designing and fabrication of electro-pneumatic … 978 -93 5156 328 0 international conference of...

ISBN 978-93-5156-328-0 International Conference of Advance Research and Innovation (ICARI-2015)

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Designing and Fabrication of Electro-Pneumatic Trainer Kit Kanwar J.S Gill, Roshan Kumar, Sushil Kumar Department of Mechanical Engineering, Gulzar Group of Institutes, Ludhiana, Punjab, India

Abstract

Electro pneumatics is successfully used in many areas of industrial automation. Production, assembly and packaging systems worldwide are driven by electro pneumatic control systems. The change in requirements together with technical advances has had a considerable impact on the appearance of controls. In the signal control section, the relay has increasingly been replaced by the programmable logic controller in order to meet the growing demand for more

flexibility. Modern electro pneumatic controls also implement new concepts in the power section to meet the needs of modern industrial practice. Examples of this are the valve terminal, bus networking and proportional pneumatics. In introducing this topic, this project first looks at the structure and mode of operation of the components used for setting up an electro pneumatic control. The following chapters then look at the approach to project planning and the implementation of electro pneumatic controls using fully worked examples. Finally, we had a positive approach towards our project and by looking towards

the trends and developments in electro pneumatics this work was completed which would be a path shown by us towards the development of electro pneumatics trainer kits. Our work was based on controllers and relays but not on P.L.C, but we would rather say that if neglecting the cost of P.L.C, this kit could also be controlled from remote places also and better controlled signals could also be delivered if we had used P.LC. Our circuits are based on 24 V D.C and working pressure was 0.15 MPa to 0.8Mpa.we had found that by considering this very working pressure the valves/cylinders behave in a good

manner rather than creating a hammering effect by using more air pressure.

1. Introduction

A pneumatic system is a system that uses compressed air to transmit and control energy. Pneumatic systems are

power systems using compressed air as a working medium for the power transmission. Their principle of operation is similar to that of the hydraulic power systems. An air compressor converts the mechanical energy of the prime mover into, mainly, pressure energy of the compressed air. This transformation facilitates the transmission, storage, and control of energy. Many factories have equipped their production lines with compressed air supplies and movable

compressors.

Fig: 1. Pneumatic System of an Automatic Machine

Corresponding Author,

E-mail address: [email protected] All rights reserved: http://www.ijari.org

There is an unlimited supply of air in our atmosphere to produce compressed air. Moreover, the use of compressed air is not restricted by distance, as it can easily be transported through pipes. After use, compressed air can be released directly into the atmosphere without the need of processing. The Pneumatic Trainer Kits provided by us are highly durable due to the best quality raw material used in

manufacturing them. These Pneumatic Trainer Kits are known for their accuracy and precision. The Pneumatic Trainer Kits are well tested on the stringent industry parameters by the team of experts which assures the quality of the final product. Pneumatic systems are used in controlling train doors, automatic production lines, mechanical clamps, etc Fig. 1.

1.1 Applications of Pneumatics

Pneumatics deals the use of compressed air. Most commonly, compressed air is used to do mechanical work –

that is to produce motion and to generate forces. Pneumatic drives have the task of converting the energy stored in compressed air into motion. Cylinders are most commonly used for pneumatic drives. They are characterized by robust construction, a large range of types, simple installation and favorable price/performance. As a result of these benefits, pneumatics is used in a wide range of applications.

Some of the many applications of pneumatics are

Handling of work pieces (such as clamping, positioning, separating, stacking, rotating)

Packaging

Filling

Opening and closing of doors (such as buses and trains)

Article Info

Article history: Received 3 January 2015 Received in revised form 10 January 2015 Accepted 20 January 2015 Available online 31 January 2015

Keywords

Electro Pneumatics, Sensors, Cylinders, Designing, Fabrication,

Compressor

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Fig: 2. Pneumatic Linear Cylinder and Pneumatic Swivel

Cylinder

Metal-forming (embossing and pressing)

Stamping

1.2 Pneumatic and Electro Pneumatic Control

Systems

Both pneumatic and electro pneumatic controllers have

a pneumatic power section. The signal control section varies according to type. See Fig: 3, 4

In a pneumatic control pneumatic components are

used, that is, various type of valve, sequencer, air barrier etc.

In an electro-pneumatic control the signal control

section is made up of electrical components, for example with electrical input buttons, proximity switches, relays, or a programmable logic controller. The directional control valves form the interface

between the signal control section and the pneumatic power section in both types of controller.

