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Author: search.filters.author.Aoyama, HisayukiSubject: search.filters.subject.Hard disk drive

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    Safety path planning with obstacle avoidance using particle swarm optimization for agv in manufacturing layout
    (2019-02-01)
    Praserttaweelap, Rawinun
    ;
    Kaitwanidvilai, Somyot
    ;
    Aoyama, Hisayuki
    In robotic systems, path planning is the one of important processes for robot motion. The best path planning is required for shortest path searching that can make fast movement of robot. However, the real environment is not only the path from point to point but it has obstacles which are the one of constraints for best path searching. The obstacle avoidance is concerned to avoid the crashing between robot and obstacle under environment. In Hard Disk Drive manufacturing, the first priority is safety constraint for non-collision and second priority is shortest path for processing time saving. This research designed the algorithm for path planning and obstacle avoidance for AGV in Hard Disk Drive Manufacturing of Seagate Technology (Thailand) Ltd by using particle swarm optimization. The fitness function on particle swarm optimization process for particle searching has been integrated with obstacle avoidance function to find the best path for robot without collision and total distance to find the shortest path. This algorithm is applied to verifying the model performance. The simulation results of this research are done by MATLAB 2016b and illustrate the good performance on different cases with controlled parameter.
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    Hybrid adaptive notch filter and fixed-structure pid H ∞ robust loop shaping control based pso for hard disk drive servo actuator
    (2019-02-01)
    Konghuayrob, Poom
    ;
    Kaitwanidvilai, Somyot
    ;
    Aoyama, Hisayuki
    In order to achieve the high precision head-positioning of the voice coil motor (VCM) actuator with narrow track pitch, the adaptive notch filter based limited-search-range of particle swarm optimization (PSO), as well as the fixed-structure propor-tional-integral-derivative H <inf>∞</inf> robust loop shaping controller using the concept of four closed loop disturbance norms is proposed. Generally the conventional method, fixed-frequency notch filter (FFNF), is combined with the nominal plant to reduce the effect of the mechanical vibration resonance; however, the resonance mode of servo system can be shifted with various factors such as the ambient temperature change, and the unbalanced disk. In addition, mathematical solving in the H <inf>∞</inf> robust control problems and the suitable notch filter design are very complex and the final results of the conventional controller with notch filters are normally complicated structure and high order which is difficult to implement. Thus, the adding of intelligent system in the proposed design with the careful range of the search space is utilized to suppress the vibration caused by resonance mode shifting and also reduce the order of the final robust controller. Simulation results of six scenarios test demonstrate the effectiveness of the proposed design compared with FFNF in the commercial product.