Speed and Torque Control of Pneumatic Motors Using Controlled Pulsating Flow

Speed and Torque Control of Pneumatic Motors Using Controlled Pulsating Flow | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Speed and Torque Control of Pneumatic Motors Using Controlled Pulsating Flow Mohamed Ahmed Aziz, Ernesto Benini, Mohamed Ahmed Khalifa, Osama Abd elmonem Gaheen This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-2268477/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 16 May, 2023 Read the published version in The International Journal of Advanced Manufacturing Technology → Version 1 posted 5 You are reading this latest preprint version Abstract Pneumatic motors have several advantages over electric motors and have many robotics and automation applications. However, the performance control of pneumatic motors is not satisfactory mainly due to air compressibility and the high cost of conventional control methods using proportional control valves. This paper presents an unprecedented application of pneumatic motor control using a pulsating compressed air technique. The study also included validated simulations using the Automation Studio program to control the pneumatic motor’s speed and torque. The results showed a clear and noticeable improvement in controlling the pneumatic motor outputs and demonstrated that the improvements are frequency functions of the compressed air source pulses and pressure. In addition, the results showed remarkable success in controlling the pneumatic motor outputs depending on the frequency of the compressed air-source pulses and pressure. Pulsating air frequencies of 1.5, 3, and 4.5 Hz were considered as inlet source pressure changed from 1.72, 3.45, and 5.17 bar. Furthermore, empirical correlations have been developed for advanced use in automatic control circuits at an error of 6.3–9.5% in predicting the motor speed and torque outputs. Pneumatic motor Pneumatic actuator control Output performance High-speed directional control valve Pulsating flow speed control Torque control Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Introduction Electric motors are widely used in robotics and automation applications because of their precise control, low maintenance, cleanliness, and ease of operation. However, they have many drawbacks, such as being large in size and heavy in weight. On the other hand, pneumatic motors have a high power to weight ratio, high speed​​, and various ways to transmit power based on a simple operational mechanism using compressed air. Nevertheless, for a long period, simple control mechanisms have used pneumatic actuators in industrial applications. This is because pneumatic motors' high-precision and rapid control are complex and expensive. This is due to a high-order time-varying actuator dynamics, air compressibility effect, and other factors such as static friction, with a wide range of differences in payload and pressure. Two approaches are usually used to improve pneumatic actuator control performance. The first takes the software approach, which includes advanced modern technologies such as model-based control, adaptive control, sliding, and position control. The approach maximizes the control performance of pneumatic actuators' outputs [ 1 – 5 ]. The second approach enhances hardware to optimize pneumatic actuators. It is characterized by a strong endurance of friction factors and other changes in system parameters over time [ 6 ]. Some researchers [ 7 , 8 ] used a PID controller in a built-in control system integrated with feedback linearization, which acts as an intermediate pressure control loop to cancel the nonlinearity arising from air usage. Renn et al. [ 9 ] combined linear PID controller and nonlinear fuzzy sliding-mode controller to control the RPM of a servo-pneumatic motor. The results showed the possibility of developing pneumatic actuators with the proposed control system. Chen et al. [ 10 ] proposed a specially designed pneumatic motor for a powerful and precise operation, combined with a gearbox to provide a range of variable gear ratio options. The motor can adapt to different operating requirements. Their application resulted in a pneumatic motor similar to conventional electric motors and offered more flexibility in an MR-conditional robot design. Early development of pneumatic/electric hybrid actuators can be found in the literature. A system in which a small electric motor is coupled to a pneumatic actuator. This results in more efficient hybrid actuators in damping and easier control than conventional pneumatic actuators [ 11 – 13 ]. Stoianovici et al. [ 14 ] introduced a new type of pneumatic motor, a pneumatic stepper motor. The study clarified the availability of the pneumatic step proposed to other pneumatic or hydraulic precision-motion applications. Chen et al. [ 15 ] presented an adaptive speed control system for a vane-type pneumatic motor controlled using an electronic throttle. The results showed the accuracy and robustness of the adaptive dynamic sliding-mode control system for nonlinear and time-varying pneumatic servo systems. Recently, researchers have been attracted to pneumatic motor applications in many engineering fields such as transportation [ 16 ] and energy storage devices [ 17 ]. Studies on hardware enhancement for pneumatic motors are relatively few despite the many advantages offered in their trending applications in transportation and industry. Therefore, this research focused on a simple, innovative method, cheap and easy to install on pneumatic motor systems. The application idea focuses on controlling the pneumatic motor outputs, such as rotational speed and torque, using a pulse flow of compressed air. It can be controlled by a source pressure and pulse frequency. The paper is organized as follows. Section 2 describes the pneumatic motor system, including its governing equation, electro-pneumatic motor circuit, and pulse generation through frequency change with PLC method using Automation Studio simulation software. Section 3 demonstrates the application of the software to simulate the pneumatic motor and validation with experimental results of a pneumatic cylinder. Section 4 discusses the influence of pulsating flow at source pressures of 1.72, 3.45, and 5.17 bar and frequencies of 1.5, 3, and 4.5 Hz. Next, a mathematical correlation is generated to predict a more applicable range of applications through the collected output data in Section 5. Finally, Section 6 provides conclusions for the present work. Description Of The Pneumatic System 2.1 Governing equations of pneumatic motor To obtain deeper insights into the output mechanical energy of the actuator, a simplified model is developed. The model considered the main governing equations for a pneumatic motor. The torque and rotational speed depend on the pneumatic motor's air inlet pressure and flow rate. The fixed-displacement unidirectional pneumatic motor is shown in Fig. 1 . The theoretical and actual motor torques are calculated from: $${\text{T}}_{theo}= \frac{{q}_{\text{m}}{\text{P}}_{\text{m}}}{2{\pi }}$$ 1 $${\text{T}}_{act}= \frac{{q}_{\text{m}}{\text{P}}_{\text{m}}}{2{\pi }}{\eta }_{m}$$ 2 In addition, the output theoretical motor power is calculated from $${\dot{W}}_{theo}={\text{T}}_{theo}. N= \frac{{q}_{\text{m}}{\text{P}}_{\text{m}}\text{N}}{2{\pi }}$$ 3 Moreover, the theoretical and actual motor flow rates are calculated from $${\text{Q}}_{theo}= {q}_{\text{m}}N$$ 4 $${\text{Q}}_{actual}= {q}_{\text{m}}\text{N}{\eta }_{v}$$ 5 From the previous equations, the pneumatic motor performance depends on \({q}_{\text{m}}\) and \({\text{P}}_{\text{m}}\) . 2.2 Electro-pneumatic motor circuit Any pneumatic and hydraulic system is constructed mainly from three main stages. It begins with converting mechanical energy input to fluid power with hydraulic pumps or air compressors. Then, the fluid power is transmitted through pipes and connectors while its direction, pressure, and flow rate are controlled through a control element. Finally, the fluid power is converted into mechanical power by actuators such as cylinders and motors. The pneumatic circuit diagram for a pneumatic motor is shown in Fig. 2 . It consists of a pressurized air source, adjustable relief valve, 5/3 direction control valve solenoids operated normally in closed mode, pressure gauges, and fixed-displacement unidirectional pneumatic motor. Pulsating flow technique was used in controlling the amount of fluid flow per second according to the frequency at inlet pressures of 1.72, 3.45, and 5.17 bar. The pulsating flow was generated at 1.5, 3, and 4.5 Hz frequencies. On the other hand, the required frequency changes through an electric control circuit designed particularly for this purpose. 2.3 Automation Studio simulation setup Automation Studio is used for training purposes. It can be applied in designing, training, and troubleshooting simulations of hydraulics, pneumatics, and electrical control systems. The Automation Studio is a completely integrated software package. It contains a comprehensive library used to design, simulate, and animate electro-pneumatic circuits with interface availability for ladder and electric control circuits. The motor torque and speed controls were simulated with the program using pulsating flow at different pressures (1.72, 3.45, and 5.17 bar) and frequencies (1.5, 3, and 4.5 Hz). The simulated electro-pneumatic circuits matched the actual system setup. A pulse flow can be created through the electrical control circuit that opens and closes the solenoids at a specific rate. It can be changed in the program according to the input frequency. Figure 3 shows the PLC control circuit. The momentary cyclic signal of the directional control solenoid valve is in the PLC output module. The interface between the pneumatic and control circuits was created with the Automation Studio program. The PLC control circuit was used at a frequency range greater than that of the classic control circuit. Validation Of Automation Studio Simulation To validate the Automation Studio results, an experimental system setup was built. The system was designed to measure the speed and force of the cylinder rod by applying continuous and controlled pulsating flow frequency at pressures 1.72, 3.45, and 5.17 bar. It was validated at 5.17 bar, a pressure used in real pneumatic system applications. The pulsating flow was generated at 3 Hz. The experimental system consists of a double-acting pneumatic cylinder, 3/5 directional control valve solenoid operated with high-speed solenoid, air compressor, pressure regulator, easy scope, pulse generation circuit with classic control circuit, meter data logger for air flow, and air pressure data logger. Figure 4(A–C) shows the experimental system setup. Figure 5 compares simulation results and experimental measurements for the working pressure of the cylinder at continuous and pulsating flows of 3 Hz. The simulations were conducted using the Automation Studio program at similar experimental conditions and an input source pressure of 5.17 bar. An excellent agreement with the experimental data was obtained regarding trends. Figure 5 (A and B) shows that the maximum pressure value inside the cylinder simulated by the Automation Studio program was below 2.8% and 1.1% for continuous and pulsating cases, respectively, compared with experimental measurements. The main pressure dropped from 5 bar to 2.12 bar by changing the operation mode from continuous to the pulsating flow of 3 Hz. This indicates that the pulse flow can affect the cylinder forces. On the other side, the simulation with the Automation Studio was a successful method for predicting the cylinder pressure at any frequency. Figure 6 (A and B) compares simulation results and experimental measurements of the non-dimensional air volume as a percentage of the pneumatic cylinder volume as an indication to piston rod velocity. From the experimental observations, the piston rod reached the full stroke (extreme position) at 80% of the non-dimensional air volume inside the cylinder. This is the air compressibility effect inside the cylinder and pressure accumulation. In the case of continuous flow, the time of the fully-filled cylinder was 4 s by simulation, while from the experimental measurement, it filled 81.1% in 4 s. At a frequency of 3 Hz, the time of the fully-filled cylinder was 18 s by simulation, while from the experimental measurement, it filled 81.6% at the same time. The increase in filling time from continuous mode to 3 Hz mode indicates the speed control. Figure 7 (A and B) shows the changes in flow rate with time inside the cylinder for experimental measurements and simulation results. A close agreement with the experimental data was achieved regarding trends. The difference between the simulation results and experimental measurements for the continuous and pulse flow cases is related to the Automation Studio. The software does not take into account: 1- The internal leakage inside the cylinder. 2- The internal leakage in the directional control valve. 3- The friction between the piston and cylinder. 4- Pressure loss in pipe fitting. In a real application, friction and leakage inside the cylinder and directional control valve cannot be neglected. In addition, the limited size (small) of the pressurized air tank affects invariable supply pressure in the experimental work. Besides the previously mentioned reasons for the difference between the simulation results and experimental measurements, the frequency in the experimental work was adjusted manually to the required frequencies. The adjustment was carried out through a control panel connected with an easy scope device to count the number of pulses per second, leading to a certain resolution error in frequency change. The error can be handled using a PLC technique instead of the current classic control technique, which can minimize the frequency resolution error and give a variety of frequencies range. The Automation Studio simulated the difference between the continuous and pulsating flows with a maximum error of 2.8% compared with experimental measurements. The error margin is acceptable for evaluation and validation purposes. Hence, it is a good tool for simulating pulse flow inside pneumatic actuators with a robust and precise method. Furthermore, it is cheap and provides the view for actuator behavior at different modes of pulse frequencies without rebuilding a new setup. Results And Discussions The influence of pulsating flow was studied with the Automation Studio program at main source pressures of 1.72, 3.45, and 5.17 bar and frequencies of 1.5, 3, and 4.5 Hz. 4.1 Pulsating flow at main source pressure, P = 1.72 bar From Fig. 8, the average motor pressure decreases from 1.57 bar to 1.21, 1.35, and 1.53 bar by changing the flow mode from continuous flow to pulsating air flow of frequencies 1.5, 3, and 4.5 Hz, respectively. The motor torque directly depends on the inlet motor pressure, Eq. ( 2 ), so the input pressure is an important parameter controlling the motor torque. The frequency change of the pulsating compressed air flow directly affects the motor speed, causing a noticeable drop. The drop in the motor speed increases as the frequency decreases, as shown in Fig. 9. The average motor speeds are 205, 99.4, 148.8, and 189 r.p.m at continuous flow mode, f = 1.5, 3, and 4.5 Hz, respectively. In addition, the fluctuations in motor speed r.p.m decrease with an increase in frequency and disappear at continuous flow. The fluctuations appeared because the motor was unloaded. On the other hand, the fluctuations decrease with motor load increase, and the average stays at the same value. It is worth noting the change in the internal pressure amplitude and rotational speed of the motor at different frequencies. For example, the amplitude changes from 1.31 bar to 0.72 bar to 0.30 bar at 1.5, 3, and 4.5 Hz. This behavior was also observed in the amplitude, which represents the motor rotational speed fluctuations. Increasing the source pressure increases the air flow rate. As the source pressure increases, the loss rate inside the motor also increases due to the clearances inside the motor. Increasing the flow rate from the source overcomes the increase in the flow rate loss inside the motor. Therefore, the pressure gradient inside the motor increases with the pressure source, increasing the motor torque. A different mode of continuous and pulsating flows at frequencies 1.5, 3, and 4.5 Hz are shown in Figs. 8 and 9. As the pulsating flow frequency increases from 1.5 to 4.5 Hz, the percentages of average input pressure and motor r.p.m increase. The average input pressure decreased from 1.56 bar for the continuous mode to 1.53, 1.35, and 1.21 bar at 4.5, 3, and 1.5 Hz pulse flow frequencies. On the other hand, the same behavior is observed for the motor speed, where the average motor r.p.m decreased from 205 r.p.m for the continuous mode to 189.03, 148.18, and 99.43 r.p.m at 4.5, 3, and 1.5 Hz pulsating flow frequencies. This gives a strong impression that pulsating flow influences the control of motor torque and r.p.m in the control of motor performance using different modes (pulse flow). It is worth mentioning and explaining the important factors affecting the simulation of the tensor performance and accuracy of the program outputs’ results, such as compressibility, turbulence, and losses inside the pneumatic system (tubes, valves, motor, etc.). On the other hand, the effect of compression appears once with a constant value of the flow rate at a constant main pressure source. However, in the case of pulse flow, the fluid volume inside the motor undergoes repeated pressure and relaxation at each pulse. This volume changes as the motor rotates with the frequency. Therefore, the compressibility rate varies with the volume. In addition, with each repetitive pulse, the internal pressure of the charge inside the motor is affected by the pulse frequency, but in the case of a continuous flow, this effect appears only once at the beginning of the main pressure supplied by the source. This explains the motor’s internal pressure change with the change in the pulse frequency. 