Browsing by Author "Wang, Sheng-Ching"

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A New High-Efficiency Power Management Circuit for a Novel Two-Phase Compensated Pulse Alternator
(2020-09-01)
Nguyen, Ba-Sy
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Yen, Wen-Wei
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Chao, Paul C. -P.
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Wang, Sheng-Ching
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交大名義發表
A new, high-efficiency power management circuit for a novel small-sized, two-phase compensated pulse alternator (compulsator) is designed to provide high pulsed powers, making itself a promising compact power supply system for a number of applications, like producing nanosized powders by explosion of wires. The design and manufacture of this novel small-sized compulsator was successful with favorable efficiency validated. Along with this, compulsator is a newly designed high-efficiency power converter circuitry designed by this study for converting the alternating power generated by the compulsator to unipolar pulse power. The designed converter consists of two parallel single-phase rectifiers on the two-phase power generated by the designed compulsator. The rectification is enabled by using thyristors as power switches for the converter. The switching of thyristors is made possible by all-analog controller circuits, which decide the firing angle based on sensed pulsed power in two phases in real time. Experiments are conducted, with the result showing that the designed compulsator and power management circuit can generate a peak current up to the level of 2.178 kA. and a current density of 96.133 kA/m(2), which was never seen by prior works.
A Novel 6-DOF Force/Torque Sensor for COBOTs and its Calibration Method
(2018-01-01)
Tan-Phat Phan
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Chao, Paul C. -P.
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Cai, Jia-Jun
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Wang, Yu-Jen
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Wang, Sheng-Ching
This paper intends to design a 6-DOF force/torque sensor along with its readout circuit for collaborative robots (Cobots) working environment. There are two major technologies to develop by this paper. The first technology is the capability of sensing contact forces and torques by a newly-designed six degrees-of-freedom (DOF) force/torque sensor at a fast speed to facilitate feedback control towards anti-collision for the Cobots with wide measurement range, precision, with a smaller size and lower costs. For the force/torque sensor structure, the finite element method (FEM) is established. The sensor is designed and optimized based on finite element analysis (FEA) while " maximum likelihood estimation (MLE)" is utilized to increase accuracy in estimation of force/torque by using appropriate statistical model. The second technology is the anti-collision control. If the collision occurs, the Cobot has an ability to response safely and instantaneously. The proposed control scheme and assisting 6-DOF sensor are capable of performing Cobots anti-collision in welding, grinding, polishing, assembling, etc. with high precision.