Fig: 3. Signal Flow and Components of a Pneumatic

Control System

Fig: 4. Signal Flow and Components of an Electropneumatic Control System

In contrast to a purely pneumatic control system, electropneumatic controllers are not shown in any single overall circuit diagram, but in two separate circuit diagrams

- one for the electrical part and one for the pneumatic part. for this reason, signal flow is not immediately clear from the arrangement of the components in the overall circuit diagram.

1.3 Structure and Mode of Operation of an

Electro Pneumatic Controller

Fig. 4 shows at the structure and mode of operation of an electropneumatic controller.

The electrical signal control section switches the

electrically actuated dirctional control valves.

The directional control valves cause the piston rods to

extend and retract.

The position of the piston rods is reported to the

electrical signal control section by proximity switches

Fig: 5. Structure of a Modern Electropneumatic Controller

1.4 Advantages of Electro Pneumatic Controllers

Electro pneumatic controllers have the following

advantages over pneumatic control systems:

Higher reliability (fewer moving parts subject to wear)

Lower planning and commissioning effort, particularly


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for complex

Controls

Lower installation effort, particularly when modern

components such

As valve terminals are used

Simpler exchange of information between several

controllers

2. Literature Review

Most of the earlier pneumatic control systems were

used in the process control industries, where the low pressure air of the order 7-bar was easily obtainable and give sufficiently fast response. Pneumatic systems are extensively used in the automation of production machinery and in the field of automatic controllers. For instance, pneumatic circuits that convert the energy of compressed air into mechanical energy enjoy wide usage, and various types of pneumatic controllers are found in industry. Certain performance characteristics such as fuel consumption,

dynamic response and output stiffness can be compared for general types of pneumatic actuators, such as piston-cylinder and rotary types. Figure (6a) and (6b) show the two types of pneumatic actuators (Sorli et al., 1999). The final decision on the best type and design configuration for pneumatic actuator can be made only in relation to the requirements of a particular application. The pneumatic actuator has most often been of the piston cylinder type

because of its low cost and simplicity (Tablin et al., 1963).

Fig: 6(a). Double Acting Linear Pneumatic actuator

. Fig: 6(b). Vane Rotary Pneumatic Actuator

The pneumatic power is converted to straight line reciprocating and rotary motions by pneumatic cylinders

and pneumatic motors. The pneumatic position servo

systems are used in numerous applications because of their ability to position loads with high dynamic response and to augment the force required moving the loads. Pneumatic systems are also very reliable (Clements and Len,

1985).The open literature surveyed showed a wide spectrum of new applications of pneumatic servos such as milling machines, robotics, and advanced train suspension. Therefore, the surveyed literature reported is subdivided into three main groups. The first group is concerned with various applications of pneumatic actuators. The second group includes the theoretical, experimental approaches for modeling the pneumatic actuator. The third group is related

with the control strategies applied to pneumatic actuators.

Pneumatic Systems Attributes: Pneumatic systems have many attributes that make them attractive for use in difficult environments: gases are not subjected to the temperature

limitations of hydraulic fluids; the actuator exhaust gases need not be collected, so fluid return lines are unnecessary and long term storage is not a problem because pneumatic systems are virtually dry and no organic materials need be used. In addition, the pneumatic actuator has a lower specific weight and a higher power rate (torque-squred to inertia ratio) than an equivalent electromechanical actuator. In some cases, a pneumatic system may provide a significant weight advantage. In short duration missile

applications, the weight of a self-contained solid propellant pneumatic servo may be half that of an equivalent self contained hydraulic system. Also the pneumatic actuators have many merits such as easy maintenance and handling, relatively simple technology and low cost, clean, safe and easy to installed (Tablin et al., 1963).

Pneumatic Actuators: Applications and Related Work: Pneumatic servos have advantages over hydraulics in high temperature and nuclear environments. The actuator, rather than the servo valve, generally limits system response and stiffness. Where simplicity and cost are paramount, the piston cylinder is probably the best choice. But if minimum

fuel consumption is desired rotary type of motor is indicated. (Taplin et al., 1963) also have been shown the rotary servo has nearly twice the band pass of the piston cylinder servo. This result is typical for many applications. In short duration missile applications, the weight of a self-contained solid propellant pneumatic servo may be half that of an equivalent self contained hydraulic system. Where a pneumatic system is to replace a heavier hydraulic system,

