000162506 001__ 162506
000162506 005__ 20251017144622.0
000162506 0247_ $$2doi$$a10.3390/app15147628
000162506 0248_ $$2sideral$$a145060
000162506 037__ $$aART-2025-145060
000162506 041__ $$aeng
000162506 100__ $$0(orcid)0000-0001-9162-9215$$aBianchi, Edoardo$$uUniversidad de Zaragoza
000162506 245__ $$aClosed-Loop Control Strategies for a Modular Under-Actuated Smart Surface: From Threshold-Based Logic to Decentralized PID Regulation
000162506 260__ $$c2025
000162506 5060_ $$aAccess copy available to the general public$$fUnrestricted
000162506 5203_ $$aIn the field of intralogistics, new systems are continuously being studied to increase flexibility and adaptability while striving to maintain high handling capabilities and performance. Among these new systems, this article focuses on a novel under-actuated intelligent surface capable of performing various handling tasks with a simplified design and without employing motors. The technology behind the device involves idle rotors, i.e., without motor-driven spinning, whose axis of rotation can be controlled in a few discrete positions. The system’s operation and digital model have already been tested and validated; however, a control system that makes the surface “smart” has not yet been developed. In this context, the following work analyzes control methodologies for the concept. Specifically, in a first phase, a threshold-based method is introduced and tested on a prototype of the surface for sorting and orientation operations. This basic technique involves actuating the surface modules according to pre-assigned rules once a chosen threshold condition is reached. In a second phase, instead, a decentralizd PID control is described and simulated based on real and potential industrial applications. Unlike the first method, in this case, it is the control law that defines the actuation and, through the dynamic description of the device, determines the best combination to achieve the goal. Additionally, the article illustrates how the difficulties introduced by the numerous nonlinearities, due to the under-actuation and the simplifications of the physical system, were overcome. For both control methods, promising results were obtained in terms of handling capability and errors in achieving the desired movement.
000162506 536__ $$9info:eu-repo/grantAgreement/EC/H2020/814225/EU/DIGItal MANufacturing Technologies for Zero-defect Industry 4.0 Production/DIGIMAN4.0$$9This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No H2020 814225-DIGIMAN4.0
000162506 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttps://creativecommons.org/licenses/by/4.0/deed.es
000162506 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000162506 700__ $$0(orcid)0000-0003-3080-9217$$aBrosed Dueso, Francisco Javier$$uUniversidad de Zaragoza
000162506 700__ $$0(orcid)0000-0001-7152-4117$$aYagüe-Fabra, José A.$$uUniversidad de Zaragoza
000162506 7102_ $$15002$$2515$$aUniversidad de Zaragoza$$bDpto. Ingeniería Diseño Fabri.$$cÁrea Ing. Procesos Fabricación
000162506 773__ $$g15, 14 (2025), 7628 [21 pp.]$$pAppl. sci.$$tApplied Sciences (Switzerland)$$x2076-3417
000162506 8564_ $$s13602415$$uhttps://zaguan.unizar.es/record/162506/files/texto_completo.pdf$$yVersión publicada
000162506 8564_ $$s2432340$$uhttps://zaguan.unizar.es/record/162506/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000162506 909CO $$ooai:zaguan.unizar.es:162506$$particulos$$pdriver
000162506 951__ $$a2025-10-17-14:22:10
000162506 980__ $$aARTICLE