4.2 Pulsating flow at main source pressure, P = 3.45 bar From Fig. 10, the average motor pressure decreases from 2.379 bar to 1.814, 2.053, and 2.322 bar by changing the flow mode from continuous to pulsating air flow of frequencies 1.5, 3, and 4.5 Hz, respectively. As shown in Fig. 11, at main source pressure, P = 3.45 bar, the average motor speeds are 312, 143.05, 225.4, and 289.8 r.p.m at continuous flow mode, f = 1.5, 3, and 4.5 Hz, respectively. The results showed the same behavior for the motor torque and speed. 4.3 Pulsating flow at main source pressure, P = 5.17 bar From Fig. 12, the average motor pressure decreases from 2.83 bar to 2.11, 2.38, and 2.85 bar by changing the flow mode from continuous to pulsating air flow of frequencies 1.5, 3, and 4.5 Hz, respectively. As shown in Fig. 13, at main source pressure, P = 5.17 bar, the average motor speeds are 371, 161.82, 267.1, and 361.97 r.p.m at continuous flow mode, f = 1.5, 3, and 4.5 Hz, respectively. The results showed the same behavior for the motor torque and speed. 4.4 Data collection and comparison of simulation output A comparison of simulation results at different pressures and frequencies is presented in Table 1 . It lists the values of the direct effect of the main source pressure and pulse flow frequency on the pneumatic motor speed, average motor pressure, and motor torque calculated by Eq. ( 2 ) for a motor displacement of 100 cm 3 /rev and assuming 100% motor efficiency. It also shows the strong influence of the pulse flow frequency on motor performance. For example, at an inlet pressure of 1.72 bar with a frequency of 1.5 Hz, the motor speed and pressure reduced by 52% and 22.7%, respectively. The same conclusion at different inlet pressures can be inferred. This confirms the presented research's idea of using compressed air's pulse flow in pneumatic systems to control the pneumatic motor's speed and torque. Table 1 Pneumatic motor average inlet pressure and speed versus applied pressure and frequency Pressure (bar) Frequency (Hz) Pneumatic motor average pressure (bar) Pneumatic motor average torque (N.m) Pneumatic motor average speed (r.p.m) 1.72 0.0 1.565 2.49 205.00 1.5 1.210 1.92 99.40 3.0 1.350 2.15 148.80 4.5 1.530 2.43 189.00 3.45 0.0 2.379 3.78 312.00 1.5 1.814 2.89 143.05 3.0 2.053 3.27 225.40 4.5 2.322 3.70 289.80 5.17 0.0 2.830 4.50 371.00 1.5 2.110 3.36 161.82 3.0 2.380 3.79 267.10 4.5 2.850 4.53 361.97 Figure 14 shows the effect of mode change from continuous to pulsating flow with different frequencies and main source pressures on the motor pressure, torque, and speed. For example, at an inlet pressure of 1.72 bar with a frequency of 1.5 Hz, the motor inlet pressure, torque, and speed reduced by 22.68%, 22.89%, and 51.51%, respectively. The same conclusion at different inlet pressures can be inferred. This confirms the validity of the proposed idea in using pulse flow of compressed air in pneumatic systems to control the inlet pressure, torque, and speed of the pneumatic motor. The pressure and flow rate values describe the fluid power, and by changing the source pressure value, the flow rate also changes. For example, Fig. 14 (A) shows that changing the source pressure value from 1.72 bar to 3.45 bar to 5.17 bar increases the motor's input pressure. This is reflected in the motor's torque, as shown in Fig. 14 (B). At continuous flow represented by 0 Hz (normally opened), with increasing source pressure from 1.72 bar to 3.45 bar to 5.17 bar, the torque increased from 2.49 to 3.78 to 4.50 N.m. It is worth noting here that there is no linear relationship between the increase in the source pressure and the accompanying increase in the motor torque. Instead, the relationship is more like a polytropic, where the torque increment with pressure changing from 1.72 bar to 3.45 bar was below 1.29 N.m. In comparison, this change decreased to less than 0.72 N.m, with the pressure increasing from 3.45 bar to 5.17 bar. The pressure and flow rate values describe the fluid power, and by changing the source pressure value, the flow rate also changes. For example, Fig. 10 (A) shows that changing the source pressure value from 1.72 bar to 3.45 bar to 5.17 bar increases the motor’s inside pressure. This is reflected in the motor’s torque, as shown in Fig. 10 (B). At continuous flow represented by 0 Hz (normally opened), the torque increased from 2.49 to 3.78 to 4.50 N.m. It is worth noting here that there is no linear relationship between increasing source pressure and the accompanying increase in the motor torque. Instead, the relationship is more like a polytropic, where the torque increment with pressure changing from 1.72 bar to 3.45 bar was below 1.29 N.m. In comparison, this change decreased to less than 0.72 N.m, with the pressure increasing from 3.45 bar to 5.17 bar. On the other hand, with increasing source pressure, the motor speed increases, as shown in Fig. 10 (C). In addition to the source pressure effect, a great influence appears here, which is this research’s core focus, the pulse flow frequency changes the pressure, motor torque, and motor speed for every source pressure. It implies that the source pressure and pulse flow frequency affect the motor speed and torque. Moreover, it gives the assurance that we can control the motor torque and speed through the pulse flow. For example, at continuous flow represented by 0 Hz (normally opened), the motor speed increased from 205 to 312 to 371 r.p.m. It is worth noting that there is a linear relationship between increasing source pressure and the accompanying motor speed. On the other hand, the motor speed increased from 161.82 r.p.m to 267.10 r.p.m to 361.97 r.p.m at 5.17 bar and frequencies of 1.5, 3, and 4.5 Hz, respectively. There is no linear relationship between increasing flow frequency and the accompanying motor speed. Instead, the relationship is more like a polytropic, with increased motor speed. This indicates that with increasing frequency, the compressibility effect decreases. Mathematical Correlation Results The motor torque and speed depend on the main source pressures (P) and frequencies (f). By the simulation results, the least-squares method is used to calculate the mathematical correlation coefficient. The fitted mathematical correlation is used in predicting the motor torque (\({\text{T}}_{theo}\)) and speed ( N ) at any main source P and f for a wide range, expressed by: $$N=\left(55.9624\right)\times {P}^{ 0.544}\times {f}^{0.6388}$$ 6 $${\text{T}}_{theo}=\left(1.3261\right)\times {P}^{ 0.5383}\times {f}^{0.2063}$$ 7 Tables 2 and 3 show a comparison between the simulation results and mathematical correlation response for motor torque and speed, respectively. Table 2 Comparison between the simulation results and mathematical correlation response for motor torque P (bar) f (Hz) Simulation results, torque (N.m) Mathematical correlation response (N.m) Error (%) 1.72 1.5 1.92 1.93 -0.55 3.0 2.15 2.22 -3.60 4.5 2.43 2.42 0.33 3.45 1.5 2.89 2.80 2.83 3.0 3.27 3.23 0.92 4.5 3.70 3.52 4.79 5.17 1.5 3.36 3.49 -3.90 3.0 3.79 4.02 -6.28 4.5 4.53 4.37 3.32 Table 3 Comparison between the simulation results and mathematical correlation response for motor speed P (bar) f (Hz) Simulation results, motor speed (r.p.m) Mathematical correlation response (r.p.m) Error (%) 1.72 1.5 99.40 97.38 2.02 3.0 148.80 151.63 -1.91 4.5 189.00 196.47 -3.95 3.45 1.5 143.05 142.21 0.59 3.0 225.40 221.43 1.76 4.5 289.80 286.90 1.00 5.17 1.5 161.82 177.21 -9.51 3.0 267.10 275.93 -3.31 4.5 361.97 357.51 1.23 Figures 14 and 15 show the predicted effect of pulsating air frequency and main source pressure on the motor torque and speed. The motor torque increases with increasing pulsating air frequency. In addition, the motor torque increases with increasing main source pressure. In contrast, the motor speed increases with increasing pulsating air frequency and main source pressure. The effect of frequency is strongly evident on both motor torque and speed. Conclusions From the results, the methods of controlling pneumatic motors in real life using proportional control valves, which is very complicated and expensive, can be replaced by the proposed pulse flow control. The effect of the pulsating air flow on the precise control of pneumatic motors is also evident and has the same function as the proportional control valve. The rotational speed and torque of the pneumatic motor are controlled depending on the pulse flow frequency of air at any inlet source pressure. The pulse flow frequency of compressed air is synthesized, generated, and controlled by an electrical control circuit. The design and simulation for this purpose were done using the PLC technique. The pneumatic cylinder-air pressure and discharged air flow rate were measured using pressure and flow meter data loggers, validated with the simulation results. In the present work, Automation Studio is used to simulate the motor speed and pressure in a pneumatic motor. The conclusions from the study are summarized as follows: An experimental implementation of a pulsating flow of compressed air on the speed and force of a pneumatic cylinder rod at a source pressure of 5.17 bar was made. The experimental results were used to validate the Automation Studio simulation results for the same conditions, and a close agreement in pneumatic cylinder performance was achieved. The pulse flow frequency of compressed air significantly affects the pneumatic motor performance through output motor torque and speed. As the pulsating flow frequency of compressed air decreased from 4.5, 3, and 1.5 Hz, the motor pressure and torque decreased. The frequency effect on the pneumatic motors’ performance was simulated based on the motor speed and torque. The results showed a drop in the motor speed with decreasing frequency. The pulsating air flow technique strongly controls the performance of pneumatic actuators with reasonable cost and setup facilities, unlike the other traditional systems. The software “Automation Studio” showed a realistic result, making it trustable for the preliminary design of the hydraulic and pneumatic system and simulation studies for different systems’ behavior before building the circuit. On the other hand, it provides the flexibility to convert the output using a controller to modify the fixed output actuators to work with a wide range of variable speed and torque, unlike the other traditional systems of fixed output. The pulsating air flow technique can limit the actuator torque and speed to a required value to achieve the optimum working parameter depending on the frequency. An empirical correlation was developed to predict the T theo and N at any main source P and f for a wide range, expressed by N = 55.96 × P 0.544 × f 0.6388 T theo = 1.33 × P 0.5383 × f 0.2063 Nomenclature Subscripts Declarations a. Funding No funding is achieved to the research b. Conflicts of interest/Competing interests The authors affirm that the submission represents original work that has not been published previously and is not currently being considered or submitted to another journal, until a decision has been made. The authors confirm that there are no known conflicts of interest associated with this publication and there has been no significant financial support for this work that could have influenced its outcome. c. Authors' contributions Mohamed. A. Aziz: Conceptualization, laboratory experiments, Investigation, Supervision, Project administration, Writing, the main search’s idea. Ernesto Benini: Methodology, Investigation. Mohamed A. Khalifa: HMI Software, Visualization, Validation. Osama A. Gaheen: Laboratory experiments, Investigation, Data curation, Writing, Apparatus control design. References Soliman, MennaAllah, et al. "Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators." Scientific reports 11.1 (2021): 1-11. https://doi.org/10.1038/s41598-021-91136-z Xu, Haiming, and Lanzhu Zhang. "A software and hardware design scheme of intelligent valve positioner." E3S Web of Conferences. Vol. 268. EDP Sciences, 2021. https://doi.org/10.1051/e3sconf/202126801067 Oguntosin, Victoria, Slawomir J. Nasuto, and Yoshikatsu Hayashi. "Embedded fuzzy logic controller for positive and negative pressure control in pneumatic soft robots." 2017 UKSim-AMSS 19th International Conference on Computer Modelling & Simulation (UKSim). IEEE, 2017. DOI 10.1109/UKSim.2017.41 Blagojević, Vladislav, et al. "Automatic Generation of the PLC programs for the sequential control of pneumatic actuators." Facta Universitatis, Series: Mechanical Engineering 17.3 (2019): 405-414. https://doi.org/10.22190/FUME190123033B Qi, Haitao, Gary M. Bone, and Yile Zhang. "Position control of pneumatic actuators using three-mode discrete-valued model predictive control." Actuators. Vol. 8. No. 3. Multidisciplinary Digital Publishing Institute, 2019. https://doi.org/10.3390/act8030056 Ali, Hazem I., et al. "A review of pneumatic actuators (modeling and control)." Australian Journal of Basic and Applied Sciences 3.2 (2009): 440-454. Lee, Han Koo, Gi Sang Choi, and Gi Heung Choi. "A study on tracking position control of pneumatic actuators." Mechatronics 12.6 (2002): 813-831. https://doi.org/10.1016/S0957-4158(01)00024-1 Andrikopoulos, George, George Nikolakopoulos, and Stamatis Manesis. "Advanced nonlinear PID-based antagonistic control for pneumatic muscle actuators." IEEE Transactions on Industrial Electronics 61.12 (2014): 6926-6937. DOI: 10.1109/TIE.2014.2316255 Renn, J-C., and C-M. Liao. "A study on the speed control performance of a servo-pneumatic motor and the application to pneumatic tools." The International Journal of Advanced Manufacturing Technology 23.7-8 (2004): 572-576. DOI 10.1007/s00170-003-1757-0 Chen, Yue, et al. "Characterization and control of a pneumatic motor for MR-conditional robotic applications." IEEE/ASME Transactions on Mechatronics 22.6 (2017): 2780-2789. DOI: 10.1109/TMECH.2017.2767906 Takemura, Fumiaki, et al. "Control of a hybrid pneumatic/electric motor." Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000)(Cat. No. 00CH37113). Vol. 1. IEEE, 2000. DOI: 10.1109/IROS.2000.894606 Bone, Gary M., and Xing Chen. "Position control of hybrid pneumatic-electric actuators." In 2012 American Control Conference (ACC), pp. 1793-1799. IEEE, 2012. DOI: 10.1109/ACC.2012.6315400 Rouzbeh, Behrad, et al. "Design, implementation and control of an improved hybrid pneumatic-electric actuator for robot arms." IEEE Access 7 (2019): 14699-14713. DOI: 10.1109/ACCESS.2019.2891532 Stoianovici, Dan, et al. "A new type of motor: pneumatic step motor." IEEE/ASME Transactions On Mechatronics 12.1 (2007): 98-106. DOI: 10.1109/TMECH.2006.886258 Chen, Syuan-Yi, and Sheng-Sian Gong. "Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control." Mechanical Systems and Signal Processing 94 (2017): 111-128. https://doi.org/10.1016/j.ymssp.2017.02.025 Xu, Yonghong, et al. "Experimental investigation of pneumatic motor for transport application." Renewable Energy (2021). https://doi.org/10.1016/j.renene.2021.07.072 Xu, Yonghong, et al. "Experimental study on small power generation energy storage device based on pneumatic motor and compressed air." Energy Conversion and Management 234 (2021): 113949. https://doi.org/10.1016/j.enconman.2021.113949 Cite Share Download PDF Status: Published Journal Publication published 16 May, 2023 Read the published version in The International Journal of Advanced Manufacturing Technology → Version 1 posted Editorial decision: Major Revisions Needed 11 Mar, 2023 Reviewers agreed at journal 09 Dec, 2022 Reviewers invited by journal 16 Nov, 2022 Editor assigned by journal 15 Nov, 2022 First submitted to journal 15 Nov, 2022 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-2268477","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":152718532,"identity":"02ea5634-f12a-41d7-97b2-f7e16a8322ad","order_by":0,"name":"Mohamed Ahmed Aziz","email":"","orcid":"","institution":"","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Mohamed","middleName":"Ahmed","lastName":"Aziz","suffix":""},{"id":152718533,"identity":"b40de28d-b18b-4106-aca0-35f0cab6929f","order_by":1,"name":"Ernesto Benini","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA5ElEQVRIie3PvwqCQBzA8R80uPyq1ZB8hosDTZB6lRPBKcJ3aLXmHsMt2pRb/bMKDdHeULQoOKSSQYO6NtwX7rgbPtzvAESif45UKwBiAowA5ObaG/sSpyVD5kOqeLPL0PPMVInDW5GboEv7kLtuap2kcZiBW3aS2WFrU2QOGF7C+JFcrPNuYi/7BiMRagowDiTbEI4V8TlqvX9ZR6gXeU2u95okw4QgaoDNK1iTYJjIEVIFHQcNrxnMpj6v/sII7SRTDxfP3DRVXYroC8vV3E/jMHuUaidpw98zGwTdXCQSiUQAb75pTBfRV6hbAAAAAElFTkSuQmCC","orcid":"https://orcid.org/0000-0002-5061-4284","institution":"University of Padua: Universita degli Studi di Padova","correspondingAuthor":true,"submittingAuthor":false,"prefix":"","firstName":"Ernesto","middleName":"","lastName":"Benini","suffix":""},{"id":152718534,"identity":"1c206de4-1425-4ee5-82c3-925991eab827","order_by":2,"name":"Mohamed Ahmed Khalifa","email":"","orcid":"","institution":"","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Mohamed","middleName":"Ahmed","lastName":"Khalifa","suffix":""},{"id":152718535,"identity":"804e0555-d8bb-4852-8ab3-e48355b0dff0","order_by":3,"name":"Osama Abd elmonem Gaheen","email":"","orcid":"","institution":"","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Osama","middleName":"Abd elmonem","lastName":"Gaheen","suffix":""}],"badges":[],"createdAt":"2022-11-13 12:24:32","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-2268477/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-2268477/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1007/s00170-023-11562-3","type":"published","date":"2023-05-16T20:51:12+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":29355901,"identity":"b50cb357-6fb2-473e-9640-babff8c9b136","added_by":"auto","created_at":"2022-11-21 21:49:29","extension":"png","order_by":1,"title":"Figure 1","display":"","copyAsset":false,"role":"figure","size":76392,"visible":true,"origin":"","legend":"\u003cp\u003eFixed-displacement unidirectional pneumatic motor\u003c/p\u003e","description":"","filename":"1.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/5aaf0017586de2f784eef633.png"},{"id":29355895,"identity":"595ae14a-a9d3-4f35-addd-366628cb2525","added_by":"auto","created_at":"2022-11-21 21:49:29","extension":"png","order_by":2,"title":"Figure 2","display":"","copyAsset":false,"role":"figure","size":39221,"visible":true,"origin":"","legend":"\u003cp\u003ePneumatic circuit diagram for a fixed-displacement unidirectional pneumatic motor\u003c/p\u003e","description":"","filename":"2.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/bf4545d5e39b93e31ae1ab6d.png"},{"id":29359202,"identity":"59058d91-b140-4361-a593-0809822bdfe9","added_by":"auto","created_at":"2022-11-21 22:13:29","extension":"png","order_by":3,"title":"Figure 3","display":"","copyAsset":false,"role":"figure","size":135078,"visible":true,"origin":"","legend":"\u003cp\u003eA schematic of the PLC control circuit. (A) Activate pulse generator. (B) De-activate pulse generator.\u003c/p\u003e","description":"","filename":"3.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/fd22b9dbbcb9b52e49ad8141.png"},{"id":29355904,"identity":"d978830c-5dff-43a5-a471-6257a4e635e6","added_by":"auto","created_at":"2022-11-21 21:49:29","extension":"png","order_by":4,"title":"Figure 4","display":"","copyAsset":false,"role":"figure","size":298801,"visible":true,"origin":"","legend":"\u003cp\u003eExperimental system setups. (A) Air flow rate measurement at cylinder inlet (B) Cylinder pressure measurement (C) and (D) classic control circuit\u003c/p\u003e","description":"","filename":"4.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/00e78424609e5b99abf90df8.png"},{"id":29357426,"identity":"fc79f2dc-62d1-430c-9395-cfc31d4fde27","added_by":"auto","created_at":"2022-11-21 21:57:29","extension":"png","order_by":5,"title":"Figure 5","display":"","copyAsset":false,"role":"figure","size":26195,"visible":true,"origin":"","legend":"\u003cp\u003eValidation of pulsating effect on cylinder pressure (A) Continuous and (B) Pulsate with a frequency of 3 Hz\u003c/p\u003e","description":"","filename":"5.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/180f95637af9ea711b29fa39.png"},{"id":29355900,"identity":"73321141-9996-4136-8660-31684faa6188","added_by":"auto","created_at":"2022-11-21 21:49:29","extension":"png","order_by":6,"title":"Figure 6","display":"","copyAsset":false,"role":"figure","size":20686,"visible":true,"origin":"","legend":"\u003cp\u003eValidation of pulsating effect on the percentage of non-dimensional air volume inside the cylinder (A) continuous and (B) pulsate with a frequency of 3 Hz\u003c/p\u003e","description":"","filename":"6.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/c4c010dc67f319d599ae354b.png"},{"id":29359203,"identity":"39c92f94-c5d3-4f4c-b149-dfe83dff7f96","added_by":"auto","created_at":"2022-11-21 22:13:29","extension":"png","order_by":7,"title":"Figure 7","display":"","copyAsset":false,"role":"figure","size":34724,"visible":true,"origin":"","legend":"\u003cp\u003eValidation of pulsating effect on air flow rate inside the cylinder (A) continuous and (B) pulsate with a frequency of 3 Hz\u003c/p\u003e","description":"","filename":"7.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/9d0f7d7435155ae0de0c790e.png"},{"id":29358539,"identity":"3a3aefa3-1f15-4fa8-a881-4bb027c0996a","added_by":"auto","created_at":"2022-11-21 22:05:29","extension":"png","order_by":8,"title":"Figure 8","display":"","copyAsset":false,"role":"figure","size":41121,"visible":true,"origin":"","legend":"\u003cp\u003ePneumatic motor pressure (A) continuous, (B) f =1.5 Hz, (C) f = 3 Hz, and (D) f = 4.5 Hz at main source pressure, P =1.72 bar\u003c/p\u003e","description":"","filename":"8.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/7af6948ef32ec2dc7f0c06da.png"},{"id":29355896,"identity":"0429b2e7-1397-4074-97cf-fb21681bf523","added_by":"auto","created_at":"2022-11-21 21:49:29","extension":"png","order_by":9,"title":"Figure 9","display":"","copyAsset":false,"role":"figure","size":36998,"visible":true,"origin":"","legend":"\u003cp\u003eMotor speed versus time at (A) continuous, (B) f = 1.5 Hz, (C) f = 3 Hz, and (D) f = 4.5 Hz at main source pressure, P = 1.72 bar\u003c/p\u003e","description":"","filename":"9.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/abbbf2ad5ccc9bf2c654bcf3.png"},{"id":29357429,"identity":"65bfb256-6b77-49c4-bd28-60a0c385e318","added_by":"auto","created_at":"2022-11-21 21:57:29","extension":"png","order_by":10,"title":"Figure 10","display":"","copyAsset":false,"role":"figure","size":38548,"visible":true,"origin":"","legend":"\u003cp\u003ePneumatic motor pressure (A) Continuous, (B) f = 1.5 Hz, (C) f = 3 Hz, and (D) f = 4.5 Hz at main source pressure, P = 3.45 bar\u003c/p\u003e","description":"","filename":"10.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/b579bfe8659651d224d1c31b.png"},{"id":29359406,"identity":"bd9a1cf4-1086-4bf7-95c2-36ae79d123fd","added_by":"auto","created_at":"2022-11-21 22:21:29","extension":"png","order_by":11,"title":"Figure 11","display":"","copyAsset":false,"role":"figure","size":37379,"visible":true,"origin":"","legend":"\u003cp\u003eMotor speed versus time at (A) Continuous, (B) f = 1.5 Hz, (C) f = 3 Hz, and (D) f = 4.5 Hz at main source pressure, P = 3.45 bar\u003c/p\u003e","description":"","filename":"11.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/a0d239ba7b16728d3af03b9d.png"},{"id":29357434,"identity":"9cbdae88-6ffd-49f7-b707-376394d92b41","added_by":"auto","created_at":"2022-11-21 21:57:29","extension":"png","order_by":12,"title":"Figure 12","display":"","copyAsset":false,"role":"figure","size":47787,"visible":true,"origin":"","legend":"\u003cp\u003ePneumatic motor pressure (A) Continuous, (B) f = 5 Hz, (C) f = 3 Hz, and (D) f = 1 Hz at main source pressure, P = 5.17 bar\u003c/p\u003e","description":"","filename":"12.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/249d75b644efdca3ada5acb0.png"},{"id":29355910,"identity":"e9974805-5eab-42ba-9aa3-55852e948e4f","added_by":"auto","created_at":"2022-11-21 21:49:29","extension":"png","order_by":13,"title":"Figure 13","display":"","copyAsset":false,"role":"figure","size":41748,"visible":true,"origin":"","legend":"\u003cp\u003eMotor speed versus time at (A) Continuous, (B) f = 5 Hz, (C) f = 3 Hz, and (D) f = 1 Hz at main source pressure, P = 5.17 bar\u003c/p\u003e","description":"","filename":"13.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/daa399f52daef86f927651ff.png"},{"id":29358541,"identity":"fe26fd39-d697-46b9-929b-7cb3706ea3a6","added_by":"auto","created_at":"2022-11-21 22:05:29","extension":"png","order_by":14,"title":"Figure 14","display":"","copyAsset":false,"role":"figure","size":37931,"visible":true,"origin":"","legend":"\u003cp\u003eFlow rate, cylinder rod linear speed, and cylinder force versus pressure and frequency\u003c/p\u003e","description":"","filename":"14.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/3a5a884da05e5e164cb960ee.png"},{"id":29357431,"identity":"f2b8ea54-b5f1-4184-9c59-03c00ccb3731","added_by":"auto","created_at":"2022-11-21 21:57:29","extension":"png","order_by":15,"title":"Figure 15","display":"","copyAsset":false,"role":"figure","size":21471,"visible":true,"origin":"","legend":"\u003cp\u003eFigure 14. Effect of pulsating air frequency on the motor torque at different main source pressures\u003c/p\u003e","description":"","filename":"15.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/5c3e93e9071da2442979339e.png"},{"id":29355908,"identity":"60393d6a-4b76-4979-af03-681ccee3fc28","added_by":"auto","created_at":"2022-11-21 21:49:29","extension":"png","order_by":16,"title":"Figure 16","display":"","copyAsset":false,"role":"figure","size":28087,"visible":true,"origin":"","legend":"\u003cp\u003eFigure 15. Effect of pulsating air frequency on the motor speed at different main source pressures\u003c/p\u003e","description":"","filename":"16.png","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/dbdfb07771902fcd15e79cb3.png"},{"id":44729076,"identity":"a494996a-29c8-4cf6-8989-bb56016b8612","added_by":"auto","created_at":"2023-10-16 21:11:33","extension":"pdf","order_by":0,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1439031,"visible":true,"origin":"","legend":"","description":"","filename":"manuscript.pdf","url":"https://assets-eu.researchsquare.com/files/rs-2268477/v1/496f6e98-b93d-4089-b842-606aceab5761.pdf"}],"financialInterests":"","formattedTitle":"Speed and Torque Control of Pneumatic Motors Using Controlled Pulsating Flow","fulltext":[{"header":"Introduction","content":"\u003cp\u003eElectric motors are widely used in robotics and automation applications because of their precise control, low maintenance, cleanliness, and ease of operation. However, they have many drawbacks, such as being large in size and heavy in weight. On the other hand, pneumatic motors have a high power to weight ratio, high speed​​, and various ways to transmit power based on a simple operational mechanism using compressed air. Nevertheless, for a long period, simple control mechanisms have used pneumatic actuators in industrial applications. This is because pneumatic motors' high-precision and rapid control are complex and expensive. This is due to a high-order time-varying actuator dynamics, air compressibility effect, and other factors such as static friction, with a wide range of differences in payload and pressure.\u003c/p\u003e \u003cp\u003eTwo approaches are usually used to improve pneumatic actuator control performance. The first takes the software approach, which includes advanced modern technologies such as model-based control, adaptive control, sliding, and position control. The approach maximizes the control performance of pneumatic actuators' outputs [\u003cspan additionalcitationids=\"CR2 CR3 CR4\" citationid=\"CR1\" class=\"CitationRef\"\u003e1\u003c/span\u003e\u0026ndash;\u003cspan citationid=\"CR5\" class=\"CitationRef\"\u003e5\u003c/span\u003e]. The second approach enhances hardware to optimize pneumatic actuators. It is characterized by a strong endurance of friction factors and other changes in system parameters over time [\u003cspan citationid=\"CR6\" class=\"CitationRef\"\u003e6\u003c/span\u003e]. Some researchers [\u003cspan citationid=\"CR7\" class=\"CitationRef\"\u003e7\u003c/span\u003e, \u003cspan citationid=\"CR8\" class=\"CitationRef\"\u003e8\u003c/span\u003e] used a PID controller in a built-in control system integrated with feedback linearization, which acts as an intermediate pressure control loop to cancel the nonlinearity arising from air usage. Renn et al. [\u003cspan citationid=\"CR9\" class=\"CitationRef\"\u003e9\u003c/span\u003e] combined linear PID controller and nonlinear fuzzy sliding-mode controller to control the RPM of a servo-pneumatic motor. The results showed the possibility of developing pneumatic actuators with the proposed control system.\u003c/p\u003e \u003cp\u003eChen et al. [\u003cspan citationid=\"CR10\" class=\"CitationRef\"\u003e10\u003c/span\u003e] proposed a specially designed pneumatic motor for a powerful and precise operation, combined with a gearbox to provide a range of variable gear ratio options. The motor can adapt to different operating requirements. Their application resulted in a pneumatic motor similar to conventional electric motors and offered more flexibility in an MR-conditional robot design. Early development of pneumatic/electric hybrid actuators can be found in the literature. A system in which a small electric motor is coupled to a pneumatic actuator. This results in more efficient hybrid actuators in damping and easier control than conventional pneumatic actuators [\u003cspan additionalcitationids=\"CR12\" citationid=\"CR11\" class=\"CitationRef\"\u003e11\u003c/span\u003e\u0026ndash;\u003cspan citationid=\"CR13\" class=\"CitationRef\"\u003e13\u003c/span\u003e]. Stoianovici et al. [\u003cspan citationid=\"CR14\" class=\"CitationRef\"\u003e14\u003c/span\u003e] introduced a new type of pneumatic motor, a pneumatic stepper motor. The study clarified the availability of the pneumatic step proposed to other pneumatic or hydraulic precision-motion applications.