maximum dynamic response and output stiffness are essential. The outstanding difference between pneumatic and hydraulic systems arises from the low bulk modulus of the pneumatic working medium. The bulk modulus of a gas is p, where hh is the ratio of specific heats for the gas and p is the instantaneous pressure. This is the major obstacle in achieving a high response pneumatic system. Several countries have been investigating and developing active

suspension technologies in order to improve both vertical and lateral ride quality of fast train passenger cars. (Cho et al., (1985). investigated the use of actively controlled pneumatic actuators in parallel with conventional passive suspension to improve vehicle dynamics. The use of pneumatic actuators for vehicle active suspension reduced the rms car body lateral suspension stroke by 34 percent with a power requirement of 5.7 KW per car.


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(Singh et al., 1985). Described the design process by which the air brake control valves of heavy and medium duty trucks were centralized modulus. Truck air brake control systems were reviewed and a floor mounted

pneumatic application valve acting on a centrally advanced design was developed using dash mounted electrical controls and a floor mounted pneumatic application valve acting on a centrally located electro pneumatic controller. The system performance was demonstrated on an operational truck and tested to the applicable system requirements of federal brake regulations.

Nearly all-modern process plants employ control

valves, which use either pneumatic or electric actuators, the choice between the two being normally dictated by the size of the valve, the environment, media and availability of power source. (Clements et al., 1985). have developed dedicated electro pneumatic positioned for a class of process valves. The position uses solid-state electronics to combine the functions of both the electric to pneumatic converter and valve positioner. Such are the savings in size

and weight that have been achieved by the use of electronics that the resulting unit is housed in an enclosure small enough to be mounted directly on the actuator, which it is to operate.

(Virvalo et al., 1988). showed that electro pneumatic servo systems are viable alternatives to hydraulic systems for control of such machines as robots, but most of the research has been carried out on them using comparatively small cylinders. They have studied the problems involved in

using heavier versions and have produced a satisfactory method of coping with the somewhat complex problems involved in designing such systems, since with a few simplifications a nonlinear model of a pneumatic servo system can be built and used to time the regulator.An interesting pneumatic servomechanism, which employs pulse width modulation driving technique, was reported by (Sano et al., 1988). A new electro pneumatic on- off valve

with a disk flapper driven by a pulse motor was developed. Experimental tests showed the positioning accuracy and the output power are tolerable but the speed of the response is comparatively less than those of other pneumatic servomechanisms.

The advantages and limitations of the conventional pneumatic cylinder were discussed by (Bird et al.,1985). Recent developments in the design of pneumatic linear

actuators have resulted in the production of more compact and better-guided actuators. The author worked on the development of special servo control system and its integration into complete control system. Typical applications of such systems are also given.

(Vincent et al., 1989) investigated an alternative approach to the design of controllers for positioning damping. To avoid conflicting requirements problem

associated with traditional state variable feedback design, the design is based on energy methods and is not a full state variable feedback design. The method is illustrated using a low order spring mass example, and the results are compared with a linear quadratic design.

Electro hydraulic and electro pneumatic servo drives can provide precise position control for a multitude of industries from textile manufacture to machine tools. A significant application of the latter type was in a universal

rotary machining center where the primary requirement was for an increase in both productivity and flexibility. With the advantages of exact positioning at high speed and the ease of machine programming brought about by microprocessor

control, complicated three dimensional work pieces can be simultaneously cut, milled, drilled and taped, all in one operation.

Another interesting application to pneumatic actuators is that reported by (Ingold et al., 1988). An electro pneumatic design was developed and tested to meet the engine characteristics such as start ability, load carrying ability, and engine dynamic performance. As an application

of micro-mechanical actuators a new concept for a micro- pneumatically driven actuator has been developed and realized. This actuation principle has several advantages: high energy density, large achievable displacement, high generated forces, excellent dynamic behavior, usage of various fluids as driving medium, usage as final controlling element with continuous action and high design flexibility (Sebastian et al., 2002)

On the other hand, in intelligent soft arm control (ISAC) robot system the pneumatic actuator was used for the position control of a joint. A physical actuator model was designed and used as the basis for a subsidiary torque control. Experiments showed that the static hysteresis nonlinearity of the actuator is less important than the dynamic one. The research focused on the modification of a physical static model and the extension with a dynamic part. The quality of the model was verified by implementing it as

a torque controller and running experiments on a test bed (Joachim et al., 2003).Also the pneumatic actuators are extensively used in conveying systems to transport granular materials. A methodology combining theoretical and experimental techniques for characterizing and predicting the friability of granules in a laboratory scale pneumatic conveying systems was developed by (Pavol et al., 2008).

