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Implementation of ANN-Based Auto-Adjustable for a Pneumatic Servo System Embedded on FPGA

Artificial intelligence techniques for pneumatic robot manipulators have become of deep interest in industrial applications, such as non-high voltage environments, clean operations, and high power-to-weight ratio tasks. The principal advantages of this type of actuator are the implementation of clea...

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Autores principales: Cabrera-Rufino, Marco-Antonio, Ramos-Arreguín, Juan-Manuel, Rodríguez-Reséndiz, Juvenal, Gorrostieta-Hurtado, Efren, Aceves-Fernandez, Marco-Antonio
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9228457/
https://www.ncbi.nlm.nih.gov/pubmed/35744504
http://dx.doi.org/10.3390/mi13060890
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author Cabrera-Rufino, Marco-Antonio
Ramos-Arreguín, Juan-Manuel
Rodríguez-Reséndiz, Juvenal
Gorrostieta-Hurtado, Efren
Aceves-Fernandez, Marco-Antonio
author_facet Cabrera-Rufino, Marco-Antonio
Ramos-Arreguín, Juan-Manuel
Rodríguez-Reséndiz, Juvenal
Gorrostieta-Hurtado, Efren
Aceves-Fernandez, Marco-Antonio
author_sort Cabrera-Rufino, Marco-Antonio
collection PubMed
description Artificial intelligence techniques for pneumatic robot manipulators have become of deep interest in industrial applications, such as non-high voltage environments, clean operations, and high power-to-weight ratio tasks. The principal advantages of this type of actuator are the implementation of clean energies, low cost, and easy maintenance. The disadvantages of working with pneumatic actuators are that they have non-linear characteristics. This paper proposes an intelligent controller embedded in a programmable logic device to minimize the non-linearities of the air behavior into a 3-degrees-of-freedom robot with pneumatic actuators. In this case, the device is suitable due to several electric valves, direct current motors signals, automatic controllers, and several neural networks. For every degree of freedom, three neurons adjust the gains for each controller. The learning process is constantly tuning the gain value to reach the minimum of the mean square error. Results plot a more appropriate behavior for a transitive time when the neurons work with the automatic controllers with a minimum mean error of [Formula: see text] mm.
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spelling pubmed-92284572022-06-25 Implementation of ANN-Based Auto-Adjustable for a Pneumatic Servo System Embedded on FPGA Cabrera-Rufino, Marco-Antonio Ramos-Arreguín, Juan-Manuel Rodríguez-Reséndiz, Juvenal Gorrostieta-Hurtado, Efren Aceves-Fernandez, Marco-Antonio Micromachines (Basel) Article Artificial intelligence techniques for pneumatic robot manipulators have become of deep interest in industrial applications, such as non-high voltage environments, clean operations, and high power-to-weight ratio tasks. The principal advantages of this type of actuator are the implementation of clean energies, low cost, and easy maintenance. The disadvantages of working with pneumatic actuators are that they have non-linear characteristics. This paper proposes an intelligent controller embedded in a programmable logic device to minimize the non-linearities of the air behavior into a 3-degrees-of-freedom robot with pneumatic actuators. In this case, the device is suitable due to several electric valves, direct current motors signals, automatic controllers, and several neural networks. For every degree of freedom, three neurons adjust the gains for each controller. The learning process is constantly tuning the gain value to reach the minimum of the mean square error. Results plot a more appropriate behavior for a transitive time when the neurons work with the automatic controllers with a minimum mean error of [Formula: see text] mm. MDPI 2022-05-31 /pmc/articles/PMC9228457/ /pubmed/35744504 http://dx.doi.org/10.3390/mi13060890 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Cabrera-Rufino, Marco-Antonio
Ramos-Arreguín, Juan-Manuel
Rodríguez-Reséndiz, Juvenal
Gorrostieta-Hurtado, Efren
Aceves-Fernandez, Marco-Antonio
Implementation of ANN-Based Auto-Adjustable for a Pneumatic Servo System Embedded on FPGA
title Implementation of ANN-Based Auto-Adjustable for a Pneumatic Servo System Embedded on FPGA
title_full Implementation of ANN-Based Auto-Adjustable for a Pneumatic Servo System Embedded on FPGA
title_fullStr Implementation of ANN-Based Auto-Adjustable for a Pneumatic Servo System Embedded on FPGA
title_full_unstemmed Implementation of ANN-Based Auto-Adjustable for a Pneumatic Servo System Embedded on FPGA
title_short Implementation of ANN-Based Auto-Adjustable for a Pneumatic Servo System Embedded on FPGA
title_sort implementation of ann-based auto-adjustable for a pneumatic servo system embedded on fpga
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9228457/
https://www.ncbi.nlm.nih.gov/pubmed/35744504
http://dx.doi.org/10.3390/mi13060890
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