\u003c/p\u003e \u003cp\u003eChen et al. [\u003cspan citationid=\"CR15\" class=\"CitationRef\"\u003e15\u003c/span\u003e] presented an adaptive speed control system for a vane-type pneumatic motor controlled using an electronic throttle. The results showed the accuracy and robustness of the adaptive dynamic sliding-mode control system for nonlinear and time-varying pneumatic servo systems. Recently, researchers have been attracted to pneumatic motor applications in many engineering fields such as transportation [\u003cspan citationid=\"CR16\" class=\"CitationRef\"\u003e16\u003c/span\u003e] and energy storage devices [\u003cspan citationid=\"CR17\" class=\"CitationRef\"\u003e17\u003c/span\u003e].\u003c/p\u003e \u003cp\u003eStudies on hardware enhancement for pneumatic motors are relatively few despite the many advantages offered in their trending applications in transportation and industry. Therefore, this research focused on a simple, innovative method, cheap and easy to install on pneumatic motor systems. The application idea focuses on controlling the pneumatic motor outputs, such as rotational speed and torque, using a pulse flow of compressed air. It can be controlled by a source pressure and pulse frequency.\u003c/p\u003e \u003cp\u003eThe paper is organized as follows. Section 2 describes the pneumatic motor system, including its governing equation, electro-pneumatic motor circuit, and pulse generation through frequency change with PLC method using Automation Studio simulation software. Section 3 demonstrates the application of the software to simulate the pneumatic motor and validation with experimental results of a pneumatic cylinder. Section 4 discusses the influence of pulsating flow at source pressures of 1.72, 3.45, and 5.17 bar and frequencies of 1.5, 3, and 4.5 Hz. Next, a mathematical correlation is generated to predict a more applicable range of applications through the collected output data in Section 5. Finally, Section 6 provides conclusions for the present work.\u003c/p\u003e"},{"header":"Description Of The Pneumatic System","content":"\u003cdiv class=\"Section2\" id=\"Sec3\"\u003e\n \u003ch2\u003e2.1 Governing equations of pneumatic motor\u003c/h2\u003e\n \u003cp\u003eTo obtain deeper insights into the output mechanical energy of the actuator, a simplified model is developed. The model considered the main governing equations for a pneumatic motor. The torque and rotational speed depend on the pneumatic motor\u0026apos;s air inlet pressure and flow rate. The fixed-displacement unidirectional pneumatic motor is shown in Fig. \u003cspan class=\"InternalRef\"\u003e1\u003c/span\u003e.\u003c/p\u003e\n \u003ctable id=\"Tabd\" border=\"1\"\u003e\u003c/table\u003e\n \u003cp\u003e\u003c/p\u003e\n \u003cp\u003eThe theoretical and actual motor torques are calculated from:\u003c/p\u003e\n \u003cdiv class=\"Equation\" id=\"Equ1\"\u003e\n \u003cdiv class=\"mathdisplay\" id=\"FileID_Equ1\" name=\"EquationSource\"\u003e$${\\text{T}}_{theo}= \\frac{{q}_{\\text{m}}{\\text{P}}_{\\text{m}}}{2{\\pi }}$$\u003c/div\u003e\n \u003cdiv class=\"EquationNumber\"\u003e1\u003c/div\u003e\n \u003c/div\u003e\n \u003cdiv class=\"Equation\" id=\"Equ2\"\u003e\n \u003cdiv class=\"mathdisplay\" id=\"FileID_Equ2\" name=\"EquationSource\"\u003e$${\\text{T}}_{act}= \\frac{{q}_{\\text{m}}{\\text{P}}_{\\text{m}}}{2{\\pi }}{\\eta }_{m}$$\u003c/div\u003e\n \u003cdiv class=\"EquationNumber\"\u003e2\u003c/div\u003e\n \u003c/div\u003e\n \u003cp\u003e\u003c/p\u003e\n \u003cp\u003eIn addition, the output theoretical motor power is calculated from\u003c/p\u003e\n \u003cp\u003e\u003c/p\u003e\n \u003cdiv class=\"Equation\" id=\"Equ3\"\u003e\n \u003cdiv class=\"mathdisplay\" id=\"FileID_Equ3\" name=\"EquationSource\"\u003e$${\\dot{W}}_{theo}={\\text{T}}_{theo}. N= \\frac{{q}_{\\text{m}}{\\text{P}}_{\\text{m}}\\text{N}}{2{\\pi }}$$\u003c/div\u003e\n \u003cdiv class=\"EquationNumber\"\u003e3\u003c/div\u003e\n \u003c/div\u003e\n \u003cp\u003eMoreover, the theoretical and actual motor flow rates are calculated from\u003c/p\u003e\n \u003cdiv class=\"Equation\" id=\"Equ4\"\u003e\n \u003cdiv class=\"mathdisplay\" id=\"FileID_Equ4\" name=\"EquationSource\"\u003e$${\\text{Q}}_{theo}= {q}_{\\text{m}}N$$\u003c/div\u003e\n \u003cdiv class=\"EquationNumber\"\u003e4\u003c/div\u003e\n \u003c/div\u003e\n \u003cdiv class=\"Equation\" id=\"Equ5\"\u003e\n \u003cdiv class=\"mathdisplay\" id=\"FileID_Equ5\" name=\"EquationSource\"\u003e$${\\text{Q}}_{actual}= {q}_{\\text{m}}\\text{N}{\\eta }_{v}$$\u003c/div\u003e\n \u003cdiv class=\"EquationNumber\"\u003e5\u003c/div\u003e\n \u003c/div\u003e\n \u003cp\u003eFrom the previous equations, the pneumatic motor performance depends on \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\({q}_{\\text{m}}\\)\u003c/span\u003e\u003c/span\u003e and \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\({\\text{P}}_{\\text{m}}\\)\u003c/span\u003e\u003c/span\u003e.\u003c/p\u003e\n\u003c/div\u003e\n\u003cdiv class=\"Section2\" id=\"Sec4\"\u003e\n \u003ch2\u003e2.2 Electro-pneumatic motor circuit\u003c/h2\u003e\n \u003cp\u003eAny pneumatic and hydraulic system is constructed mainly from three main stages. It begins with converting mechanical energy input to fluid power with hydraulic pumps or air compressors. Then, the fluid power is transmitted through pipes and connectors while its direction, pressure, and flow rate are controlled through a control element. Finally, the fluid power is converted into mechanical power by actuators such as cylinders and motors. The pneumatic circuit diagram for a pneumatic motor is shown in Fig. \u003cspan class=\"InternalRef\"\u003e2\u003c/span\u003e. It consists of a pressurized air source, adjustable relief valve, 5/3 direction control valve solenoids operated normally in closed mode, pressure gauges, and fixed-displacement unidirectional pneumatic motor. Pulsating flow technique was used in controlling the amount of fluid flow per second according to the frequency at inlet pressures of 1.72, 3.45, and 5.17 bar. The pulsating flow was generated at 1.5, 3, and 4.5 Hz frequencies. On the other hand, the required frequency changes through an electric control circuit designed particularly for this purpose.\u003c/p\u003e\n\u003c/div\u003e\n\u003cdiv class=\"Section2\" id=\"Sec5\"\u003e\n \u003ch2\u003e2.3 Automation Studio simulation setup\u003c/h2\u003e\n \u003cp\u003eAutomation Studio is used for training purposes. It can be applied in designing, training, and troubleshooting simulations of hydraulics, pneumatics, and electrical control systems. The Automation Studio is a completely integrated software package. It contains a comprehensive library used to design, simulate, and animate electro-pneumatic circuits with interface availability for ladder and electric control circuits. The motor torque and speed controls were simulated with the program using pulsating flow at different pressures (1.72, 3.45, and 5.17 bar) and frequencies (1.5, 3, and 4.5 Hz). The simulated electro-pneumatic circuits matched the actual system setup. A pulse flow can be created through the electrical control circuit that opens and closes the solenoids at a specific rate. It can be changed in the program according to the input frequency. Figure 3 shows the PLC control circuit. The momentary cyclic signal of the directional control solenoid valve is in the PLC output module. The interface between the pneumatic and control circuits was created with the Automation Studio program. The PLC control circuit was used at a frequency range greater than that of the classic control circuit.\u003c/p\u003e\n\u003c/div\u003e"},{"header":" Validation Of Automation Studio Simulation","content":"\u003cp\u003eTo validate the Automation Studio results, an experimental system setup was built. The system was designed to measure the speed and force of the cylinder rod by applying continuous and controlled pulsating flow frequency at pressures 1.72, 3.45, and 5.17 bar. It was validated at 5.17 bar, a pressure used in real pneumatic system applications. The pulsating flow was generated at 3 Hz. The experimental system consists of a double-acting pneumatic cylinder, 3/5 directional control valve solenoid operated with high-speed solenoid, air compressor, pressure regulator, easy scope, pulse generation circuit with classic control circuit, meter data logger for air flow, and air pressure data logger. Figure\u0026nbsp;4(A\u0026ndash;C) shows the experimental system setup.\u003c/p\u003e\n\u003cp\u003eFigure 5 compares simulation results and experimental measurements for the working pressure of the cylinder at continuous and pulsating flows of 3 Hz. The simulations were conducted using the Automation Studio program at similar experimental conditions and an input source pressure of 5.17 bar. An excellent agreement with the experimental data was obtained regarding trends. Figure 5 (A and B) shows that the maximum pressure value inside the cylinder simulated by the Automation Studio program was below 2.8% and 1.1% for continuous and pulsating cases, respectively, compared with experimental measurements. The main pressure dropped from 5 bar to 2.12 bar by changing the operation mode from continuous to the pulsating flow of 3 Hz. This indicates that the pulse flow can affect the cylinder forces. On the other side, the simulation with the Automation Studio was a successful method for predicting the cylinder pressure at any frequency.\u003c/p\u003e\n\u003cp\u003eFigure 6 (A and B) compares simulation results and experimental measurements of the non-dimensional air volume as a percentage of the pneumatic cylinder volume as an indication to piston rod velocity. From the experimental observations, the piston rod reached the full stroke (extreme position) at 80% of the non-dimensional air volume inside the cylinder. This is the air compressibility effect inside the cylinder and pressure accumulation. In the case of continuous flow, the time of the fully-filled cylinder was 4 s by simulation, while from the experimental measurement, it filled 81.1% in 4 s. At a frequency of 3 Hz, the time of the fully-filled cylinder was 18 s by simulation, while from the experimental measurement, it filled 81.6% at the same time. The increase in filling time from continuous mode to 3 Hz mode indicates the speed control. Figure 7 (A and B) shows the changes in flow rate with time inside the cylinder for experimental measurements and simulation results. A close agreement with the experimental data was achieved regarding trends.\u003c/p\u003e\n\u003cp\u003eThe difference between the simulation results and experimental measurements for the continuous and pulse flow cases is related to the\u003c/p\u003e\n\u003cp\u003eAutomation Studio. The software does not take into account:\u003c/p\u003e\n\u003cp\u003e1- The internal leakage inside the cylinder.\u003c/p\u003e\n\u003cp\u003e2- The internal leakage in the directional control valve.\u003c/p\u003e\n\u003cp\u003e3- The friction between the piston and cylinder.\u003c/p\u003e\n\u003cp\u003e4- Pressure loss in pipe fitting.\u003c/p\u003e\n\u003cp\u003eIn a real application, friction and leakage inside the cylinder and directional control valve cannot be neglected. In addition, the limited size (small) of the pressurized air tank affects invariable supply pressure in the experimental work. Besides the previously mentioned reasons for the difference between the simulation results and experimental measurements, the frequency in the experimental work was adjusted manually to the required frequencies. The adjustment was carried out through a control panel connected with an easy scope device to count the number of pulses per second, leading to a certain resolution error in frequency change. The error can be handled using a PLC technique instead of the current classic control technique, which can minimize the frequency resolution error and give a variety of frequencies range.\u003c/p\u003e\n\u003cp\u003eThe Automation Studio simulated the difference between the continuous and pulsating flows with a maximum error of 2.8% compared with experimental measurements. The error margin is acceptable for evaluation and validation purposes. Hence, it is a good tool for simulating pulse flow inside pneumatic actuators with a robust and precise method. Furthermore, it is cheap and provides the view for actuator behavior at different modes of pulse frequencies without rebuilding a new setup.\u003c/p\u003e"},{"header":"Results And Discussions","content":"\u003cp\u003eThe influence of pulsating flow was studied with the Automation Studio program at main source pressures of 1.72, 3.45, and 5.17 bar and frequencies of 1.5, 3, and 4.5 Hz.\u003c/p\u003e\n\u003cdiv class=\"Section2\" id=\"Sec8\"\u003e\n \u003ch2\u003e4.1 Pulsating flow at main source pressure, P\u0026thinsp;=\u0026thinsp;1.72 bar\u003c/h2\u003e\n \u003cp\u003eFrom Fig.\u0026nbsp;8, the average motor pressure decreases from 1.57 bar to 1.21, 1.35, and 1.53 bar by changing the flow mode from continuous flow to pulsating air flow of frequencies 1.5, 3, and 4.5 Hz, respectively. The motor torque directly depends on the inlet motor pressure, Eq.\u0026nbsp;(\u003cspan class=\"InternalRef\"\u003e2\u003c/span\u003e), so the input pressure is an important parameter controlling the motor torque.\u003c/p\u003e\n \u003cp\u003eThe frequency change of the pulsating compressed air flow directly affects the motor speed, causing a noticeable drop. The drop in the motor speed increases as the frequency decreases, as shown in Fig. 9. The average motor speeds are 205, 99.4, 148.8, and 189 r.p.m at continuous flow mode, f\u0026thinsp;=\u0026thinsp;1.5, 3, and 4.5 Hz, respectively. In addition, the fluctuations in motor speed r.p.m decrease with an increase in frequency and disappear at continuous flow. The fluctuations appeared because the motor was unloaded. On the other hand, the fluctuations decrease with motor load increase, and the average stays at the same value.\u003c/p\u003e\n \u003cp\u003eIt is worth noting the change in the internal pressure amplitude and rotational speed of the motor at different frequencies. For example, the amplitude changes from 1.31 bar to 0.72 bar to 0.30 bar at 1.5, 3, and 4.5 Hz. This behavior was also observed in the amplitude, which represents the motor rotational speed fluctuations.\u003c/p\u003e\n \u003cp\u003eIncreasing the source pressure increases the air flow rate. As the source pressure increases, the loss rate inside the motor also increases due to the clearances inside the motor. Increasing the flow rate from the source overcomes the increase in the flow rate loss inside the motor. Therefore, the pressure gradient inside the motor increases with the pressure source, increasing the motor torque. A different mode of continuous and pulsating flows at frequencies 1.5, 3, and 4.5 Hz are shown in Figs.\u0026nbsp;8 and 9. As the pulsating flow frequency increases from 1.5 to 4.5 Hz, the percentages of average input pressure and motor r.p.m increase. The average input pressure decreased from 1.56 bar for the continuous mode to 1.53, 1.35, and 1.21 bar at 4.5, 3, and 1.5 Hz pulse flow frequencies. On the other hand, the same behavior is observed for the motor speed, where the average motor r.p.m decreased from 205 r.p.m for the continuous mode to 189.03, 148.18, and 99.43 r.p.m at 4.5, 3, and 1.5 Hz pulsating flow frequencies.