Models of increasing mathematical complexity were

used for analysis of experimental data. Firstly, a two dimensional (2-D) computational fluid dynamics (CFD) model of the gas–solid flow within the Malvern Master sizer laser diffraction equipment was developed to simulate impact of different inlet jet pressures on the flow properties and to calculate average velocity and average volume fraction of particles in the equipment. Secondly, a simple maximum-gradient population balance (MG-PB)

mathematical model of breakage was developed. (Changhoon et al., 2008). developed an efficient robotic

deburring method based on a new active pneumatic tool. The developed method considered the interaction among the tool, the manipulator and the work piece and couples the tool dynamics and a control design that explicitly considered deburring process information. The new active pneumatic tool was developed based on a single pneumatic

actuator with a passive chamber to provide compliance and reduce the chatter caused by air compressibility. A coordination control method was developed for efficient control of the system, which adopts two-level hierarchical control structure based on a coordination scheme. Robust feedback linearization was utilized to minimize the undesirable effect of external disturbances such as static and Coulomb friction and nonlinear compliance of the pneumatic cylinder stemming from the compressibility of


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air. The developed coordination control method demonstrated its efficacy in terms of deburring accuracy and speed.

3. Objectives

Our main objective is to “Design and Fabricate Electro-Pneumatic Trainer Kit” so as to know the construction and working of the pneumatic valves/ parts and

to make different working circuits with different types of valves/parts.

To know about the construction and working of the

following parts: 1. To know the construction and working of Power

supply. 2. To know the construction and working of Relay. 3. To know the construction and working of Pressure

Regulator Valve.

4. To know the construction and working of Twin pressure valve.

5. To know the construction and working of Flow Control Valve.

6. To know the construction and working of Base. 7. To know the construction and working of Quick

Exhaust Valve. 8. To know the construction and working of FRL Unit.

9. To know the construction and working of 4-Way Manifold.

10. To know the construction and working of 3/2 Lever/Hand Operated Valve.

11. To know the construction and working of 5/2 Lever/Hand Operated Valve.

12. To know the construction and working of 3/2 Roller Operated Valve.

13. To know the construction and working of 5/2 Roller Operated Valve.

14. To know the construction and working of 3/2 Solenoid Valve.

15. To know the construction and working of 5/2 DC Valve.

16. To know the construction and working of Timer. 17. To know the construction and working of Double

Acting Cylinder. 18. To know the construction and working of 5/2 Solenoid

Valve. 19. To know the construction and working of 5/2 DC

Valve Double Solenoid. 20. To know the construction and working of Limit Switch

Left Actuated. 21. To know the construction and working of Limit Switch

Right Actuated.

22. To know the construction and working of Push Buttons.

23. To know the construction and working of Indicator Set.

24. To know the construction and working of Emergency Switch.

25. To know the construction and working of MCB. 26. To know the construction and working of Single

Acting Cylinder.

4. Materials and Methodology

4.1 Materials

Material/Design Parameters of components used in

Electro pneumatic trainer kit.

1. Electro-Pneumatic Panel Parts

Table: 1. Parts of Electro Pneumatic Panel

S. No Part Name Voltage No. of Piece

1 Power Supply 24 V D.C 01 Piece

2 Relay 24 V D.C 04 Piece

3 Pressure Regulator Valve

- 01 Piece

4 Twin Pressure Valve.

24 V D.C 01 Piece

5 3/2 Lever/Hand Operated Valve

24 V D.C 01 Piece

6 Base - 01 Piece

7 Quick Exhaust Valve

- 01 Piece

8 FRL Unit - 01 Piece

9 4-Way Manifold - 01 Piece

10 5/2 Lever/Hand Operated Valve

24 V D.C 01 Piece

11 3/2 Roller Operated Valve

24 V D.C 01 Piece

12 Flow Control Valve

- 01 Piece

13 5/2 Roller Operated Valve

24 V D.C 01 Piece

14 3/2 Solenoid Valve

24 V D.C 01 Piece

15 5/2 DC Valve 24 V D.C 01 Piece

16 Timer 24 V D.C 03 Piece

17 Double Acting Cylinder

- 02 Piece

18 5/2 Solenoid Valve

24 V D.C 01 Piece

19 5/2 DC Valve Double Solenoid

24 V D.C 01 Piece

20 Limit Switch Left Actuated

24 V D.C 01 Piece

21 Limit Switch Right Actuated

24 V D.C 01 Piece

22 Push Buttons 24 V D.C 12 Piece

23 Indicator Set 24 V D.C 04 Piece

24 Emergency Switch

24 V D.C 01 Piece

25 MCB 24 V D.C 01 Piece

26 Single Acting Cylinder

- 01 Piece

27 Compressor 240 V.A.C 01 Piece

4.2 Methodology

First of all we had planned to construct an electro pneumatic trainer kit which would be beneficial for our

