotic flight simulator under development at the Aeronautics Institute of Technology (ITA), discussing the contribution of an additional 7th degree of freedom (DOF) provided by a linear unit to improve the pilot perception inside the flight simulator. In this context, starting from a canonical washout filter (CWF) implementation, a model-based comparative evaluation – regarding the pilot sensation – is performed considering (i) models of the robotic system with and without the linear unit, (ii) modified versions of the motion-cue algorithm (MCA), (iii) and perception models of the human vestibular system. Such integrated model is used also as the first verification for a predefined flight mission. The results obtained so far suggest an improvement on the representation of the linear acceleration as a larger workspace is provided, though also highlighting the need for further developments on the MCA structure for a better usage of the near feature.

© 2019, Journal of Aerospace Technology and Management. All rights reserved.This paper presents a detailed analysis about the implementation of a washout filter on the SIVOR (Simulador de Voo Robótico – Robotic Flight Simulator) project. The main objective of this project is to develop, on an anthropomorphic robot, a flight simulator which can be used as an Engineering Development System (EDS) and a pilot training platform, capable of providing feelings the pilot would only have in more intensive maneuvers, such as losses/gains of G in aircraft flight tests. The SIVOR project also has the objective of providing a cost-efficient and flexible tool that can be used during the design phases of aircrafts. One of the demanded features of such simulator is a representative behavior of its motion system, which is achieved by an adequate implementation of the washout filter. To the best knowledge of the authors, there are no works in the literature that present a detailed discussion about the implementation of a classical washout filter in such flight simulator, especially when the translational channel is used to its limits. Experimental results to support the proposed solutions are presented herein.

© 2018 Elsevier LtdThe main standards for quantifying waveform distortions in power systems are based on the Discrete Fourier Transform (DFT) through the use of a rectangular time-window of fixed length. However, limitations and imprecisions of the DFT related to the analysis of time-varying signals, typical of environments with renewable sources, have been reported in the literature. This study presents a methodology for identifying the most appropriate time-window length to quantify the emissions of harmonics and interharmonics, considering time-varying signals. The methodology in question is substantiated on the calculation of the harmonic and interharmonic distortions using the DFT according to IEC 61000-4-7 and employing the spectral components acquired from the application of the Prony method and Kalman Filter. It is tested in view of the current signals measured in a real grid-connected photovoltaic installation. The methodology proposed in this work improves the accuracy of the harmonic and interharmonic quantification process using DFT by selecting a proper time-window length, and in addition, identifies the error attributed to the use of a 200 ms time-window length, as premised by the IEC 61000-4-7.

© 31st Congress of the International Council of the Aeronautical Sciences, ICAS 2018. All rights reserved.The following paper will depict the process followed to build a baseline motion cueing setting specific for VTOL and helicopter applications for the SIVOR flight simulator at ITA. This effort is built around three elements: a pilot model, an identified model of the robotic platform and a set of surrogate flight dynamic models representative of helicopter motion. Initially, a description of the platform and simulation environment is presented, followed by the tuning strategy based on numerical optimization and a test case which will serve as a validation for the optimization strategy. A brief description of the SIVOR system identification process is presented along with the structural-pilot-model used to explore a set of three main manoeuvres which are used for washout filter tuning. Optimization results included in the test maneuvers show good agreement with published experimental observations.

© Emerald Group Publishing Limited.Purpose-This paper aims to propose an evaluation method to compare two different Human-Robot Interaction (HRI) solutions that can be used for on-line programming in an industrial context: a force guidance system and the traditional teach pendant operation. Design/methodology/approach-The method defines three evaluation criteria (agility, accuracy and learning) and describes an experimental approach based on the analysis of variance to verify the performance of guidance systems according to these criteria. This method is used in this paper to compare the traditional teach pendant interface with an implementation of a force guidance system based on the use of an external force/torque sensor. Findings-The application of the proposed method to an off-the-shelf industrial robot shows that the force guidance system has a better performance according to the agility criterion. Both solutions have a similar performance for the accuracy criterion, with a limit of about 2 mm in the achieved position accuracy. Regarding the learning criterion, the authors cannot affirm that any of the methods has an improved agility when the operator repeats the tasks. Practical implications-This work supports the selection of guidance systems to be used in on-line programming of industrial applications. It shows that the force guidance system is an option potentially faster than the teach pendant when the required positioning accuracy is greater than 2 mm. Originality/value-The new method proposed in this paper can be applied to a large range of robots, not being limited to commercial available collaborative robots. Furthermore, the method is appropriate to accomplish further investigations in HRI not only to compare programming methods but also to evaluate guidance systems approaches or robot control systems.

For a laboratory evaluation of the effects of PQ phenomena on three-phase induction motors (TIM), one of the challenges is to set up equipment that allows adjusting the machine's nominal current and selecting the type of load to be driven. Direct Current Generators (DCG) can be used to emulate different kinds of mechanical loads on the motor shaft. To do this, it is necessary to adopt a control strategy which allows variation of the load torque according to the profile desired. In this paper, the proposed strategy is compared with one conventionally adopted and it is applied to a study of a TIM's performance. This type of research makes it possible to investigate the effects of PQ disturbances on a TIM. © 2014 IEEE.