\u003c/p\u003e\n \u003cp\u003eThis gives a strong impression that pulsating flow influences the control of motor torque and r.p.m in the control of motor performance using different modes (pulse flow). It is worth mentioning and explaining the important factors affecting the simulation of the tensor performance and accuracy of the program outputs\u0026rsquo; results, such as compressibility, turbulence, and losses inside the pneumatic system (tubes, valves, motor, etc.). On the other hand, the effect of compression appears once with a constant value of the flow rate at a constant main pressure source. However, in the case of pulse flow, the fluid volume inside the motor undergoes repeated pressure and relaxation at each pulse. This volume changes as the motor rotates with the frequency. Therefore, the compressibility rate varies with the volume. In addition, with each repetitive pulse, the internal pressure of the charge inside the motor is affected by the pulse frequency, but in the case of a continuous flow, this effect appears only once at the beginning of the main pressure supplied by the source. This explains the motor\u0026rsquo;s internal pressure change with the change in the pulse frequency.\u003c/p\u003e\n\u003c/div\u003e\n\u003cdiv class=\"Section2\" id=\"Sec9\"\u003e\n \u003ch2\u003e4.2 Pulsating flow at main source pressure, P\u0026thinsp;=\u0026thinsp;3.45 bar\u003c/h2\u003e\n \u003cp\u003eFrom Fig. 10, the average motor pressure decreases from 2.379 bar to 1.814, 2.053, and 2.322 bar by changing the flow mode from continuous to pulsating air flow of frequencies 1.5, 3, and 4.5 Hz, respectively.\u003c/p\u003e\n \u003cp\u003eAs shown in Fig. 11, at main source pressure, P\u0026thinsp;=\u0026thinsp;3.45 bar, the average motor speeds are 312, 143.05, 225.4, and 289.8 r.p.m at continuous flow mode, f\u0026thinsp;=\u0026thinsp;1.5, 3, and 4.5 Hz, respectively. The results showed the same behavior for the motor torque and speed.\u003c/p\u003e\n\u003c/div\u003e\n\u003cdiv class=\"Section2\" id=\"Sec10\"\u003e\n \u003ch2\u003e4.3 Pulsating flow at main source pressure, P\u0026thinsp;=\u0026thinsp;5.17 bar\u003c/h2\u003e\n \u003cp\u003eFrom Fig. 12, the average motor pressure decreases from 2.83 bar to 2.11, 2.38, and 2.85 bar by changing the flow mode from continuous to pulsating air flow of frequencies 1.5, 3, and 4.5 Hz, respectively.\u003c/p\u003e\n \u003cp\u003eAs shown in Fig. 13, at main source pressure, P\u0026thinsp;=\u0026thinsp;5.17 bar, the average motor speeds are 371, 161.82, 267.1, and 361.97 r.p.m at continuous flow mode, f\u0026thinsp;=\u0026thinsp;1.5, 3, and 4.5 Hz, respectively. The results showed the same behavior for the motor torque and speed.\u003c/p\u003e\n\u003c/div\u003e\n\u003cdiv class=\"Section2\" id=\"Sec11\"\u003e\n \u003ch2\u003e4.4 Data collection and comparison of simulation output\u003c/h2\u003e\n \u003cp\u003eA comparison of simulation results at different pressures and frequencies is presented in Table \u003cspan class=\"InternalRef\"\u003e1\u003c/span\u003e. It lists the values of the direct effect of the main source pressure and pulse flow frequency on the pneumatic motor speed, average motor pressure, and motor torque calculated by Eq.\u0026nbsp;(\u003cspan class=\"InternalRef\"\u003e2\u003c/span\u003e) for a motor displacement of 100 cm\u003csup\u003e3\u003c/sup\u003e/rev and assuming 100% motor efficiency. It also shows the strong influence of the pulse flow frequency on motor performance. For example, at an inlet pressure of 1.72 bar with a frequency of 1.5 Hz, the motor speed and pressure reduced by 52% and 22.7%, respectively. The same conclusion at different inlet pressures can be inferred. This confirms the presented research\u0026apos;s idea of using compressed air\u0026apos;s pulse flow in pneumatic systems to control the pneumatic motor\u0026apos;s speed and torque.\u0026nbsp;\u003c/p\u003e\n \u003ctable border=\"1\" id=\"Tab1\"\u003e\n \u003ccaption language=\"En\"\u003e\n \u003cdiv class=\"CaptionNumber\"\u003eTable 1\u003c/div\u003e\n \u003cdiv class=\"CaptionContent\"\u003e\n \u003cp\u003ePneumatic motor average inlet pressure and speed versus applied pressure and frequency\u003c/p\u003e\n \u003c/div\u003e\n \u003c/caption\u003e\n \u003cthead\u003e\n \u003ctr\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003ePressure\u003c/p\u003e\n \u003cp\u003e(bar)\u003c/p\u003e\n \u003c/th\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003eFrequency\u003c/p\u003e\n \u003cp\u003e(Hz)\u003c/p\u003e\n \u003c/th\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003ePneumatic motor average pressure\u003c/p\u003e\n \u003cp\u003e(bar)\u003c/p\u003e\n \u003c/th\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003ePneumatic motor average torque (N.m)\u003c/p\u003e\n \u003c/th\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003ePneumatic motor average speed\u003c/p\u003e\n \u003cp\u003e(r.p.m)\u003c/p\u003e\n \u003c/th\u003e\n \u003c/tr\u003e\n \u003c/thead\u003e\n \u003ctbody\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\" rowspan=\"4\"\u003e\n \u003cp\u003e1.72\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e0.0\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.565\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.49\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e205.00\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.210\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.92\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e99.40\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.0\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.350\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.15\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e148.80\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.530\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.43\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e189.00\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\" rowspan=\"4\"\u003e\n \u003cp\u003e3.45\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e0.0\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.379\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.78\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e312.00\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.814\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.89\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e143.05\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.0\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.053\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.27\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e225.40\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.322\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.70\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e289.80\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\" rowspan=\"4\"\u003e\n \u003cp\u003e5.17\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e0.0\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.830\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.50\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e371.00\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.110\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.36\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e161.82\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.0\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.380\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.79\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e267.10\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.850\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.53\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e361.97\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003c/tbody\u003e\n \u003c/table\u003e\n \u003cp\u003eFigure \u003cspan class=\"InternalRef\"\u003e14\u003c/span\u003e shows the effect of mode change from continuous to pulsating flow with different frequencies and main source pressures on the motor pressure, torque, and speed. For example, at an inlet pressure of 1.72 bar with a frequency of 1.5 Hz, the motor inlet pressure, torque, and speed reduced by 22.68%, 22.89%, and 51.51%, respectively. The same conclusion at different inlet pressures can be inferred. This confirms the validity of the proposed idea in using pulse flow of compressed air in pneumatic systems to control the inlet pressure, torque, and speed of the pneumatic motor.\u003c/p\u003e\n \u003cp\u003eThe pressure and flow rate values describe the fluid power, and by changing the source pressure value, the flow rate also changes. For example, Fig. \u003cspan class=\"InternalRef\"\u003e14\u003c/span\u003e (A) shows that changing the source pressure value from 1.72 bar to 3.45 bar to 5.17 bar increases the motor\u0026apos;s input pressure. This is reflected in the motor\u0026apos;s torque, as shown in Fig. \u003cspan class=\"InternalRef\"\u003e14\u003c/span\u003e (B). At continuous flow represented by 0 Hz (normally opened), with increasing source pressure from 1.72 bar to 3.45 bar to 5.17 bar, the torque increased from 2.49 to 3.78 to 4.50 N.m. It is worth noting here that there is no linear relationship between the increase in the source pressure and the accompanying increase in the motor torque. Instead, the relationship is more like a polytropic, where the torque increment with pressure changing from 1.72 bar to 3.45 bar was below 1.29 N.m. In comparison, this change decreased to less than 0.72 N.m, with the pressure increasing from 3.45 bar to 5.17 bar.\u003c/p\u003e\n \u003cp\u003eThe pressure and flow rate values describe the fluid power, and by changing the source pressure value, the flow rate also changes. For example, Fig. 10 (A) shows that changing the source pressure value from 1.72 bar to 3.45 bar to 5.17 bar increases the motor\u0026rsquo;s inside pressure. This is reflected in the motor\u0026rsquo;s torque, as shown in Fig. 10 (B). At continuous flow represented by 0 Hz (normally opened), the torque increased from 2.49 to 3.78 to 4.50 N.m. It is worth noting here that there is no linear relationship between increasing source pressure and the accompanying increase in the motor torque. Instead, the relationship is more like a polytropic, where the torque increment with pressure changing from 1.72 bar to 3.45 bar was below 1.29 N.m. In comparison, this change decreased to less than 0.72 N.m, with the pressure increasing from 3.45 bar to 5.17 bar.\u003c/p\u003e\n \u003cp\u003eOn the other hand, with increasing source pressure, the motor speed increases, as shown in Fig.\u0026nbsp;10 (C). In addition to the source pressure effect, a great influence appears here, which is this research\u0026rsquo;s core focus, the pulse flow frequency changes the pressure, motor torque, and motor speed for every source pressure. It implies that the source pressure and pulse flow frequency affect the motor speed and torque. Moreover, it gives the assurance that we can control the motor torque and speed through the pulse flow. For example, at continuous flow represented by 0 Hz (normally opened), the motor speed increased from 205 to 312 to 371 r.p.m. It is worth noting that there is a linear relationship between increasing source pressure and the accompanying motor speed. On the other hand, the motor speed increased from 161.82 r.p.m to 267.10 r.p.m to 361.97 r.p.m at 5.17 bar and frequencies of 1.5, 3, and 4.5 Hz, respectively. There is no linear relationship between increasing flow frequency and the accompanying motor speed. Instead, the relationship is more like a polytropic, with increased motor speed. This indicates that with increasing frequency, the compressibility effect decreases.\u003c/p\u003e\n\u003c/div\u003e"},{"header":" Mathematical Correlation Results","content":"\u003cp\u003eThe motor torque and speed depend on the main source pressures (P) and frequencies (f). By the simulation results, the least-squares method is used to calculate the mathematical correlation coefficient. The fitted mathematical correlation is used in predicting the motor torque (\\({\\text{T}}_{theo}\\)) and speed (\u003cem\u003eN\u003c/em\u003e) at any main source P and f for a wide range, expressed by:\u003c/p\u003e\n\u003cdiv\u003e\n \u003cdiv name=\"EquationSource\"\u003e$$N=\\left(55.9624\\right)\\times {P}^{ 0.544}\\times {f}^{0.6388}$$\u003c/div\u003e\n \u003cdiv\u003e6\u003c/div\u003e\n\u003c/div\u003e\n\u003cdiv\u003e\n \u003cdiv name=\"EquationSource\"\u003e$${\\text{T}}_{theo}=\\left(1.3261\\right)\\times {P}^{ 0.5383}\\times {f}^{0.2063}$$\u003c/div\u003e\n \u003cdiv\u003e7\u003c/div\u003e\n\u003c/div\u003e\n\u003cp\u003eTables 2 and 3 show a comparison between the simulation results and mathematical correlation response for motor torque and speed, respectively. \u0026nbsp;\u003c/p\u003e\n\u003ctable border=\"1\"\u003e\n \u003ccaption language=\"En\"\u003e\n \u003cdiv\u003eTable 2\u003c/div\u003e\n \u003cdiv\u003e\n \u003cp\u003eComparison between the simulation results and mathematical correlation response for motor torque\u003c/p\u003e\n \u003c/div\u003e\n \u003c/caption\u003e\n \u003cthead\u003e\n \u003ctr\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003eP\u003c/p\u003e\n \u003cp\u003e(bar)\u003c/p\u003e\n \u003c/th\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003e\u003cem\u003ef\u003c/em\u003e\u003c/p\u003e\n \u003cp\u003e(Hz)\u003c/p\u003e\n \u003c/th\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003eSimulation results, torque (N.m)\u003c/p\u003e\n \u003c/th\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003eMathematical correlation response\u003c/p\u003e\n \u003cp\u003e(N.m)\u003c/p\u003e\n \u003c/th\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003eError\u003c/p\u003e\n \u003cp\u003e(%)\u003c/p\u003e\n \u003c/th\u003e\n \u003c/tr\u003e\n \u003c/thead\u003e\n \u003ctbody\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\" rowspan=\"3\"\u003e\n \u003cp\u003e1.72\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.92\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.93\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e-0.55\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.0\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.15\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.22\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e-3.60\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.43\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.42\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e0.33\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\" rowspan=\"3\"\u003e\n \u003cp\u003e3.45\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.89\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.80\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.83\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.0\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.27\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.23\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e0.92\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.70\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.52\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.79\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\" rowspan=\"3\"\u003e\n \u003cp\u003e5.17\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.36\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.49\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e-3.90\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.0\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.79\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.02\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e-6.28\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.53\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.37\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.32\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003c/tbody\u003e\n\u003c/table\u003e\n\u003cdiv align=\"left\"\u003e\u003cbr\u003e\u003c/div\u003e\u0026nbsp;\u0026nbsp;\u003ctable border=\"1\"\u003e\n \u003ccaption