Page 70 - Modern Control Systems

44 Chapter 1 Introduction to Control Systems

ADVANCED PROBLEMS

Advanced problems represent problems of increasing com- devices have been evaluated in clinical procedures
plexity. and are now being commercialized. Sketch a block di-
agram of the surgical process with a microsurgical de-
APl.l The development of robotic microsurgery devices vice in the loop being operated by a surgeon. Assume
will have major implications on delicate eye and that the position of the end-effector on the microsur-
brain surgical procedures. The microsurgery devices gical device can be measured and is available for
employ feedback control to reduce the effects of the feedback.
surgeon's muscle tremors. Precision movements by an
articulated robotic arm can greatly help a surgeon AP1.2 Advanced wind energy systems are being installed
by providing a carefully controlled hand. One such in many locations throughout the world as a way for
device is shown in Figure APl.l. The microsurgical nations to deal with rising fuel prices and energy short-
ages, and to reduce the negative effects of fossil fuel
utilization on the quality of the air (refer to Example
1.2 in Section 1.6). The modern windmill can be viewed
as a mechatronic system. Consider Figure 1.18, which
illustrates the key elements of mechatronic systems.
Using Figure 1.18 as a guide, think about how an
advanced wind energy system would be designed as a
mechatronic system. List the various components of
the wind energy system and associate each component
with one of the five elements of a mechatronic system:
physical system modeling, signals and systems, comput-
ers and logic systems, software and data acquisition,
and sensors and actuators.
AP1.3 Many modern luxury automobiles have an au-
topark option. This feature will parallel park an auto-
mobile without driver intervention. Figure API.3
illustrates the parallel parking scenario. Using Figure
1.3 as a model, sketch a block diagram of the auto-
mated parallel parking feedback control system. In
your own words, describe the control problem and
the challenges facing the designers of the control
system.
FIGURE AP1.1 Microsurgery robotic manipulator. (Photo
courtesy ot NASA.)

Immobile parked
automobiles

Desired parking path
FIGURE AP1.3 Automated parallel parking of an automobile.