coming juniors to understand the various types of valves/parts used in pneumatic system. Then raw material like, iron pipes, rollers, Bakelite sheet, compressor along with above given parts was purchased. Solid works, Software was used to make the drawings of different types of circuits. Frame work was done so as to install/mount the parts upon it. After that rollers were welded to the frame so as to give an access to the heavy structure for shifting of


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trainer kit at any desired place. After that all the electro pneumatic related parts were mounted upon the Bakelite sheet, which was mounted upon the frame. Compressor was placed in a pre planned compartment which was made

inside the trainer kit. After fixing of all the parts upon the shelf of kit, 24 V.D.C, electrical connections were given to all the electrical units/parts of the system. Pressure ranging from 0.15 MPa to 0.8 MPa. was given to the pneumatic circuits. Following circuits were made in SOLIDWORKS and learned to operate.

1. How to Operate, 3x2 Roller Operated Valve

2. How to Operate, 5x2 Roller Operated valve with

Double Acting Cylinder # 3 and Timer # 3

3. How to operate, 5x2 Lever operated valve with

Double acting cylinder # 3

4. How to Operate, Solenoid Valve with 3x2 Lever

Operated Valve

5. How to operate, 4x2 Direction Control valve with

Cylinder # 2

6. How to operate, 5x2 Direction Control Valve # 2

with Cylinder # 2 & Timer # 2

7. How to operate, 5x2 Direction control valve # 1 with

Cylinder #1 and Timer #1

8. How to operate, 5x2 Direction control valve # 1 with

Flow Control Valve, Cylinder # 1 and Timer # 1


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9. How to operate, Shuttle Valve

10. How to operate, 4-Way manifold Valve

11. How to operate, 4-Way manifold Valve with 3x2

Solenoid Valve.

12. Experimental Setup

5. Results and Discussion

Electro Pneumatic control integrates pneumatic and electrical technologies, is more widely used for large applications. In Electro Pneumatics, the signal medium is the electrical signal either AC or DC source. Working medium is compressed air.

After completion of project, i.e. after fabrication,

installing and fixing of different types of valves/parts, giving them electrical connections and regulating the pressure from 0.15 MPa to 0.8MPa it was found that the valves were behaving the sequential order given to them through the push buttons. No short circuit was observed in any of the electrical wirings while working on it. Proper earthling was insured for safety of parts and for operator also. The drawing sheets which were drawn in solid works were made to operate physically and some points were also

framed for the working criteria, i.e. how to make connections and how to operate a given circuit.

Operating voltages from around 12 V to 24 Volts are often used, but we had used 24 V DC. The final control of valve is activated by solenoid actuation. The resetting of the valve can be done either by spring [single Solenoid] or using another solenoid [Double solenoid Valve]. More often the valve actuation/reset is achieved by pilot assisted

solenoid actuation to reduce the size and cost of the valve. Control of electro pneumatic system was carried out by using combination of relays and contactors. To convert signal input from sensors and switches to number of output signals [either normally closed or normally open] relay was used.

Finally the output signals are supplied to the solenoids activating the final control valves which control the

movement of various cylinders. The greatest advantage of electro pneumatics is the integration of various types of proximity sensors [electrical] for very effective control. In electro pneumatic controls, mainly three important steps are involved: 1. Signal input devices -Signal generation such as switches

and contactor, various types of contact and proximity sensors

2. Signal Processing - Use of combination of contactors of relay or using Programmable Logic Controller.

3. Signal Out puts - Out puts obtained after processing are used for activation of solenoids, indicators or audible alarms

6. Conclusion

On completion of this project, we have learned how to:


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1. Read and understand pneumatic circuit diagrams and to recognize international standards.