language=\"En\"\u003e\n \u003cdiv\u003eTable 3\u003c/div\u003e\n \u003cdiv\u003e\n \u003cp\u003eComparison between the simulation results and mathematical correlation response for motor speed\u003c/p\u003e\n \u003c/div\u003e\n \u003c/caption\u003e\n \u003cthead\u003e\n \u003ctr\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003eP\u003c/p\u003e\n \u003cp\u003e(bar)\u003c/p\u003e\n \u003c/th\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003e\u003cem\u003ef\u003c/em\u003e\u003c/p\u003e\n \u003cp\u003e(Hz)\u003c/p\u003e\n \u003c/th\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003eSimulation results,\u003c/p\u003e\n \u003cp\u003emotor speed\u003c/p\u003e\n \u003cp\u003e(r.p.m)\u003c/p\u003e\n \u003c/th\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003eMathematical correlation response\u003c/p\u003e\n \u003cp\u003e(r.p.m)\u003c/p\u003e\n \u003c/th\u003e\n \u003cth align=\"left\"\u003e\n \u003cp\u003eError\u003c/p\u003e\n \u003cp\u003e(%)\u003c/p\u003e\n \u003c/th\u003e\n \u003c/tr\u003e\n \u003c/thead\u003e\n \u003ctbody\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\" rowspan=\"3\"\u003e\n \u003cp\u003e1.72\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e99.40\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e97.38\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e2.02\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.0\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e148.80\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e151.63\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e-1.91\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e189.00\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e196.47\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e-3.95\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\" rowspan=\"3\"\u003e\n \u003cp\u003e3.45\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e143.05\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e142.21\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e0.59\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.0\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e225.40\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e221.43\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.76\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e289.80\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e286.90\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.00\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\" rowspan=\"3\"\u003e\n \u003cp\u003e5.17\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e161.82\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e177.21\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e-9.51\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e3.0\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e267.10\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e275.93\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e-3.31\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e4.5\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e361.97\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e357.51\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd align=\"left\"\u003e\n \u003cp\u003e1.23\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003c/tbody\u003e\n\u003c/table\u003e\n\u003cp\u003e\u003c/p\u003e\n\u003cp\u003eFigures 14 and 15 show the predicted effect of pulsating air frequency and main source pressure on the motor torque and speed. The motor torque increases with increasing pulsating air frequency. In addition, the motor torque increases with increasing main source pressure. In contrast, the motor speed increases with increasing pulsating air frequency and main source pressure. The effect of frequency is strongly evident on both motor torque and speed.\u003c/p\u003e"},{"header":"Conclusions","content":"\u003cp\u003eFrom the results, the methods of controlling pneumatic motors in real life using proportional control valves, which is very complicated and expensive, can be replaced by the proposed pulse flow control. The effect of the pulsating air flow on the precise control of pneumatic motors is also evident and has the same function as the proportional control valve. The rotational speed and torque of the pneumatic motor are controlled depending on the pulse flow frequency of air at any inlet source pressure. The pulse flow frequency of compressed air is synthesized, generated, and controlled by an electrical control circuit. The design and simulation for this purpose were done using the PLC technique. The pneumatic cylinder-air pressure and discharged air flow rate were measured using pressure and flow meter data loggers, validated with the simulation results. In the present work, Automation Studio is used to simulate the motor speed and pressure in a pneumatic motor. The conclusions from the study are summarized as follows:\u003c/p\u003e\n\u003col\u003e\n \u003cli\u003e\n \u003cp\u003eAn experimental implementation of a pulsating flow of compressed air on the speed and force of a pneumatic cylinder rod at a source pressure of 5.17 bar was made.\u003c/p\u003e\n \u003c/li\u003e\n \u003cli\u003e\n \u003cp\u003eThe experimental results were used to validate the Automation Studio simulation results for the same conditions, and a close agreement in pneumatic cylinder performance was achieved.\u003c/p\u003e\n \u003c/li\u003e\n \u003cli\u003e\n \u003cp\u003eThe pulse flow frequency of compressed air significantly affects the pneumatic motor performance through output motor torque and speed.\u003c/p\u003e\n \u003c/li\u003e\n \u003cli\u003e\n \u003cp\u003eAs the pulsating flow frequency of compressed air decreased from 4.5, 3, and 1.5 Hz, the motor pressure and torque decreased.\u003c/p\u003e\n \u003c/li\u003e\n \u003cli\u003e\n \u003cp\u003eThe frequency effect on the pneumatic motors\u0026rsquo; performance was simulated based on the motor speed and torque. The results showed a drop in the motor speed with decreasing frequency.\u003c/p\u003e\n \u003c/li\u003e\n \u003cli\u003e\n \u003cp\u003eThe pulsating air flow technique strongly controls the performance of pneumatic actuators with reasonable cost and setup facilities, unlike the other traditional systems.\u003c/p\u003e\n \u003c/li\u003e\n \u003cli\u003e\n \u003cp\u003eThe software \u0026ldquo;Automation Studio\u0026rdquo; showed a realistic result, making it trustable for the preliminary design of the hydraulic and pneumatic system and simulation studies for different systems\u0026rsquo; behavior before building the circuit.\u003c/p\u003e\n \u003c/li\u003e\n \u003cli\u003e\n \u003cp\u003eOn the other hand, it provides the flexibility to convert the output using a controller to modify the fixed output actuators to work with a wide range of variable speed and torque, unlike the other traditional systems of fixed output.\u003c/p\u003e\n \u003c/li\u003e\n \u003cli\u003e\n \u003cp\u003eThe pulsating air flow technique can limit the actuator torque and speed to a required value to achieve the optimum working parameter depending on the frequency.\u003c/p\u003e\n \u003c/li\u003e\n \u003cli\u003e\n \u003cp\u003eAn empirical correlation was developed to predict the T\u003csub\u003etheo\u003c/sub\u003e and N at any main source P and f for a wide range, expressed by\u003c/p\u003e\n \u003c/li\u003e\n\u003c/ol\u003e\n\u003cp\u003e\u003cbr\u003e\u003c/p\u003e\n\u003cp\u003e\u003cem\u003eN\u003c/em\u003e\u0026thinsp;=\u0026thinsp;55.96 \u0026times; \u003cem\u003eP\u003c/em\u003e \u003csup\u003e0.544\u003c/sup\u003e \u0026times; \u003cem\u003ef\u003c/em\u003e \u003csup\u003e0.6388\u003c/sup\u003e\u003c/p\u003e\n\u003cp\u003e\u003cem\u003eT\u003c/em\u003e \u003csub\u003etheo\u003c/sub\u003e = 1.33 \u0026times; \u003cem\u003eP\u003c/em\u003e \u003csup\u003e0.5383\u003c/sup\u003e \u0026times; \u003cem\u003ef\u003c/em\u003e \u003csup\u003e0.2063\u003c/sup\u003e\u003c/p\u003e"},{"header":"Nomenclature","content":"\u003cp\u003e\u003cimg src=\"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZoAAAFGCAYAAABT+lk3AAAgAElEQVR4nOy9/2sbV/b//9SH/bVOxupP3bQYjQqvUBYvrZxC1wk4UI82WUpD0kpuSimk1CsVCu22diM5lJJvlTZNITS2VBowL9pIfjVvUpZKsVzIQqQt+4rVIPFKyA/xDCF0+9OMVTd/wP384N7bGc3ou2RbyXmASHxn7r1n7szcM/fec89xMcYYCIIgCKJH/H+bLQBBEATxYEOKhiAIgugppGgIgiCInkKKhiAIgugpv6tOcLlcmyEHQRAE8YBiUzQA0M+GaC6Xq6/lJwiCeJBwuVw0dUYQBEH0FlI0BEEQRE8hRUMQW4R0Og2XywWXy4V0Or3Z4hBE1yBF85CgaRri8Ti8Xi8KhYJILxQKcLlclrR2y08mk/B6vYjH452K23ckk0mUy+W282uahmvXroExhnw+j4mJCWiaJu6bYRhdlJYgNpaeKJpwONyLYrtCPB4XX4385/f7N1usDUNV1Z6V/fjjj/e0/K2IYRjw+/04dOgQhoeH2y7H4/FgdnYWADA6OgpFUXD9+nV4PB4cOnQIhw8fJmVD9C1dVzRbvdOempqCqqqQZRkAkMlksLi4uMlS9R6Px4PnnnvOlj46OgrGGEZHRzsuf2BgoKMy+pHDhw9jZmYGbre7q+V6PB7s2LFD/H9mZmbLv1sEUYuuKpp4PI5cLoehoaFuFtt1PB4PvF4vAGDfvn2bLA3Rr6TTaRiG0bGSdkLTNEu5o6OjcLvdD+W0JNH/dE3RpNNp3L17t1vFbTiGYYg1hkKhgGw2C6/XC5fLhWg0Ks5Lp9Pw+/2Ix+Mol8vw+/1i+q16asNchtfrFQu81XVFo1G4XC4kk8ma8mWzWYyMjMDlcmFwcFB0OLx+/uNrLXztpd7UoHldhefTNA3RaBSDg4MA1j8eBgcHMTg4aFug1jQNwWBQyHTixAnHengZLpcLIyMjYi3DXBefghocHKy5XlQul0V91WU1alPDMBAOh0XeYDBouV/m9nU67sTMzAxeeuklS1qhUEA4HBbXxOv0er0ol8swDEPI5tSmwPozNjMzY0s/cOAAPv7447oyEcRWpCuKRtM0zMzM4L333gMAPPHEE90odkNZW1vD2toaVFXFxYsXcfPmTczPzyMQCODUqVOikxgYGEAul8ONGzeQTCYxMzODWCyGXC6HS5cuifLS6TQ+/PBDLC0tQdd1jI+PY2JiAoVCwVbXn/70JyiKgrW1NUfZ0uk0Xn31VXz66adgjCEUCmF6ehrpdBpfffUVAoEAgPVpQP4VPDo6ikwmA0VR8NVXXzmWe//+fSGHOU1VVVQqFUSjUTzxxBP4xz/+gcHBQcvam2EYGB8fx+DgIHRdR7FYdOyYw+Ew7t69izt37oh6xsbGYBiGpa4LFy7g7bffhizL+OWXXxzlPXjwIABA13WR74033nC8f+Y25UpseHhYLLYvLS3h8OHDANaf3/379+Oll14SxxcWFnD27FlHOYB1xaSqquN05PLyMiqVCi5duoTjx49D13Uh/9mzZ3HkyBHxTFSvZ3KjAKdR0lNPPYVKpUIWaUT/wapwSGqILMuMMcby+TwDwPL5fMtldItm5VcUxXYulz+TydjSzNcEgEUiEVu9sVhM/C1JElNVVfyt6zoDwAKBgKXcVCrVUFZJkiznlUolBoAlEglRtiRJLBQKWfKFQqGG1+KUFovFGACm67otzVw2v++cTCZjaYdSqVTzHC47L9fcVvXagedjjLFIJGKRqVabJhIJW9vwvKVSSbRnqVQSx30+H1MUpaYsXG5zHo7Ts1XdfuY0c9ub26taZlVVHZ89gtjKAGAdj2j8fj/m5+cBAD/++CMA4LHHHuu02E3FaVH7+++/t/y9bds22zlXr14FsD59UqlUIMuymIp59NFHAQDFYtGShy/41oKXZT6Pf5lPTk4CANxuNz744APMzc1B0zQA6yOO5eXljtagnBa4+bRWOp3G+Pi45Vh1u+VyOaiqapna279/PwDYTIE9Hk9DeVZXVzE5OSmmp06dOuV4XnWbXr58GXNzcxY5eN7bt2+L9hweHhZTo9X3qRp+rzuxNDPDpzrN7VW91snb6IcffuhKnQSxUTj6OmsWvvify+Us6c10Gg8DbAN9rh05cgQff/wxzpw5g9nZWVy4cEFMK/WCSqXSlNGHoihds+rTNA3hcBiGYeBvf/sbhoaGMD093VTeWCyGqampmscLhQJef/11+Hw+x/WRXsOt/wjiQaTtEU2hUMDdu3fBGBO/UCgkzIaJ9Xn8ZtKa4datW7Y081x99ajm888/x6FDh9qqq1lu3LjR8JxcLue4dtNqOxiGAZ/PB4/Hg+XlZQSDwZbyf/31145lFgoFFAoF7N69GydOnEA6ne6JFRlBPMy0pWg0TcPrr78uNpiZ04n1r1NJkvDhhx9aOllN03Dz5s2Wytq5cyckScLRo0ctZZXLZZvxwJEjRyBJEsbHxzE+Pt71vR1mZFnG0tJSXcssRVEAAMeOHbOkt6Nsb9++jUqlgldeeaXlvAcOHECxWLQtop89exY7d+4U06KtKK+9e/cCQMceFVqBtzXNGBD9RsuKJp1OQ5ZlrKys2I7lcjmxP2UrYxiGkN/c6fFRg3k9hltA8U6dry3wOXpenvlfADh9+jSKxSKefPJJRKNRRKNRjI+P48iRI5a6Pvvss7qy8pFKpVLBs88+i3g8jmg0iunpaduIhZ+rqqpYvzHD6zSPjpzS+EjF3Iny6+ftce7cOVQqFfj9fvGBceXKFQDA3bt3US6XMTw8jEAggLm5OeGaJhwO49y5c2LtiNdVz7QbAB555BEAwMWLF4Vs/B5ks1lks9mabXro0CHIsoyJiQlhmu73+7Ft2za43W6x3sYVUTqdxsrKijCZdvqA4tZm1RZyhmE4Pg/8Os1rU7xN+dpmI27fvg0A2LNnT1PnE8SWwclCwIlUKsUAWH6cUChkO9aMNVUvqCU/h1v6mH+KotjSndKcftzSyaldEokEk2VZlMctlJzqakQsFmOSJAnLNbNFmJlSqcR8Pl/D63a6vlgsJiymGqUxtm5BZr4+fr2xWExYkem6ziKRiJA9FAoJ2WuVWwtuKSbLMsvn88KCLRKJNGxTVVVZIBBgAJgkSZa6dF0XsiiKwlRVFTLXe475tZpp5vmo16b1SCQSTJKkmveeILYiAJjr1/8I+j1wWL/L3ynJZBLbtm1reQ2DaJ10Oo1PPvkEy8vLG1JfMBjE008/XdeogSC2Gi6XC6RoHjBGRkY2rOMj1jv/1157reeujMrlMt544w26t0Tf4XK5OjNvJjYfwzBw+PBhbN++HQB6atJM2Dl//jwOHz6M3//+913bU1MNXyt6GJy/Eg8mFI/mAWBlZQVLS0sYGxtzNAIgeofb7cbi4iL+/e9/98TqUtM0fPfddzh+/HhPrQgJopc4Tp0RBEEQRLdwnDrr5zWOh32NhiAIYivhcrlo6owgCILoLaRoCIIgiJ5CioYgHEin08KLMsV/IYjOIEXTAB4dslG0xQeFcrksol5upB+vbsJd0rQLDz7Gfg2CNjExISzKotEo+fQjiBZ56BRNdehj/hscHEQwGLTFSWmHfv4C5j7FKpXKJkvSHuFwGAMDAx1toPR4PMJh7OjoKBRFwfXr1wEA7777LiKRSFeeE4J4WHjoFM3i4qIldDH7NcTB7Oys2Iti7kSmpqawurra9B4GTdNEILh+xOPxOAZ16wfi8TiGhoa67ubf4/GIYGputxvnz5/HwYMHaWRDEE3y0CkawNnNejAYFF6ST58+3Va5hmEgEAh0Kh7RBpqmYXp6WnjH7nbZZuXldrvx5ptvIhwOd70ugngQ6VjR8KmncDiMeDwOl8vVt1963PX7wsICAOt6hZloNCqu2+/3Cxf3PARwLpcTxziFQgEjIyNimo5HigR+czHi9XpRKBSQzWbh9XrhcrkQjUZryludj8vF5TEMQ8jvcrkwMjLiuHZhls3r9ToGCaumXC4jGAyKdhgZGREjwWbkCofDIm8wGLSsgWWzWSGP03Enzpw5A0VRLCNPHvKZr7HxOr1eL8rlsmgffk+cpjzT6bRjxE1FUZDL5WgKjSCaoKMImy6XC7FYDIwx7NmzB59//jlkWe7bwEw8LggP2HX//n2oqmpZr0gmk/jhhx+g6zp0XYfH4xFxRZaXl6EoChRFAWNM+KbKZrN44YUX8Omnn4Ixhn/84x8iNr1hGFhbW8Pa2hpUVcXFixdx8+ZNzM/PIxAI4NSpUzU7s+p8f/rTn6AoipDH7/ejUqngzp070HUdIyMj2L9/v6VDLZfL2L17N9544w0wxjA/P2+ZWqzFwYMHAQC6ros24n7W6sllGAb8fj+Gh4fFYvvS0hIOHz4MYH30sH//frz00kvi+MLCAs6ePVtTFsMwMDc3J4KRmVleXkalUsGlS5dw/Phx6Lou5D979iyOHDkCXdcxPj5uG6FwowCnqTju16xRHB2CINB8PBozqqraYmjwtFAo1Hbcgm7QjPz8PAAitkc+nxcxUzKZjDiPxzkx/119jeaYJYqi2GKhyLLMIpGIJS2RSDAALJFIiPqr6+Zp+Xy+5nXwc6rjpvD4QebYJbquM1mWmSRJFtmqr4fHfalXryRJQnZznkZyJRKJmvWVSiVWKpXE/zk+n69uzB5el1keDo/7Yqb6nprTzNcsy7L4v9NzLcuyY+wfgiB+AwBra0QTDochy7JjXIx+i/7HrdB2794NWZaRyWTqWiw999xzSKfTCIfDYoqwXuyXQqEAVVXxhz/8wZLOo2NevnzZkj4wMGArwxzxsxZ8sZozPz8PWZYtU0lutxuBQACVSgWFQgHlchmqqtruWTPGAKurq5icnBTTU6dOnWpKrsuXL2Nubs5i8cfz3r59W4x0hoeHxaivWCzWlYW3z1NPPdVQ7mbgo3VVVYWMQ0NDtvO8Xm9D2QiCqOHrrB6apiGXyyGVSlnSufnnrl27uiPZBtFqfI/R0VEUi0WcOXMGsiwjFAo15VmXT2dxNsIT7+rqqi3NrETu378PwK4MmkHTNLHO9Le//Q1DQ0OYnp5uKm8sFqsbvKtQKOD111+Hz+dzXB/pNaOjo+QvjyC6SMsjmkuXLgGwf8XzL+h+XZ9pBb7PolQqYXl52bLoX4t79+45pvM4Mr2gUqnUXETn+2UA4NatWy2VaxgGfD4fPB4PlpeXW47m6WRsYBgGCoUCCoUCdu/ejRMnTiCdTnfdVJkgiI2nZUVz9+5dyLJsSYvH48jlchgfH++aYFuVZDIpOu/h4WF8+umnKBaLNXfRj46OQpIkzM3NWTp9/v8XX3yxJ3IeOHAAAHDhwgVL+traGmRZxvDwMB577DEA9um7Rty+fRuVSgWvvPJKW3IVi0WbhdfZs2exc+dOMQ3WivLi1oLNTDF2E8MwbO8CQRB2WlY0Q0NDUFVVrE+Ew2HcvXsXwPr6TD/sLTCbXzcyxb5x4wYACMuvtbU1vPXWWyLf999/D0mSsHPnTgDrI5Tr16/DMAxhSjw7O4tKpYJjx47BMAwYhoFjx47B5/OJDpWPKsyd5S+//CLqrAXP99lnn1nSDx06BJ/Ph48//lgowUKhgLm5OZw7dw7A+sgsEokgl8uJaTDDMHD16lVRtlP78NHQxYsXRbk8D3f/Uk8uWZYxMTEBv9+PeDwOv9+Pbdu2we12i6k9rojS6TRWVlaEybSTPHzUU91O/Hr4/znV99Scl1seNkOxWHwoPq4IomOcLASasSLgv1QqJSzOADBVVXtgt9A8jeTnVkjmXy2Lpupz8/k8SyQSzOfziTSfz2exkCqVSkySJCbLsiU9k8kwWZYZACZJEotEIsIijFs8meVxSqum0Tm6rrNQKGSR1cmSLBaLCYu7UCjEIpEI8/l8LJVKWazWzHBLMVmWWT6fZ5lMhgFgkUikoVyqqrJAICDawmy9qOu6aHdFUZiqqiwSiTBJkmwWbGZCoZCtnur7zK3TzL9YLGa7z2Z5asGt4+pZ5hEEsf4eOkbYZH28ENrv8hPtoWkaZFmGrusbYmiRTCZx+fJlsVeKIAhnXC6Xcyjnfu6o+11+on2SySTu3buHkydP9rQevul0YWHhoTB+IYhOoAibxAPF5OQkKpVKz71nnz17Fl988QUpGYJoEhrREA8c2WwWAwMDPTGNTiaTeP7550nJEESTuFwu5w2bLpdro2XpKv0uP0EQxIOEo6Lp5xEBjWgIgiC2DrRGQxAEQfQcUjQEQRBETyFFQxAEQfQUUjQPCZqmIR6Pi6iXHO4Sv5avtlbK51E14/F4p+I2hTkCqll+v9/flKPTBxHuAqgTotFo30bJJbYmbSsacyhep99GdTatwsNNm38PU6fUTPTMdnn88cd7Wn413OeaOQLqVqXXe3uA9XdyYGCgbjylZnj33XcRiUQoTDXRNdpWNLOzs8jn8wAgwjnzXyqVwvT09JY0M56amoKqqsLrbiaTeSjciHg8HuHl2AyPvdLpnhOPx+MYtK2XeDwexyBti4uLW+qeptPpmmEiukU8HsfQ0FBX9g653W6cP38eBw8epJEN0RU6mjrjnm6rO7BgMCi+bLfiaMHj8cDr9QJAx19/BFGPcrncc4/mmqZhenoaR44c6VqZbrcbb775Zl94Yye2Ph0pGh7szOkryuPxQFEU5HK5juf/NwLuhp6vYWSzWXi9XrhcLkSjUXEeDy8cj8dRLpdFKGi/328LMmYuw+v1iumT6rqi0ShcLheSyWRN+bLZLEZGRuByuTA4OCimJnn9/GcOCdBoatC8rsLzaZom1j2A9S/lwcFBDA4O2qZ/NE1DMBgUMp04ccKxHl6Gy+XCyMiImJIx18X9h1Wvt1RTKBREO3i9XlsQtWw2i3A4bLtmvj7FZTXfUx6OmsvBp4W9Xi/K5TIMwxD3yKkdzM+BuWxN0zA2NoZKpSJG+OYp5W61y5kzZ6AoisWZKC+D31un+5hMJkX95vbg8PeXptCIjnFy6dyK++dQKFTzOHcXX8+9e7dpVn7uGp6jqqqQNxQKsVgsxvL5vHBnXyqVmK7rwh1+IBBgoVCI5fN5kS+RSIjyUqkU8/l8TFVVi7v+fD5vqyuTyYjQAE6kUikmSZJwSc9d9HM3/lzGTCZjycfL5a7+uZt8Xk6pVBJymNN4eZFIhKVSKZbP55ksy0ySJFG2rutMlmUWCoWYrutMVVURPsF8HaFQyHaOJElM13VLXbFYjGUyGebz+WzXweGu+Xk75/N5Ed4gn88zXdeFrOaQAalUynKN/Jp5Pfl8XsieSCSYruvi+mRZZpFIRNzHQCBgaYdSqSRCJTDGWCKRsLVB9d/dbBdd1x3LL5VK4pkLhUIifIf53la3hzmshVn2eu84QTQCAGtb0fBOq54S6SdFw9hv12R+oas7Z15HJBKx1Wt+2SVJssTm4R1CIBCwlNtM21THYqnucHVdZ5Ik2ToErsTqXYtTGr9v5lg0PM1ctizLlvq4EubtwDthp3O47LzcZuIYccVmhitds/yKolgUTSKRsCnJ6vvl9DxUX7M5jdcXCARs95ArDU51Xd1sF37/zB85tWQ1n++U5vShI8sy8/l8dWUgiHoAYG1PnfFIkLt27ap5Do+6uGPHjnar2RScFrWrwwQ7LULz6y0UCqhUKpBlWUxfPfroowDWozKaadQ2vCzzecPDw2CMYXJyEsD6fPoHH3yAubk5sXhrGAaWl5c7WoNyiuvCp2/S6bQtumR1u+VyOaiqapna279/PwDYpmMaOaksl8tQVRV79uyxpDvdh2omJyexuroqpiyfffbZhnmaZWFhARMTE5ZrLBaLqFQqNRfSu9ku/Ll86qmnunA1drxer+2ZJYhWaVvRfP7551AUpe6LkMvlaq7hPAwwkyUe/62srPSkriNHjkCSJJw5cwYAcOHCBbzxxhs9qQtYNykeGhpqeJ6iKI7tMDs721J99+/fB9D+R0symcSTTz6Je/