Controller Parameter Tuning of Delta Robot Based on Servo Identification

High-speed pick-and-place parallel robot is a system where the inertia imposed on the motor shafts is real-time changing with the system configurations.High quality of computer control with proper controller parameters is conducive to overcoming this problem and has a significant effect on reducing the robot＇s tracking error.By taking Delta robot as an example,a method for parameter tuning of the fixed gain motion controller is presented.Having identifying the parameters of the servo system in the frequency domain by the sinusoidal excitation,the PD＋feedforward control strategy is proposed to adapt to the varying inertia loads,allowing the controller parameters to be tuned by minimizing the mean square tracking error along a typical trajectory.A set of optimum parameters is obtained through computer simulations and the effectiveness of the proposed approach is validated by experiments on a real prototype machine.Let the traveling plate undergoes a specific trajectory and the results show that the tracking error can be reduced by at least 50%in comparison with the conventional auto-tuning and Z-N methods.The proposed approach is a whole workspace optimization and can be applied to the parameter tuning of fixed gain motion controllers.

Forensic Dental Identification:Practice in Indian Context Compared to Western Countries

Today,in most of the countries forensic dental identification is considered as one of the most accurate and reliable method of identification of human remains.This application of forensic dentistry has proven successful in both single identification cases as well as in multiple fatality incidents such as world trade center disaster in 2001,the Asian tsunami in December 2004 etc.Comparative dental identification is one of the primary means of identification along with DNA and fingerprint analysis and also the most common method of identification of human remains.Identification of human remains from dental records is mandated by the law in some countries.India is one of the most disaster‑prone countries of the world.It has had some of the world’s most severe droughts,famines,earthquakes,road accidents,and rail accidents.In this paper,few multiple fatality incidents that took place over the last decade in India are reported.A brief analysis of all the reported cases and difficulties encountered during identification were discussed.The purpose of this paper is to discuss some of the issues involved in body identifications following disasters in India.The author also discussed to what extent Indian government is successful in utilizing the expertise of a forensic dentist in body identifications and also compared the present practice of forensic dental identification in India to Western countries.The goal is to cite situations and to bring issues into better focus,and hence that the identification procedures can be refined and changes can be made as necessary.