2. Recognize pneumatic and electrical components and understand their functions.

3. Construct simple pneumatic, electro-pneumatic circuits.

4. Read and understand circuit diagrams for pneumatic and electro-pneumatic controls.

5. Design circuits for the control of multi-actuator systems.

6. Understand the function, design, technical data and symbols for pneumatic and electronic sensors.

7. Include timer functions in control circuits. 8. Determine how pneumatic and electro-pneumatic

interface to each other. 9. Compare pneumatic and electro-pneumatic solutions in

application. 10. Plan, design and manufacture materials for practical

training. The pneumatic actuator represents the main force

control operator in many industrial applications and its static and dynamic characteristics play an important role in the overall behavior of the control system. Therefore improving the dynamic behavior of the actuator is of prime interest to control system designers. The pneumatic actuators offer numerous advantages such as cleanliness, low cost, high ratio of power to weight, easy to maintain, safe, long anti explosion, working life and working overload. But on the other hand, the control accuracy is

affected badly by its nonlinear characteristics. The nonlinear characteristics, especially the nonlinear friction and the thermodynamics of the pressure air in the chambers of the cylinder have a bad influence on control accuracy of the

displacement controlling of the cylinder. In addition, there are a series of nonlinear and time varying factors such as load force, temperature, position of the piston, staying time at still and wearing out during working procedure. Also the

Pneumatic actuators are uncertain systems.

7. Summary

In this project one can notice that electro-pneumatic

control system though it’s using is restricted in flammable environments but it is used in many applications for its specifications, which this system provides like, automation can be easy even with complex processes, increasing the productivity which leads to a decrease in production time, mistakes can be discovered and corrected , design and working of our work on electro-pneumatic control system would have been much easier if we had used PLC and this very system could be controlled from remote distances.

Suggestion for the Future

According to what one can see from the specifications of using electro-pneumatic control system with PLC, so the suggestion is to use PLC which would be much easier in controlling and simulation any control system rather than using other controllers because PLC is computer designed for industrial operations, in our case Pneumatic system since its wild in use. Also the another suggestion is to use

Ladder diagram language with PLC since it's easy to understand by any designer while other languages like structured text (ST) high level language of PASCAL type where one must study and learn this language carefully to know how to design in PLC and how to make its use in designing of electro pneumatic circuits.

References

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and Theory, 7, 1999, 589-602 [2] L. B. Tablin, A. J. Gregory, Rotary pneumatic

actuators, Journal of Control Engineering, 1963, 58-63 [3] L. Clements, Electro-pneumatic positioners get

electronics, Journal of control and Instru-mentation, 17, 1985, 54-56

[4] D. Cho, J. K. Hedrick, Pneumatic actuators for vehicle active suspension on application ns, Journal of Dynamic Systems, Measurement, and Control, 107,

1985, 67-72 [5] H. Singh, P. R. Lang, J. T. Auman, Centralized electro-

pneumatic system for truck air brakes, Truck and Bus Meeting and Exposition, SAE, Warrendale, 1985

[6] T. Virvalo, H. Koskinen, Electro-pneumatic servo system design, power Internatio- nal, 34(402), 1988, 272-275

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Pneumatic servomechanism by electro pneumatic on-off valve with disk flapper, Memories of the Faculty of Technology, Kanazawa University, Japan, 21(2), 45-51

[8] P. J. Bird, Development in the design and control of pneumatic linear actuators, European Conference on Electrics versus Hydraulics versus Pneumatics, Inst. of Mechanical Engineers, Lond on, In Mechanical Engineering, 1985, 77-83

[9] T. L. Vincent, S. P. Joshi, Y. C. Lin, Position and

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1989, 592-599 [10] J. B. Ingold, J. K. Tice, Development of an electro-

pneumatic system for prestarified charge emission control, (PSC), Proceedings of Energy Source Technology Conference and Exhibition, USA, 1988

[11] B. Sebastian, S. Volker, B. Stephanus, Novel micro-pneumatic actuator for MEMS, Sensors and Actuators, A 97-98, 2002, 638-645

[12] S. Joachim, E. Duygun, Dynamic pneumatic actuator model for a model-based torque controller, Proceedings IEEE International Symposium on Computational Intelligence in Robotics and Automation, Kobe, Japan, 2003, 342-347

[13] R. Pavol, D. Kumar, S. Csaba, M. Neil, C. Rey, Modeling and measurement of granule attrition during pneumatic conveying in a laboratory scale system,

Powder Technology, 185, 2008, 202-210 [14] K. Canghoon, H. C. Jae, H. Daehie, Coordination

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