fuYWlpqa0yapHP5x2vsd670a12IYh+oC1Fo2kaVFXF3r17a57DrVVqLRA/DDhtnGt3M92tW7dsaeZF6epRzeeff45Dhw61VVez3Lhxo+E5uVzOZiQBdLcdGhGPx3H06FH885//xMmTJ7vu4v/KlSu2tEbX1+12IYitTFuK5vr16wDsZs2ceDyOubk5xGIxBIPB9qXrU0ZHRyFJEj788ENLZ6JpGm7evNlSWTt37oQkSTh69KilrHK5jLW1Ncu5fFQzPj6O8fHxnoY0lmUZS0tLjp0lR1EUAMCxY8cs6e10po899hgA4PLlyy3nvXr1Knbt2oXh4eGW8zYiEAhgbm7ONuX17bff1szTzXbh72D11G63MAxD7DkjiHZpS9HMzMw4Tolxk9rp6Wnk83lMTU11RchuYxiGmMIyv9z8a9n80v7yyy8AIDp13qHw9RhenvlfADh9+jSKxSKefPJJRKNRRKNRjI+Pi70OvK7PPvusrqx8pFKpVPDss88iHo8jGo1ienraNmLh56qqKtZvzPA6zaMCpzQ+UjGb0/Lr5+1x7tw5VCoV+P1+sRbBv+zv3r2LcrmM4eFh0RFz1zThcBjnzp0Ta0e8rnqm3cD6WkUkEkEul0M4HIZhGDAMQ9yHW7duQdM0cW9XVlbE/di+fTuuX78uTJV5XXfv3kU8HhdlAdZ7yGUzKxHeDnwP2dGjR1GpVPDHP/4R4XBYmFG/8sorIo8kSULObDbb1Xbh72D1Rwe/PuC3e8bbyfyv+Tg/30yxWLStxRFEyzhZCNSCm0vW+22khZkT9eRn7DdLHPOPmxY3SnP6cYsd84+TSCSYLMuiPG4+6lRXI2KxmDDlDQQCFoswM6VSydFKqJnri8ViwvqqURpj65ZS5uvj1xuLxYS1lK7rLBKJCNm5SS9jrGa5zbZDKBRikUiE+Xw+YertdC+4lRd+tRbUdZ35fD4my7Kw4Gt0T+u1g9k8WpZlmxkyN682m5p3s11CoZDtGWrmPtZ67s3PEm8PgmgXAIxCOT9gJJNJbNu27aGcsnxY0TQNsixD1/WuTpcmk0lcvnx5S7nzIfoPl8sFUjQPGCMjI1heXt5sMYgNJplM4t69ezh58mRXyuMeCRYWFrpuPEE8XJCieQAwDAOHDx/G9u3bAQBjY2OO6zPEg084HMaePXu6MpqNRqN4+eWXe2JAQTxckKJ5ADAMA88++yxWV1dx+vRpUjIPOdlsFgMDAx3tXUsmk3j++edpJEN0hZqKhiAIgiC6xe+cEvt5RPCwjWgIgiC2Mi6Xi0I5EwRBEL2FFA1BEATRU0jREARBED2lq4rGHO3xYYs1rmmacD9idt1iGIYlIma7GIYhontuxfDY1bQrb6183L1RP0Rr7QXJZLKjSJf8+aznm44gekVXFc3i4iJCoRBkWe4L00jDMBCPx0VoYB5SN51Oi2OtoqpqDyRdZ9euXcjlcj0rv9u0K2+/XKemaT1XfHzj5KFDhzra0+LxeHDo0CEcPnyYlA2x4XR96mxpaakvnPCVy2U8+eST+Prrr/HRRx+JeCALCwu4d++eCFTWLB6Px9GbtdvtxurqascORt1ud18ob0678tbKNzo6CsbYloptxGP/9JLDhw9jZmamK65lPB4PZmZm+mJETDxYdFXR8Dg11VEQtxrlchljY2OQZRmLi4uWKJQejwdTU1NIpVKO3mwJAliPBTQ3N9fzOgzD6KpyHR0dhdvt7ngqlyBaoWNF4/V64XK54PV6RZyaeuGdtwLT09OoVCr46KOPan4pBoNBDA0NIR6PW0Luml9Qc7oT5vUGno+7qedrOdlsVrRhNBq15Y9GoxgcHITL5arpWiQej4tzRkZGxFy+pmkiP5+CGRwcdJzuaXSupmkIBoPieoPBoG3NoFl5ndqpXj5N0yxtximXyxaZzNfO23lkZATxeNyxnQuFgkjz+/22KaVa7ZrNZjExMQEA2L17t2XtqFwui7XKwcFByz01PwvpdBqDg4N122hmZgYvvfSSJa1QKCAcDov7FA6HxfvHwyBEo1FRvzk4HufAgQP4+OOP698UgugibSsaTdPgcrlw4sQJMMZw4sQJTExMbPn1GU3TxPy/eSTjxNTUFKamphCLxQAAkUjEMgWm6zokSaq5LrO2toaBgQHLesPa2hrW1tagqiouXryImzdvYn5+HoFAAKdOnbJ03m+99RaWlpZQLBah6zoGBwdtdYTDYdy9exd37twRcoyNjcEwDNy/fx+qqqJSqeDChQt4++23IcuyJT4Jp965mqbB5/NhbGwMjDGoqgpVVTE2NtayvE40ynf//n3RZmYOHjwIYP0+cNl5+Goen6VYLOLq1asYGBjAysoKEokETp06hXA4jFu3bmFlZQX5fB65XA6XLl1qql337duHfD4P4LcwzqOjoyiXyzh48CBmZmbAGMPp06dx6tQpsQjPn4UbN25gbW0NoVAIP//8s2ObZLNZqKrqOB27vLyMSqWCS5cu4fjx49B1XbTH2bNnceTIEei6jvHxcRHp1sxTTz2FSqXiqIQIoic4xQ5ohKqqtjgZPC0UCrURsaB7NJKfxxppJgaMGUVRmCzLlrRUKsUikYit7Or4HdVtxc8zxy2pzstjmPC4LowxEW+Fy87jrJjJZDIMAEskEoyx3+LQmMupRa1zQ6GQLcYNj1USCASalteJZvM5ta0kSeI6GWMsEolY7j/PUx3PpVZaK+3qJE8gELDFY/L5fEySJEs9zbwj/F7wGEZmeFwZp/Od0qqfR/6ump9dgugVAFhbI5pwOAxZli1f9z/99BMAbPn1mXaZmZmBqqqWr8D5+XkRMbMdBgYGbGk8uuc333xjGx1WT/PlcjmoqmqZwtu/fz8A2Ka1WhllVp87NzeHkZERS9rw8DB8Ph8WFhaalteJdvMBwOrqKiYnJ8V00qlTp5rK14hW2tXMwsICJiYmLPmKxSIqlYrF3H9oaKihDDwiZy+8J/O2/hruzHwAACAASURBVOGHH7peNkE40bKiKRQKyOVyOHHihCX94sWLALDlA2498sgjACDWk5pldHQUiqJgZmYGwHo7bN++vWfThD///DO8Xm/D8xRFERZz5t/s7GxX5VldXbWlmRVCs/JW024+YH0a1O/345133sGePXvEFGc3aLdd+VRa9W8rTycTRK9pWdHwL26zQikUCpibm4OiKN2TrEcMDw9DlmVUKpWW90CYRzUXL17Ea6+91iMp12lGGeZyOcd9Edlstquy1FqHkiRJ/L9V5d1JPsMw4PP54PF4sLy83PUPnHbb9cqVKy3nIYgHnZYVjZPJ74kTJ6AoCvbu3dsVoXrNuXPnAADvvPNOzc1r3HrHjHlUs7S01NCYoBM8Hk9DZcgV+7Fjxyzp3e7YAoEAisWiTRbDMEQH34y8TrSb7/bt26hUKnjllVdaytcM7bZrIBDA3NycbXrt22+/bVkG/i71YkMof+ZplEVsFC0rGj6/zOec/X4/ZmZmkMvl8NxzzzlauWw19u3bh1QqhWKxiGeffVbsVwB+M0l+66238O6779ry8lHN+++/bzt269Yty7/Ab3P6N27csJ3HR4cAhCUYt5Z67733IEkSXnjhBdHZ8I7OMAwUCgUMDw+Lzs3r9SIejyMcDuPcuXNCCfJ6k8lkw3apde7Ro0chSRLeeecdcd+TySRUVcV7773XtLxONJuvum35FCifsi0UCmJdI5vNIpvN4scff7S0KeB8P8z33jCMptqV1//9998LOY8ePYpKpYI//vGPCIfDwiURV4a87s8//7zh7nxubVZtIchlNMttvh6zkuPXzduBc/v2bQAP7noqsQVxshBohCzLDICwaOFWLM3k7TWtyJDP51koFGKSJAn5fT4fi8ViTNf1mvkkSbId5xY+/KcoirBMMqc5neeUxti69RO3MJJlmWUyGSZJEguFQsIaSdd1FolExDWEQiEhG8/Lf9WWVmYanWuWBb9am1VbpzUjrxON8lW3D5eNW5nJsszy+bywDItEIk21M39+q9MatSsnFArZrLfy+Tzz+XyWa+HpTvXUQ5ZlR+u4RvLHYrG69zORSDg+wwTRCwAwCuXcIuVyGclksuuL7QRRTTqdxieffILl5eWulhsMBvH000937BaJIJqBAp+1QTKZxOTk5GaLQTwEBINByLLc1TW3crkMVVVJyRAbimMoZ8JKOByGpml45plnsLq62pO9DQThxPnz53H48GH8/ve/7/i54255FhcXuyQdQTQHjWiaYHV1VbiROX/+/CZLQzxMuN1uLC4u4t///ndHMZ40TcN3332H48ePd8UTNEG0Aq3REARBED3D5XI5T53V8kbcL/S7/ARBEA8Sjoqmn0cENKIhCILYOpDVGUEQBNFzSNEQBEEQPYUUDUEQBNFTuqJo0um0iL/h9/u7USTRpySTyboxWzolGo12ZOZLEMTG07Gi4U41GWNIpVKWsMVbER7Pvd6PlGXrGIYBv9+PQ4cOYXh42LFd4/E4gHUHmE7Hm+Hdd99FJBLpqTIjCKLLODlAa5ZYLGYLebvZNCN/PSegiUSi5TDPBBNORM3wMM0+n8/RgWMgEGjo7NMJXdeZLMtNhacmCGJzQbuhnIH1ncbT09O2SJv9QL04HJOTkzhw4MAGStP/8DALo6OjlvQdO3YAWN/d7rQb/emnnwbwm0v8ZnG73XjzzTf7IiQFQRBtTp15vV7IsgwAmJiYEFMiDwrcaWY6nYbf70c8Hkc6ncbg4KAI9GUYBsLhsJj2CQaDthgj5XIZwWBQnBMOhzEyMoJCoWCZwuMxV+LxuC2tUV2FQgHhcBh+v99yntfrtU0vOcljGIalXvMUF4CmprZmZmbw0ksvddDiv1FvatPcJoqiIJfL0RQaQfQBbSmalZUVEZ+dMfbAeIJNJpOiMzMMAwMDA8jlcrhx4wbW1tYQCoXw888/i/WI4eFhMMaQz+extLSEw4cPi7LK5TLGxsYwNjYGxhhUVcXy8jKKxSIAYHFxEYlEwlL/1NSULa2ZupaWlmAYBo4dO4a//OUvyGQyUFUVp0+frilPJpPB3Nwcjh07hqmpKXE/I5GI5X7qug5JkmqGcs5ms1BVteVRSS327t0LXdfBGANjDKVSCZIkIRaLWUZM3MFkMwHdCILYZJzm05pBUZQtuZbRrPyoChYFUyCp6vNCoZAlLZFI2NJ4EC4e4EuWZUtALMZ+C47G6+BBq8x1Vqc1U5eiKMzn81nOqb4/gUDAVo4kSSwQCFjyVK+5pVIp23U4XZNTYDOnoFzNtLkZn89X8zmTZdl23QRBbC3QyRpNLpcTcc37GfbrlzNjDKFQyPEcHr6ac/nyZczNzVmmdU6dOgVgPUwuj/nx5z//uWP5GtXFcVoDMVsALiws2K5jdXUV6XRa/M3DVJvT5ufnceTIkZry8fDJ9VzYK4piaWf+46OoWkSjUaiqiq+++srxuNfrFSNEgiC2Lm0pGj691K3pkq0Cj+3eDLFYzLHzDAaD+M9//tNVuerV1U1GR0ehKApmZmYArN/n7du31zWe6BXZbBanTp3Cl19+SW7tCaLPaUvR/PjjjwCAxx57rKvCbDajo6M2y6lafP3117Y0wzBQKBQwMDAAAPjll1+6Ile9ulrhxo0btjTz6AWwjmouXryI1157rTVhu4CmaXj11VcRiUSwb9++Da+fIIju0paiuXbtGmRZ3pQv3a3AgQMHUCwWbZ302bNnsXPnTqGA//u//7up8swKqVo5NaqrWRRFwcLCgs2a7f/+7/8s55lHNUtLSw07ej592qrSq0cgEIAsyzh58qRIK5fLtjoMwxDWjwRBbF3aUjRLS0t48803uy3LhmF2YVLPnQk3nf38888tpsuHDh2CLMuYmJgQ5s9+vx/btm2D2+2Gx+NBIBDAwsICgsEgCoUC0um0WM/gcIX04YcfolAoIB6P41//+hcA4MqVKyiXyw3rMgwDKysruH79ukVG/n/+L58Oe+GFFxCNRkU5L7/8su26+ajm/fffb9iWfPrUafTGR74rKys202/gtxHW999/L9Li8ThUVcXCwoLl3P/5n/+x5S8WixgfH28oI0EQm4yThUA9+K76epZCm0kj+RVFsVk9OVk1OVlMmVFVVexslyTJtrtd13UWCoUYACbLMkulUjarM8bWrcp4GalUiuXzeSbLMkskEmI3fb26qmV0kpvXl8lkmCzLYre+k6UYR5Ikx938TsiybLv+ahlg8gBQyxqtkZWaud1KpdKWfg4JglgHAGtZ0aRSqS1p1sxpJP9m4qRotiKlUslmCl2PVCq14WbG5CqIIPoDtGPefO3aNTENQzyYJJNJ4R2hGYLBIGRZRjab7aFUv2EYBr744gvMzs5uSH0EQXSGYyhnM5qmQZZlqKqKS5cuAUDTllmElbW1NQDds0brJuFwGJqm4ZlnnsHq6mrdfTFOnD9/HocPH8bvf//7lvO2ytmzZ/HFF188tMYoBNFvNBzR8JeZW/fQV2R7+P1+sdFy//79W84/3Orqqtjgef78+Zbzu91uLC4u4t///ndP48Ukk0kcOXKk58qMIIju4fp1Du23hCbjghAEQRBEMzhOnVXpnr7C5XL1tfwEQRAPEi6XqzuhnAmCIAiiFqRoCIIgiJ5CioYgCILoKaRoCAvlchnJZBKapiEej8Pr9XbVjxmnUChQ0DKCeEhoW9FUh/+t/vXSxLUTaoUK5mGaH+bQwOl0GrlcDpOTk7h//z7u3r1bM7Jmp4yOjuLxxx9HOBzuSfkEQWwd2lY0U1NTohMKhUKWOCmKokCW5Z58CXfK4uKipfPkMs/OzmJpaQljY2MPpbIpFAqYn58XYZyHh4fxl7/8pad17tu3D0NDQ4hGoz2thyCIzaWjqbOffvoJgD1gGN/UefHixU6K7xlOO8qDwSA++OADVCoVnD59ehOk2lxef/11vP3225Y0Hlenlxw5cgRzc3Nb8qOEIIju0JGi4e7dHxSXNNzlPXdRn06nhWv+dDotpteAdX9b4XBYTL0Fg0GLK/xyuQyv1wuXywWv14uRkRFxzDAMMYU3ODgIv98vwgTw8rjngEKh4JgWDofh9/tFPV6vV9SfzWYtdVfHsqkmnU5DVdW6sWei0aiQt3ptha/l8OPmEUojWd1uN8bHx/HZZ5/VlZEgiP6lI0Xz+eefIxQK2dLPnDkDoLXQyFsBHj9FURQYhoGBgQHkcjncuHEDa2trCIVC+Pnnn4WiGB4eBmMM+XweS0tLOHz4sChrbGwM586dA2MM8/Pzlum6t956C8888wwYYygWi6LTnZqaQqlUssg0OjpqSwPWYwIZhoFcLof3338fkiRhbW0N6XQaH374IZaWlqDrOsbHxzExMVF3xPDJJ59AUZSaxz/77DP84Q9/QCaTgSzL+Otf/yocaKbTaUxPT2N+fh6MMXzwwQc4deqUxcFmLVk5Tz/9NBYWFrbsuh5BEB3i5NK5GXhcmlQqZUnn8V6q45NsFM3Kj19jnPCYK/l8nkmSxACwTCZjOa/aZX4ikbClRSIRBkDEeAHAVFUVx83tpCiK5W9VVS2hA5zarzpNURQmy7LtuiRJstSr6zoDwAKBQN22cDrO48OYZdN1nUmSJOpOJBJMkiRbfc3IykmlUrZ2JwjiwQDthAngXL9+HQAwPz9vsd7K5XJgjIlF5a0On8LavXs3ZFlGJpOxTSENDQ1Z/r58+TLm5uYs180dZt6+fRvAejji8fFxMW3Fp9yA9fDM4XAY8XgchmHA4/G0Nf3o9XotfxcKBVQqFciyLOR69NFHAaxHo3SCj3Sefvrppup0u90IBoNihDY5OYnV1VUYhoFkMolnn322KVnN7NixAwBw8+bNpmQgCKK/aFvRzM/PQ5ZlLC4uWizOWJ/5GVteXhZyLy8v112nMBOLxWzXzRgTCiWdTuPEiROYmZmB1+u1TCVNTk7iH//4B65evYonn3yy656cneRaWVnpWvnVijeZTOLJJ5/EvXv3sLS01LV6CIJ4MGhb0eRyuYc6XvvXX39tSzMMw7IWEgwGsbKygjfffBP79++3KJvR0VEsLi7iyy+/xMcff9xVE1+nAGTdDEq2trYGSZIArBsCHD16FP/85z9x8uRJihFDEISNthQN70z37NnTVWH6hQMHDqBYLNqsuc6ePYudO3cCgGWUMjU1BUVRcO7cOduxffv2iQV0M+bFcrM1Wz1GR0chSRI+/PBDSx5N02pOS/Epu6tXrzZVB7BulcdHblevXsWuXbs6ig/DA8E98cQTbZdBEMQWxmnhphF8wX8r0oxc3JABVQv21ZRKJQaAybIsjAYYW1/wlmWZAWCKorBYLCb+5UiSJBb8VVVlsiyL4/xcXdeZrussEAgwRVFEXlmWmSRJLJPJsFQqxWKxmKgrn89b6ufGB5xEIsEAMEmSWCQSYZFIxCZ/NYqiMJ/PZ0vnxgChUIipqsp0XWehUIj5fD5RXiAQYJIksVKpxHRdF/WHQiFxjbVk5fDrq3cvCILoTwCwlhQN7xDMv82yLqtFI0XDlaT5Z+7kObyTNf/MqKrKAoGA6NSr28Hn8wkrNt7pc0KhkOh88avFl1kRmC3geD5ehllJ8p/ZKoyxdWVjVoS1OngOt/pyIpFIMJ/PZ7kOs6ylUknUxY/5fD4my7JQ1PVkZYzZFC1BEA8OAJhjhE3WZwv6Zvpd/s3C6/Xi3LlzTRtDdJPBwUH84x//eGA2/hIE8Rsul8s5lHM/d9T9Lv9mUS6X8cYbb2B5eXlD600mk7h37x5Onjy5ofUSBLExUIRNQjA8PIy//e1vG+pNuVwuk5IhiIcAGtEQFsrlMm7fvm3ZYNrP9RAEsbnUnDojCIIgiG7xO6fEfh4R0IiGIAhi60BrNARBEETPIUVDEARB9BRSNARBEERPIUVTh3K5jHA4jMHBwc0WZcuQzWY7dtCZTqcbRv1MJpMU3pkgHhC6pmjMIYf5byP3ZDQLjz9T7+f3+8X5q6urqFQqmyhxZzTq0FshHA5jYGAA+/btq9mOzfDNN9/g+eefr3vO5OQkrly50lX5CYLYHDpWNJqmicBhzBT/RFVVzM3N1Q14tRksLi5awiqzqrgtiURCHBseHm46INhWJJ1O4969e10pKx6PY2hoSLiJ4e3IwwXk8/mmrP24V2m3293w3JMnT2J+fr6rIQ4Igth4OlI06XQasiwjFArZOhmPx4NUKgVVVbfcV2m9mCmTk5M4cODABkrTG/i0XzfQNA3T09M4cuSIJd3j8WDXrl0A0LSfsu+++w4vvvhi03XPzMzg1VdfbTpUAkEQW4+2FY2maZiYmICiKJidnXU8h3dC165da7eaTWFycrLuccMwEI1GMTg4CJfLhZGREctXd/U0nNO0ImCdbnSKsqlpmqjHMAz4/X4MDg6iUCjAMAyxfuRyueD1eoVC1zQNY2NjqFQqmJ6etpUfj8ctspfL5brXe+bMGSiK0tQopBHV02bRaNTSVslk0nI+V2CXLl3quG6CIDaHthUNj65ZS8kAwE8//dRu8ZtCswvQfr8flUoFd+7cga7rGBkZwf79+0VHr6oqZFkGsD7FNDo6KqaZfD4fdF0HsN6JZjIZBAIB22gBAO7fvw9VVVGpVHDhwgW8/fbbkGUZv/zyC44dO4alpSUUi0Xoug6fz4eJiQkYhgGPx4PV1VUAv4WcnpqaArC+znL37l3cuXNHTCGOjY3VHDEYhoG5uTns3bu3xda0o2kaBgcHhcJKJpP44YcfoOs6dF2Hx+OxBHzj7Nq1C3//+987rp8giM2hLUWTTqehqipCoVDdaajvv/8egD3G/FbCPMr461//2vD8dDqNYrGI48ePw+12w+124/jx45BlWUxVeTwenDhxAgDEaMHj8eCDDz5AsVi0lPevf/0Lp06dchwtmNeIDh06hH379mF5eRn79u3D6uoqfD4fPB4P3G43XnvtNQDA7du3a8peLpextLSE2dlZuN1ueDwefPTRR6hUKjVHDLy8bdu2NWybRnz33Xf4y1/+Iv5eW1sT8rvdbszOzjpG2fR4PFBVlabPCKJPaUvR8KmwV155pe55n3/+OYD1TnKrYjYECIVCDc+fn5+HLMsWxeB2uxEIBFCpVMSI6Pnnn4ckSZapoG3btkGSJFy4cAHA+mhBVdW6yppTfQ43EebTa6+++mrDMnK5HFRVtSjX/fv3A0DN6TP+sfDUU081LL8Rly9ftsS7ee6555BOpxEOh6FpGgA4OtnkHyr1lChBEFuXthTN0tISAOCxxx6reQ4f9SiK0lRHuhVopDg5fFrKTPUXv9vtRjAYRDqdhmEY4ms8FAoJBdzqwrgZvk7k8/nwxBNP4Msvv2wqn6IoNks7xljdKdBuoGma7TkYHR0VIzw+IqRRC0E8eHRkdVZPgUxMTACov4az1RgdHW3KeqpSqdTsEB955BHx/8nJSVQqFXz33Xe4cOECnn/+ebz88svCEm9+fr5tN/mHDx/G0tIS7ty5g8nJSQwMDDSVL5fLOcreaxPiS5cuOSpyj8eD2dlZlEolLC8vW/YwEQTxYNCWouGGALXMlvnemXw+3zejmWbhps98+ouztrYGWZYxPDws0oaHh+Hz+fDJJ5+I9QieNjMzg2eeeaZtOXK5HF566aWWLMEURQEAHDt2zJJeT8k899xzAH6bQmuVZDIJwzBw9epVmxLnx4D1tvr0009RLBZtBhncQKDeCJogiC0Mq8IhyYaqqgwAA8BUVRXp+XzeMX0j6UR+JwKBAAPASqUSY4wxXdeZz+djkiSxfD7PGFu/bkmSWCaTseVPpVKW/Iwxlkgkmm4jXn8ikbCkS5LEfD4f03WdqarKQqGQOI+fK0kSUxSFMcaEbLw8WZZZLBZjoVBInFMLACwSidjSVVVlkiQxAEzXdcsxXddZIpFggUCAlUolx/yxWIwFAgHRDrFYjEmSZCtLURQmy3JdGQmC2JoAYG0pGksBVT/e+W4WjeRXFMUmc62OtvrcWCzGGFvvRHnHDoD5fL6a163rOgsEAg3TWqmfsXUFJkkSkySJJRIJ0ekriiI6aq7kzGm6rrNIJCIURCgUsnXs1TgpI6d2dPplMhkWiUQsipaTSCSYz+eztKPTeZIkWa6dIIj+AQDrKJSzpmmQZXlLBRqjwGfdh99nXde7smmzFcrlMsbGxnDnzp0Nr5sgiM7pKPBZoVDA+Ph43U69GS+9xNbH4/EgkUjg7NmzG1736dOn8eWXX5KSIYg+pi1FE4/HsXv3bsuejGqFkk6nce3atbatqoitBbeg28gPh3Q6jRdffNGy94YgiP6jZUXDN9axX/df5PN5AOvmzOaNgNeuXesr02aiMbOzsxgYGNiQODHZbBY7duygDxWCeABwXKMhCIIgiG7xO6fEfl5MJ2MAgiCIrUNHxgAEQRAE0QykaAiCIIieQoqGIAhik9E0rW4QxH6HFM0DhqZpSCaT8Hq9lgeWR/PspsUYDxc9ODjYtTKJ/iebzSIYDHbNQWovnt1WSCaTDaPQdsqZM2fAGIOqqpiennY8R9O0roVnr0c0GhXWxd3ioVM05XLZEj64UYNWh2Fu9WtjMzasPv744yJ6Zq9ZXV1FpVLZkLq2GrQZ2ZmBgQFbgL9W2CrtysOnHzp0yOIstxe89957ANY3R3Pnt9VUBw7sFe+++y4ikUh3lauTX5p+pln58at/rVAoVPc87tNLluWGPsGc2AxnkNy56Ub4B4vFYn3/zLSDqqoNnZE+zCiK0lb7bKV2VRRlw303xmKxms52N7JddF1nsix3xTkyAPbQjWjM+Hw+zM3N1RzVFAoFEebA6/W27AYlHA5v2MiC2DgMw0AgENhsMR44tlK78oCFzcSn6hZ+vx/T09MiDIsZp8CBvcTtduPNN9/s3lSdk/ZpFnNYgHw+z2RZbjhC6DXNyg9AeDeuJbOiKCKkQPXXRLUXZJ/PZwkTEIlEbJ6MOfl8XngtliTJ5kE5lUoxRVFYLBYTXprreXtWVVW4/+cenGEa0aiqyhKJBJNl2fKFxsvm8vN24G79uct+c2iB6lAITiOaTCZj8cocCARso0HzOU7emUulkrgOSZIsYQZSqRQLBAJMURTLedxLNf8q5jJXe4TOZDJMlmVxPJVKiXtqbifzeeb6zdfm9GzwsqrvIy/LyWM2D5HA7wWXWVVVy71QFMUSosJMo3Nrtan5Pa6+Hqc03ka8/ZxGzuYRjdnTN5eFPzfmNKd2rfXscrmbfY+cnpN61Lou7rmd3yv+DJrbn8vK76kkSeIZSyQSIm+t0BvmNuHEYjGR1qh/qPUsVXtcr3cvGFt/XlAV4qQd0EmYAC4cF4y7zecNulm0omgYY+KFqX7w8vm8uHlOnQnvmHVdt4QNMF9/rU7YKZYNjy2j6zrLZDKig04kEiwSidQcNvMhLpdFVVXx8vEXpVQq2e5XqVRikiSJoXEikRB15PN58VBGIhGWyWQsSsk8nK6+Rv6i8Lp5J1atKMxtwJUyb7tSqWTpWHj8nlgsxnRdF2WalQR/KfgLyNtClmXLS5hKpZjP52OqqlruWz6fZ6qqiusJhULi5a6OScRY46khVVUtYRqqyzJ/3IRCIdv948qiVCqJPLFYTChop9hH9c6t16a8XXjH5PR88fcjEomI9jOXU/2xVt0+/DxzR+aUVp3P6dllrPX3KBQKic4fsMd3MsPzVXf2PBaV+V5JkiSmx0ulknieQqGQaCN+TyKRiK1zd+rEuazV7cllqNc/1HuWuPz4NXyHmUgk4tgm9T7Em6VtRcNfdKdOdbMCnnFaVTT8Bav+ejHPz1YrGp7HrJz4CylJkkhzUjSyLNu+ZPgLZ77Rzd7gUChkWwfiD6L5mvg9M7+Y1fmc7qf5GnkZZrmqr9HpK8jn81naz/yFZ87Drz8QCNg+WPgLw3FS/k6dP1eY5rrNz6iu6+KlNV+j+UWsbrtadTnh9OXKZVJVVSgAM/z+8fZo5d2qdW4zbeoUYC6VSol8/COiupNqRhE7tWGz7ep0XivvUfV5Tu+7mVpKgI+sqq/d6Z1vdJ311lGr63AKHOjUPzTzLDn13YzVXv+RZdn28dEqQJtrNK+//jpkWbY4PLx79y5kWe670M3BYBCyLOPjjz8WYYX5mk2t+dn5+XnIsmxZs3G73QgEAqhUKjXNMAuFAlRVxR/+8AdL+qFDhwAAly9ftqQPDQ01lD+dTtvmdAcGBhrm27lzJ4D1eWEur5MDS/M1jo6OQpKkupZ6w8PDYIxheHgY6XQafr/fYoFUKBRQqVSwY8cOW57JyUkAwMLCgs1Ja7FYRKVS6cjsktcty7Io99FHHwUAm5WUUxu2G85627Ztlr95OPCffvoJuVzO4gXd5XJh//79AGCz+mnl3ao+t5k2nZmZgaqqFquvb775RjwXly5dAgD813/9l6Xs1157DcB6ePGNoNX3qLr9AeDq1as1y+fHqi3NLl++LMLUc9LpNFZXV5sX3gHzHhqXy4WlpSXL8f/5n//Byy+/bMtX3T808yyNjo5CURTMzMyIfIVCQTyT1Xi93o4sCDktKxp+k0+cOGFJX1paclzE6gdOnDiBSqWCCxcuAFi3aTffCCecHi6nB9qJtbU1y9+dxFqpVCpNKaRq3G43/vd//xd79+7FCy+8AL/f35Q5465duxqeUygU4PV68c0332BmZqamuWY98vm88BBu/nXjQ8ap3JWVlY7LbZannnrK8reiKI4yddv7eaM2HR0dhSzL4tkvFAp4+umnbeXcv3/f8nczHza9oJvv0Wbi8XjqPuM//PBD0+bVzTxLr7/+uuWD4rPPPhNKule0rGj4V525w+HKZ8+ePd2TbAMxj2rK5TI0TWtobVKpVMQIqJpHHnmkbt579+45pm/fvr05gau4ceNGW/ncbjempqZw584dbN++HWNjYw1HDLWumVMoFLB7926cOHEC6XS6ZjvexkVVuAAAIABJREFUunXLlmb+kr5y5YrteDabrVt3sziV062ym+GXX36x/J3L5RzbtdsyNdOmJ06cgKqqyGazuHjxomMH9J///Mex/GY/tLpFt9+jZrh+/botTdO0nm0mLRQK2Lt3b9PnN/Ms8f7uk08+gaZpGBwc7LmSblnR3L17F4B1aM5HN8187W5V+KhmbGys4WiGDzP5CIiztrYGWZZrfn3wqae5uTnLw8D//+KLL7YstyzLWFpaaqgAqikUCuLlcLvdSKfTqFQqYnrECU3TUCwW8frrr9c8h3+I1Iojs3PnTkiShKNHj1pkLpfL4gs1EAhgbm7ONsL69ttvm7u4GvD2//DDDy11a5qGmzdvdlR2K3z77beQZVlMYwDAsWPHLOd0W8k026bBYFC0EWB9z7ms586ds+ThivP5559vKIdZyVYr3GbpxXtkhnfs1cpj7969qFQqtk3bZ86c6ZkZdC1l70Qrz9L777+PYrGIQCAgNos6YRgGZFluQeIaOC3c1KN6sZEv3m3GxkQnGsnPWG2zPW4abIYvppktb7j1hpPVi3mh1GxVUyqVLJZI1RZr5gU3Ll8zm0S5fGZLIG7FFQqFxDVWL5Ry01Cz/IDd5NEsZyAQsC0MVi8E83r4YiM36/X5fCyRSFgsu7gJKbea4dfKr5/XH4vFLBZTfFHaLAs3xqhuM25lU20lxc17uTkqz1NtjWVuY/OCLF8E5lZAteB1VbezOY/ZfDwWi7FQKGR5DvnxepZSjc5t1KZmnBa0OdyqipfPLZvMbeN0L8z3jFt/8ec0EomI58epXZ0W+Vt5j8xtyY0/6i1wO90jnpdbXvI2VBTFsrDO28epHzDLz5+pZjaMV1Ovf2j0LFVfSyODlmZkbATatTrjDyx/GBVF2fT9M5xG8lfbkpsbmtul1zrX3AGZTWPNL5AZs0Iyl2ven8E7PP7AVO9paOZ+mMtTFEVYx/BdxmY7eX4NZhNm/mA6WZ2Zr7F6n0J1+3CzYvN+BfPejury+UvrtM/GvEfCvH/HqX1aSWPMug/EvA+iup24WbLT88LNw5326Zjhecz7Tpw6MPOeLHM7O7VxLRqdW6tNq+H3sBbmeyfLsk2p1Wt3/synUilh+ZhIJCwfGeZ2dXp2Oa2+R628W7X20Zj341S/M07t79Tf1HqmqslkMra2bXQN9Z6laszm1k5whdapdwQAzDHCZlVSQ1wuF1Kp1JYIu0uBz7pDPB7H9PQ0tWWHuFwuxGIxTE1NbbYoRAuk02l88sknWF5e3mxRNo1kMonLly9jcXGxo3K6EviMz2P28/oMQRCEGb5gvpFGIlsJwzDwxRdfdM3ysWNFc/Hixb7cP0PUh+8l6La78IcJ/hHGDWiI/uL8+fM4d+5cz0MEbEXOnj2LL774onv9utN8WjNUzzP2kzEAUR9UzQFvhBfoB43q94Oey/6FG7E8LHT7elFrjYYgCIIgusXvnBJZHy8AkzEAQRDE1qErxgAEQRAEUQ9SNARBEERPIUVDEARB9BRSNH2MYRhIJpNtmyAnk8meOQMkCILgtK1o4vG4Je5BrV/XYk53Cb/f31Bmv9+/2WI2pFwu46233sLk5CTC4bCQfXBw0NHu3+l+TU5O4sqVKxavyQRBEF3Hyea5WepFiWOM1XTa10uakZ87+HM61xzSeKtSHV6XMasfKx7Otla+av9JiqLUdQxJEATRLkCbETY5P/74IwDgueeeczw+Pj7eM/fZnVBvt+vk5GTNaHNbhWPHjiEQCNiiX3766aeQZRnFYtFxVOZ2u+H1em2Bt2ZmZvDqq6+2HGqAIAiiGTpSNNeuXRNxNTiFQkFMxXQ7QuBGwUMKA+vrINFoFIODg3C5XBgZGbH4PyoUCgiHwyJCpdfrhdfrFZ12NpvFyMiImNaqjmVRLpfFdN7g4CCi0Whd2TRNw9zcHP785z87Hn/zzTcRCoVQLBabnrbk969eLBqCIIh26UjROIVv3r17d9862HRaHPf7/ahUKrhz5w50XcfIyAj2799vWdfggcdyuRzef/99SJKEtbU1pNNpvPrqq/j000/BGEMoFML09LTIWy6XcfDgQczMzIAxhtOnT+PUqVM2ZWSGB1urN1KcnZ0Vga7qlWVm165d+Pvf/97UuQRBEC3hNJ/WDOZ1Dmwhn2fNyu8kO6piL/DgSub1Dr7OIUmSSKsV+K06BguP78DXSAKBgOU4Y0zEr6mFoig1j/OAUlxOvmZTHTOjXkCrRoHWCIIgWgGdrNHwaRZVVcEYA2MMqVTKNsLZ6nDZ2a8jDjPz8/OQZdmyFuJ2uxEIBFCpVCyjH6/Xa8lbKBRQqVSwY8cOkTY8PAzGmJiaW1hYwMTEhMUSrFgsolKp1DRZzuVyTY0Y3W43FhcXIcsyJiYmGnqgHRoaAgDcvn27YdkEQRCt0LaiuXr1qi08wI4dO7Bnz56uCLYZvPLKK7a01dVVW9q2bdu6Vmc+n7coO/7rhntut9uN//f//h8kScLY2NhD6e6cIIjNp21Fk8vlbKOX0dHRLRFls11GR0dtax+VSqWmNdYjjzzSsMxbt27Z0szrO1euXLEd72awpeHhYfzzn/9EpVLBG2+8QZZlBEFsOG0pGt5R9vPopRm4mTNfgOesra1BlmUMDw/XzLtz505IkoSjR49aOvdyuYy1tTUAEAv21SONb7/9tma5iqIgl8u1dB3Dw8NIpVIoFosoFouO53CZHnvssZbKJgiCaIjTwk0jZFnesoGcmpHLbMhQL8APX1CXJEksoOfzeSZJktjgyI0DALBSqWTJz4NfybLMYrEYi0QiTFEUseDOjQMAsFAoxGKxWMNNrrxMp0V7vtm01oJ+IpGwGTxwahk0EARBdAIA1pKicYoaWG01tdk0UjSKotiuoZ4nAF3XhUUWft11b+6oq8uq7sRjsRiTJIkBYIFAwKYEzDv6ZVluuEOfK8nqehrJwQmFQo7HJEmiSJoEQXQd1Iqwyfo4cFi/y98M4XAYkiTh5MmTXSmvXC5jbGwMd+7csVjYEQRBdAoFPutTjh8/jqWlpba9Nldz+vRpfPnll6RkCILoCTSi6VPK5TKmp6fx1VdfdaQguGFHP1sLEgSxdXG5XKRo+hnDMHDp0iUcOnSoLWWTzWYxMDCwJR2fEgTxYFBT0RAEQRBEt/idU2I/jwgephENQRDEVoeMAQiCIIieQ4qGIAiC6CmkaAiCIIieQoqmS2iahng8Dq/XawkfYBiGY2TNVjEMA+l0Gn6/3zFMc6fw8kdGRjqWtVtomoZkMmlr01YxDAPJZLKjfUeFQgHJZLLt/ATxMNO2ogmHw5Y4Ki6Xq+nQwVsFwzAQj8dFqGUeqjmdTotjraKqag8kXWfXrl0tO9RshYGBgZpONzcKTdMsSmVtba2jNi2Xy3jrrbcwOTnZUeiF0dFRPP744333jBPEVqBtRTM7O4t8Pg8AiMViYIxhdna2a4L1mnK5jCeffBJff/01PvroIxEHZmFhAffu3cOjjz7aUnkejwfPPfecLd3tdmN1dRVTU1Mdyet2u7sSo6Ze+fv27etZ+c1y5swZ8f9abdoshmHg4MGDOH/+fDdEw759+zA0NIRoNNqV8gjiYaGjqbMff/wRADruRDca7ttLlmUsLi5aOliPx4OpqSmkUincvXt3E6V8+Ein05ibm+taeceOHUMgEOiqa50jR45gbm6uo6k8gnjY6EjRXLt2DYqidEuWDWN6ehqVSgUfffRRzU4oGAxiaGgI8XjcMj1onk4zpzthXlfh+fh6AV93yGaz8Hq9cLlcti9lwzAQjUYxODgIl8tV001MPB4X54yMjIj4NpqmifyGYcDv92NwcLDlTrJcLsPv98PlcmFwcNAip/n6zOf5/X5bkDWznOaf1+tFNpvFxMQEAGD37t1wuVw2Oc1t1WhaU9M0zM3N4c9//rMlPZ1OIxgMwu/3O8qraZpI83q9tlhBbrcb4+Pj+Oyzz1pqQ4J4qHFy6dwsPM7KVqKR/OZYNM3CwyNEIhFLuq7rTJIkEdMmn89bXPSrqsoymQwDINpJVVVRHo9Bk8/nWSAQsMW0CQQCzOfzMVVVLeEKzGENQqEQC4VCTNd1pqqqiJ+j6zorlUqi3FgsxjKZDPP5fHVDEZhlZWw9Zo45Rg6PaROLxZiu6+L6AoGACEHAry+RSIhyIpEIkyRJXB+/FvM51e1nTotEIiI9Eok0jCXEz6m+X7w8WZZFiAseF0hRFHFdqqoyWZZZIBCwlc2vr179BEGsg1bj0Zhx6hS2Ao3k53LXi0HjhFNgsFQqZVE+tdqkuvPm55k7/Oq8qVTK1pnpum6RnSsBM7zj5x14q51itayBQMAWc4grM3OeaiVcXQ5XrNXnmO9DPUVTr62cUBTFImO9evn5TmlOzxO/N41iBxEEsf6+tT119v333wPAQ+OQcWZmBqqqCm/HADA/P48jR460XebAwIAtjbfrN998A1mWLQYA1dN8uVwOqqpapqH2798PALYpn3YNCRYWFjAxMWGpo1gsolKpWMyFt23bZst79epV8X9JkhzNi5uVy6mtfvnll5rn53I57Nq1q6myW2XHjh0AgJs3b/akfIJ40Ghb0Vy9erUv12ceeeQRAMD169dbyjc6OgpFUTAzMwNgfV/F9u3be2YJ9vPPP8Pr9TY8T1EUYTFn/nXTAjCfzzvW0cq1z87OIpfLiXUXrrBfeeWVtuWijp4g+oO2FU0ul8PevXu7KcuGMDw8DFmWUalUWl4UN49qLl68iNdee61HUq7TjDLM5XK2RXdgfeG8W1y5cqXj8oPBIEKhEE6cOAGXy4WZmRlkMpmHZkRMEA8zbSka/jVaa49DM1/im8m5c+cAAO+8845jJw38ZvFlxjyqWVpa6um+E4/H01AZ8hHlsWPHLOndVDKBQABzc3O2qbhvv/22pXLi8TiGhoawuLgIxhhWVlZ62n6KovRscyufsnviiSd6Uj5BPGi0pWj49JHT16jL5cKJEyc6k6rH7Nu3D6lUCsViEc8++6zwBAD8ZpL81ltv4d1337Xl5aOa999/33bs1q1bln+B39ZKbty4YTuPr8cAv3Vea2trAID33nsPkiThhRdeEMqGKxDDMFAoFDA8PCwUgdfrRTweRzgcxrlz50Qnzuttxn2Kk6xHjx5FpVLBH//4R4TDYeFmh0958Tzm9RhzW3KuXr2Kjz/+WLjQCQaDiMfjljUvPq35/fffi2tspq2c4KPt6g8Jvk5kTjcMAysrK1hZWbGlm/P8/+2d7WtbR/bHv4bf2zxcqa9KW4yvChvK4iW9bmFxAg7UUtIlrKl3r9JCKaQ0K3UpNA92Vk4pJUk3Em1ehDaSSg1moZHUumQpURI5kIVIG2iiBF22IS+Seymm3Vd62LR/wPxeuDO9j9azLTvnAyLx3HtnzsxIc+7MnDmHw5fs+rUHRBCbDjcLAS+4SepqH7sV1Fqzmvx2isUii0QiTJIkIb+iKMLE1QtuPmyGW3fxTzAYFNZR5jS3+9zSGFuxKuOWT7Iss3w+zyRJYpFIRJgJV6tVYTqMXyy7uGz8Wf5ZzRTdLqu5HYvFIlMUxSKH1zNe+WQyGSbLsqWt3eTi37FYLNZWW9nhZuxuFmzN5PVK46iq2rbVIkE8rgBgFMq5TTRNQzqd3lDudgaBubk5HD582GE5d/nyZZw7dw5Xr17teZnRaBSSJOH06dM9zdfn8+Gbb76h/SWCaAEKfNYB6XQahw4dWm8xNhSJRAJ37txx9cLw4osv9s1y7+TJk1haWurKa7OddDqNSCRCSoYg2sA1lDNhJRqNwjAMPP/886jX6xgdHV1vkTYUjx49QqFQwNzcHPbu3YsdO3bghx9+wI8//ohLly7h5MmTfSnX7/fj888/RzQaxRdffNG1zzNN07C8vNzzGRJBbHZoRtMC9XpdWDD1yhPw48Tp06eRSqWwtLSEXbt24YknnsCbb76J7777DidPnuyp00s7o6Oj+OKLL7C4uOhpYdgKmqbh/v37pGQIogNc92gIgiAIole4Lp2RMQBBEATRC8gYgCAIgug7pGgIgiCIvkKKhiAIgugrpGiIrtE0DdFoFD6fr2d5clc1jzOapokIqa06gOUHitcLwzCQSCS6svAjNh8dKRrDMCzxScz+qoAVF/r2cL2DAv/xcrmaHeaz16VZCGE79rbZrNTrdTQajY6efVzaqF2477dW2zWbzaJQKKzrgeKRkRFMT0/jtddeI2VD/IqbX5pW4ZEGvfybAXBEZ+w3rcqPX3xY2aM+2jH7GlvN/5kX6+37ba3gPsg64XFpo07g7doskm2xWBwo/2vcPx5BoJsImwBw48YNZDIZ6LrumNpns1nIsoxwONxNEX1FURQkk0nPWU2pVBLuUQKBQNsHC6PRKHRd71rOzQy1UW9444038M4776y3GILx8XH4/f62VwCIzUnXezRckdhDA9y4cQOTk5PdZt9Xjhw5AgD46KOPXK+fOnUKR48edb3G49X4fD4MDQ1hbGzMEgdmbm4OyWQSABzLh6VSCWNjYxgaGoLP50M0GrUsM2SzWYRCIeFG3+fzuSrsWq2GdDqNQCCAUqkklgT5Gn2tVkM0GhXlh8NhUY7X0mYoFHKkGYaBcDhsyccen8aMebnRvM9iT/Nqo8uXLyMajTr2aJq1ealUEs+Z6x4IBFaVl7e5Od9oNArAuk9Sq9VEOwQCAUfcH03TRPv5fD5HPKPV+sNcB/7dCAQC+Oqrr1aVm8uu67olvo9hGBa5Q6EQfD4fstms4zvj8/ng8/ksSoG3JX/e3pa8L3hd3ZY/p6amcObMmabyE48BbtOcVtB1Xbh359N7XdfFdVmW13zZjLH2ls4YW5ETgGNZrFgsMlVVxb32ZQlFUYRL/mq1Ktzbm+vstpzEXf3zpZBiscgkSWKKooi88vk8A8BUVWWpVIrFYjHXZRHeB/hlCTCfzwtX+tVqlSmKwlKplKUccwgC7rLfXndFUUQYAl3XmSRJIh9d15miKEySJHGPW12r1SqTZdkit1ua23PFYtFxXyttzp/j9+XzeUtbesHbgn9/U6mUKJsvSeGX0AX5fJ5lMhnRdvyZSqXCZFkW/ZpKpSwhEJr1B88DgOMeNFk6UxTF0VaVSoWpqipkyOfzovxYLCbaJJPJiGv2tuRpqVRKtLksy0yWZRaLxZiu66xarTJVVZkkSQ65eLiF9RgHiMEBAOtY0WQyGfHl57E/+H4H/3s9aFfR8H0me6wWHk+G32v+IfNnzAM0/xGaf3Buiob/SM3wQYkPMLzMZvtHjHn/mFOplON5PsBwBeH2gqDruuW5SCTiWGvnA6J58HarazAYdAyA9jSvvR37fa22eTAYdMjrJocZrqDMuL0wmMvm7c7big/aZrhCZqy1/pBl2fOe1RSNlyJ161+z7DyuEGMrbSlJkqUduIJ1y9MtzS4jHwfs33fi8QLd7NHcuHEDTz75JIAVS5NIJCKWQW7duiXCDA864XAYsizjzJkzjoiKXq7gFxYWIMuyZc/G7/dDVdVVwy+XSiXouo7f/va3lvTp6WkAwMWLFy3pw8PDLdfjqaeesvx98eJFJJNJy/LYhx9+CAC4f/8+AODgwYOQJMmydLi4uGixWkomkxgbG7PkPTo6CkVRkMvlWpavW9ppc7e9tNXCOu/YsQPAyrIhz8dtqdKc7/j4OCRJEt+VXC6HAwcOWNq7XC6j0WjAMIym/aFpGnRdx+7duy1lbtu2bdV24fLu3LnT8x6vMAxbt2611G1ycrKn+2W83Dt37vQsT2Jj0rGiMQzD8gXmoX0TiQRu3LghQuluBE6dOoVGo4H5+XkAK3s2PFy1F/V63ZHWbFDg2EMQ98t7cTweB2PM8eGDqN/vRzgcFgYRtVoNd+/edYRBcKtrPz0ue9FNm6+G3+/Ht99+iz179mD//v0IhUJN93QAZyjnYrHo2t78d7Jaf/z8888AnC8Ma8lqyooguqHjczT2t6Tx8XEEg0F89tlnWFpaEm/pGwHzrEbTNBiG0TSwVaPR8DwnwM8/eLG8vOyavn379tYEbhG3jeRarWZ5++fGDvPz87h27Rr++Mc/Op7xesuVJKlHkrZGN23eDL/fj5mZGTx48ADbt2/HxMRE0zNWdlmuXLniuMdsMNBKf9y7d69d0XuG/QWIIHpFR4rm1q1bjik+sGJiyQelfkVN7Bd8VjMxMdF0NjM1NQUAYgbEefToEWRZ9gyMxpdbksmkZZDi/3cb5DtlamoK5XLZYQ109uxZsVQErPSTqqpIJpNYWFhwLBmpqopyuexYDuQWWM2wD8adHuLrtM1boVQqifr5/X5ks1k0Gg0sLi56PmMYBsrlMt544w0AEG1onwldunRJyL9af/BlaPvyaTP4C9H169fbes6NXC6HSCTSdT4c3tcbbSwg+oDbxk0zZFl2bDCar7Wyid0vWpGfb2abraYYYw4rIMaYsFoyH9jkFkRu1mPmDVa+yV8sFlmlUmG6rotNbbv1lHkDm8vXyiFRXoZ9M5hvlOMXQ4Z4PC7+tcM3h92ucYssRVEsVllmKy3GmLBwMrcptwpLpVIsn8+zWCxmabdqteraRmbrpnba3GwcYG43bj3l1ZbcwsqcL0yb22bLPt5nqqq69hm/Lx6PW6zQWukPvvFvLodvyKdSKc/fnJsBhLlPzEYm5vqZ+zQej1v6lLe3vd3c+pnLbTeGIKszgrEOrM74wME/bl+geDy+rl+sZoqG/3D5x24BZZbdfq95MDab1/Ifrd3qxjw4mvPN5/Ni0JEkicViMfFj5j9O88cLPgC61YWxFasfPjBIkuSqSMx19RqIK5WKpS1UVbUMevZ24uVwU2guGx84I5GIZQC2t5FX/Zu1uf05t7Z0s94ymzBzBe9mdWYumysDez68vrIsW146Wu0PPuDzMrhyzmQynv3DX17MePUJl5P3Iy8rGAxalEcrbcmVpVc5/IWkE48axOYBAHONsGlL2lBsdPmJwSORSGB2dnagv1eBQADnzp2zHNr0olQqYdeuXSgWi033IrshHA5j586dmJmZ6VsZxOBDgc8IYpPw9ddf4/33319vMQTcXJuUDAFQmACCaArfaG9mhbaejI6O4siRI8J1zmrcvHkTAPDDDz/0RRbuGunq1at9yZ/YeNDSGUGsgj3ERTweH+i3dE3TcP/+fU+LwFAoZDm8GgwGe6oQDMPArVu38NJLL63LWSti8BgaGnJXNARBEATRK/7PLXEjzwhoRkMQBDE4kDEAQRAE0XdI0RAEQRB9hRQNQRAE0VdI0TxGpNPplrwSrwVzc3MDbS5MEETv6Nh7sz0UsNunFZv+tcYcZrjZZ7PAQ/lOT0+jUChY6ugWgtetjbxi7HTK4cOHEYvFBkbxEQTRR9z80jQjk8lYIvFxX0tmP1Jmf1ZrSTP5i8Wiw08VbH7CuI+uzYI5WihjTp9bdueiHFVVVw2B3C3c0aSXs0iCIDY+6DTC5vLyMh4+fCj+vnHjBgBrRMrdu3f31Y9Sp9y8eRPnz59f9TDZyMgIPvjgg45d2g8S2WwWtVrN0hcjIyPIZrOQZVmERnBbxtq5c2dfg2H5/X689dZbAznzJQiid3SkaOxBzZaWlhyhm+3RBweFVk9179u3TyijWq2Gubk5+Hw+DA0NYWxszBLQqlQqIRqNisiMgUAAgUBAKCpN0xAOhy1LimNjYyiVSgiFQo7lqUQi4bpkVavVEI1GxbVwONxUGZ44cQJ/+tOfXK8FAgFkMhk0Gg2oqtq2YjUMA3NzcwgEAiiVSkgkEvD5fPD5fGJJLp1Oi3abm5tz5BEMBlEoFGgJjSA2MR0pGnMgI8MwoOu6I3TzZgp2FAqF0Gg08ODBA1SrVYyNjeHll1+27G8sLS2hVquhUCjg2LFjkCQJjx49gqZpmJiYwMTEBBhj0HUdt2/fRrlcBgBcvXoVqVTKUt7MzIwjje+zjI6OgjGGYrGIpaUlvPbaa55yX758Gbqu4/e//73nPeFwGKlUCuVyedW83Pj555/RaDSg6zouXLiA6elp1Ot1TE5O4sCBA5ibm8Nzzz2Her2OeDyODz/80KFQeMCydDrdVtkEQWwg3NbT2sFtf2Y9aVd+/ow9lguH18+8p2MOsMUJBoOWfSuOLMssFotZ0nh8E69AW25pqVTKEVCOB5zy2mPh5XhdN9eZx1oxlxGPx1eNYeNWl2b1cctPluVNtSdGEMSvoNM9GjNu+zObiYWFBciybNnT8fv9UFUVjUbDsrQVCAQsz3JX6Xv37u1ajosXLyKZTFoswT788EMAwP37912f4V6HWwlzfP78eRGOeK1nF4FAQMzwCILYfLj6OmsHt/2ZzUa9Xnekbdu2relzP/74Y0/l6Lfn4E8//RS6ruMvf/lLS/UjCIJoha5mNF77M5uNRqPhuVG+ZcsWz+e2bt0KAPjpp596IsdXX33lSKvVaj074+L3+3H16lXIsoxoNIq7d+/2JF+CIB5vulI0i4uLALDqZvNGZ2pqCgAwPz9vSX/06BFkWV51WerJJ58EAPzjH/9oqSyzQrIrp6mpKZTLZccBy7Nnz2LHjh2u+fEXgHYUkd/vx9dffw0AyOVyLT/XDbVaDbIsr0lZBEGsPV0pmtnZWciyvKH3Z/jA/fDhQ9dZy/T0NBRFwZkzZ8SAXSqVkEwmce7cOQArA+XDhw8dZrojIyNQVRW5XA7hcBilUgnZbFbsnXC4Qnr//feFmfC///1vAMCVK1egaRqmp6chyzIOHDiAUCiERCKBUCiEbdu2eZ4J4i8AbjMqTdNw69Yt1/Mzo6Oj+Ne//uVI5x4DEomESPv+++8dZdy7d8/yr/k6v99MuVzG5OSkax0IgtgEuFkINCMYDDIAlo/dImq9aEV+jls93KyiqtWqsMoCwBRFsVhU2fMwXzM/K8syy2QyrpZaqVRKnNTPZDKsWCwyWZZZKpUSFm/2E/3NLMJ11rwsAAAQaklEQVQYW7Host9nr7dXPlxWTrFYZJIksVQq5ZmPPS0YDIr6mtM4lUploKwWCYLoLQAYhXJeBxKJBGZnZ1EsFvs+G8xms/j4449x+/btvpbTKel0GhcvXqT48gSxSaHAZ48B4XAYsixbPBkMCrVaDZ9//jnOnz+/3qIQBNFHSNGsA48ePQLQO2u0Znz66ac4d+7cwLl5OXv2LD7//PNN5UWCIAgntHS2xoRCIRQKBfF3v8/GmEmn03jppZcGYmAfJFkIgugfQ0NDpGgIgiCI/jE0NOTuGWCjB/3a6PITBEFsJlwVzUaeEdCMhiAIYnAgqzOCIAii75CiIQiCIPoKKRqCIAiir5Ci6RGGYSCRSIiwxpxarQafz2fxD9YJtVoN2WwWoVAIoVCoW3H7hqZpiEaj8Pl8fcmfh4tuN+x0J1y+fLmnB10Nw0A0Gl31nlKpRNFGiU1Hx4rGHLuef7iDSu58kX8GdWCs1WpIJBIYGxsTso6NjSGbzYpr7aLreh8kXeGFF16wnMEZVOr1OhqNxpqWafdq3S3RaBRbt27Fvn37epbntWvX8Ic//GHVe8bHx/H00083VUgEsZHoWNGcP39eDKqRSASMMYTDYQArP5ZMJgMAyGQyA+nHStM0PPvss/jqq6/wwQcfgDEGxhhyuRyWl5fxxBNPtJXfyMiIa7gEv9+Per3e9aFMv9+/IQ43jo6OYufOnX3Lf2ZmBvV63eKxOpvNYnl5uWdlJBIJDA8P99wP3cWLF1tSXPv27cPw8DDm5uZ6Wj5BrBddRdjkA9/u3bst6WvpNLITNE3DxMQEZFnG1atXLYPWyMgIZmZm8Mwzz4gw1cTgwpfqjh8/3pP8DMPA7OwsqtVqT/Iz59vOi8LBgwfx7LPPYu/evQP5GyKIduhqj4bvRTz11FOWtNnZWcTj8YH9gczOzqLRaOCDDz7wjOUSDocxPDyMRCJhWQY0L6eZ090w76vw52q1GtLptNjLuXz5MgKBAIaGhhxvsLVaDXNzc/D5fBgaGhIzRjt834Iv/XGfZoZhiOdrtRpCoRB8Pp9rILRQKGSpD7/HXH+epmmauN/n87X85s3rPTQ0hEAg4Lo0qWkawuGwKDMajYr9GE3TRH14/SYmJtBoNDA7OyuWab2Wbc3XvILBffTRRwgGg5bvBW9H3me8vX0+n1iyS6fTog/c2mNxcRGvvvqq+DubzVr6zL5U5vf7MTk5iU8++aSltiWIgcYtdkCrZDIZBoDpum55fj1j0zSTX9d1ERelVXg8lVgsZkmvVqtMkiRR/2KxaImtous6y+fzlpgvuq6L/CKRCIvH46xYLIo4M5VKReSvqipTFIXpum6Ja2OO5xKJRFgkEmHVapXpus4URWGSJLFqtcoqlYrINx6Ps3w+zxRFYfl83lHHarXKFEVhABzXY7GYiEFTqVSYLMuijjyOjjluDa+fPQ9eF/Nz5u9KpVKxxLvhbcfvMbeTGXv5vB8URXHU06v+vA3seXG5eNtHIhFRBy5LLBYT7cHrbu5HxpgjBo/5e5NKpSzXOTwv8++LIDYaAFhXisY+oASDQSbLcm+k65Bm8vNByO2HvRpudctkMhblY1c0ZpncBkLzgGd/1k2J84GQy84HfTN8cOaDdTuDFZchk8k46s5RVdVxnSs3jv17wZW7fYC3K1dVVR0vKZIkMVVVPfNmzNm+XvXmirhZ/XnbueVn7lu3/uZpZnkqlYrje+L2XbLDvwNeipEgNgIAWFdLZ99//72I9Z7NZlEoFPDw4cNushxYTpw4AV3XLdZNCwsLOHjwYMd5bt261ZF28+ZNAMA///lPyLJsWde3L/MVCgXoum5ZKnr55ZcBwBESoJX9gfHxcQSDQZw4cUKklUolTE1Nib9zuRwOHDhgKbNcLqPRaLiGhQZWlo0A4De/+Y0l/fXXXxf14HkPDw9b7qnX6x1ZlB08eBCSJOGjjz6yyHHkyBHPZ3jbP/fcc22Xtxpffvkl/vznP4u/d+zYAWBlKY8v4bkti/Il6e+++66n8hDEWtOVojEMA4FAAIZh4MCBAygWi72Sq29s2bIFAHDr1q22nrMPwqVSCdu3b++bJdj//vc/BAKBpvcFg0FhMWf+dBpM7I033rAo1E8++QTT09OWe4rFomuZzdri559/tvztpmh7hd/vx/Hjx5FMJmEYBmq1Gj777DPPfa5+cufOHYyOjlpk+/bbb7Fnzx7s378foVBo4GIFEUQv6UrRPHz4ECMjI5icnEQmkxnYzX8zo6OjkGUZjUbDc0PYC/Os5sKFC+KNvF+0ogwLhYLr4cVODxryiJwff/wxDMOAz+dzzKSuXLnSUXk//vija/q2bdvE/+/eveu43ukZGfOs5tq1a1BVtaN8uqFUKmHPnj2OdL/fj5mZGTx48ADbt2/HxMSE54yQIDY6HSsawzCg6zqSySQmJyfX5U2xU86dOwcAePfddz1PmHOLLzPmWc3S0lJPD/PZGRkZaaoMg8EgAOC9996zpHd7mv3YsWMol8tQVRVHjx61XFNVFclk0vEGfunSpaZy8nbn8AijL730krgvl8s5PCv85z//6age5lnNiRMnmi5z8nNQfAmtF1y4cMExIyyVSqKOfr8f2WwWjUZDLDFyePs888wzPZOHINaDjhXNf//7XwArg8NGi/m+b98+ZDIZlMtlvPjii8ITAPCrSfLbb7+Nw4cPO57ls5pjx445rt27d8/yL/DrXon5TZ1fNw9ofFDhYZ6PHj0KSZKwf/9+MShxBVKr1VAqlTA6OioGfm4uHI1Gce7cOaEEebntuDWZnp6GJEmuh0T/9re/odFo4He/+x2i0ahwu2M23eVl8rqPjo4iEomgUCgIOQzDwPvvv49YLCbK4MuS+/fvx9zcHBKJBEKhkGV/w543AEiShOvXr1vaiMNnNYqiNF3a4zNy3gdmvv/+ewDW8Ntu/c2v8/u9zs+8++67ol/5v/YDv3xv5oUXXlhVboIYeNwsBFqBW8QMGu3IVCwWWSQSYZIkCZNnRVFYPB5n1WrV8zluPmyGWyXxTzAYFBZI5jS3+9zSGFuxVgoGgwwAk2WZ5fN5JkkSi0QiwlKrWq2yWCwm6sBNnRlj4ln+sVtmrYbZZNet3bgpNJeLs1qZ8XhcyCnLsqt1Vz6fZ7Isi74wmwnb87Zb6AWDQdd+U1W1ZcutSCTisEh0q5M9za0fd+7c6VrHYrFoeV6WZVerM1VV27aOJIhBAwCjUM5tomka0un0hpvFPc6MjY3h9u3bLd1rGAZkWUa1WvU8zLtW+Hw+fPPNNxti75MgvKDAZx2QTqdx6NCh9RaDaJFsNos333yz5ftHRkaQSqVw9uzZPkrVnHQ6jUgkQkqG2BR05evscSEajcIwDDz//POo1+sWU1Vi8Ein07h48SKef/55LC0tte3U9dChQ4hGo8hms+ti5KJpGpaXl3H69Ok1L5sg+gHNaFqgXq+LQ4WffvrpOktDtEKhUMCdO3eQy+U6WgI7f/48tm7d2rYJfLdomob79++TkiE2Fa57NARBEATRK1yXzsgYgCAIgugFZAxAEARB9B1SNARBEERf6bmi4UGhyEkgQRAEAdCMZtPBI3h26qCxVCq15a6GIAiiGT1XNDMzMwN91sQe6pd/fD4fwuHwhp6JaZqGt99+G4cOHeo4fMH4+DiefvppR2hhgiCITulI0ZhjuvP47RzDMDA0NOSIB28e1MfGxjqXuEuuXr0KXdfF38wUv2VpaQkTExMbUtnUajW88sorPTnns2/fPgwPDzu8VxMEQXRCR4qGD2aSJOHBgweWa+aIhmYqlQoAQJZl5HK5TortGW5v++FwGMePH0ej0cDf//73dZCqO9577z2oqtoz/1wHDx5EMplc8wOLBEFsPjpSNHwwe+GFFywDm2EYTYNULSws9C0qZbdwN+1mRcjj0vh8PjEb467oS6WSZaaWSCSQSCQsaaFQCAAs6Xzw1jRNLOX5fD7LDCKbzSIUCiGRSCCbzYqlPTcMw0AymcTevXtFml2OUqnkWDbks05zOsfv92NychKffPJJL5qWIIjHGTeXzq0gSZLDhXkkEhGu0u0u6SORCFNVtW0X0+3Sqvz4xUW7GbO7eY6iKML1frVaZZFIhAEQbt15KADzM/l8XrjsNxOLxUS7VCoVJsuycHWfSqVEu1WrVZGHqqoslUqxWCzm6TI+Fou51tutL/i9drf0iqI4wgLw53Vdd29EgiCIJgBgHSuaYDBoGfiq1aqI02If3HRdX7MBq11Fw+OXFItFESuFxy7hiscc46RarTJZlpkkSSKNx7QxEwwGmaIoljSzolVV1XWwN+fjpqzcCAaDjvI5sixbyuX9FIvFLGlu5fD6txrLhSAIwg4A1jOrs/n5eRw/ftx1jyAWi1kiKQ4SfNlo165dkGUZ+XxeRKdcWFiALMuWOvn9fqiqagmz/Oqrr6LRaFiWDUdGRlAuly1RFHfu3Cmu53I5HDhwwLKUVS6X0Wg0LKbJw8PDTetQKBQ8ozC+9dZbyOVyljxlWUYymRRRRefn5y0RMjlPPfUUgF8jPRIEQXRCTxRNrVbDmTNnHLHRgZUBdmlpyTUs8iBw+/ZtYXl2+/ZtoWQ49Xrd8cy2bdssf4+Pj0OWZSwsLABYqfOrr74KRVFw4cIFAO6x44vFoijb/OmlQuZl8nj0i4uLyOVyaDQauHbtGgDg+vXrFPeEIIi+0RNFMz8/j3A47DpAnjp1ynOmsxFoNBrizd/Oli1bxP+PHTuGQqEAwzBw4cIFjI+P480330QymYSmaajX6472uXLliiNPe8z7bhkZGYGqqvjss89Qq9WwvLws0k6cOIHLly9jamqqp2USBEGY6VrR8NnM0aNHHddKpRIePnyImZmZbotZF/gAPD8/b0l/9OgRZFm2HErlM4doNIrdu3db0l555RW8/vrrljxUVRVKyMylS5faljMYDIp4OW68/vrr0HUdr732Gg4ePGhJe+edd1xnogDw008/AQCeeeaZtmUiCIIQuG3ctIKqqiwYDLJUKuXYSMYvxgCKoqz5RnIr8nPjBDQxUKhWq2KDnltkcaMBt3q5GQWoqspkWXbcW6lUhAzcWs9shcavy7JsMUZwg1uHrXaf3SiAsRXLwdWMDcjqjCCIbkE3Vmdckciy7BiI+ADpZY7bT5rJHwwGxQDPP6vJaTZpBuBqBswpFosOs+58Ps9SqZTn/YqiiPbiyoubTJs/q8EVp5dcjK30l/16LBZjlUrF8xn+MkEQBNEpAJhrhE3WQuCwRCKB2dlZqKrqOKTJD/4Vi8U132R+XAOfRaNRSJLU0xDAPp8P33zzDRkKEATRMT0JfPbXv/7VNT0SidAAtYacPHkSS0tLHXtttpNOp6kPCYLoCR3PaAaVjS5/N2iahtnZWXzxxRddWflpmoYvv/yyp7MjgiAeT4aGhkjRbDZqtRoWFxcxPT3dkbLRNA3379/39KtGEATRDqRoCIIgiL4yNDSE//O6sJHZ6PITBEFsJhyKhmYDBEEQRC/peShngiAIgjBDioYgCILoK6RoCIIgiL5CioYgCILoK6RoCIIgiL5CioYgCILoK6RoCIIgiL5CioYgCILoK/8P4grg7aGx72oAAAAASUVORK5CYII=\"\u003e\u003c/p\u003e\n\u003cp\u003eSubscripts\u003c/p\u003e\n\u003cp\u003e\u003cimg src=\"data:image/png;base64,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\"\u003e\u0026nbsp;\u003c/p\u003e\n"},{"header":"Declarations","content":"\u003cp\u003ea. Funding\u0026nbsp;\u003c/p\u003e\n\u003cp\u003eNo funding is achieved to the research\u003c/p\u003e\n\u003cp\u003eb. Conflicts of interest/Competing interests\u0026nbsp;\u003c/p\u003e\n\u003cp\u003eThe authors affirm that the submission represents original work that has not been published previously and is not currently being considered or submitted to another journal, until a decision has been made. The authors confirm that there are no known conflicts of interest associated with this publication and there has been no significant financial support for this work that could have influenced its outcome.\u003c/p\u003e\n\u003cp\u003ec. Authors\u0026apos; contributions\u0026nbsp;\u003c/p\u003e\n\u003cp\u003eMohamed. A. Aziz: Conceptualization, laboratory experiments, Investigation, Supervision, Project administration, Writing, the main search\u0026rsquo;s idea. Ernesto Benini: Methodology, Investigation. Mohamed A. Khalifa: HMI Software, Visualization, Validation. Osama A. Gaheen: Laboratory experiments, Investigation, Data curation, Writing, Apparatus control design.\u0026nbsp;\u003c/p\u003e"},{"header":"References","content":"\u003col\u003e\n\u003cli\u003eSoliman, MennaAllah, et al. \u0026quot;Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators.\u0026quot; Scientific reports 11.1 (2021): 1-11. https://doi.org/10.1038/s41598-021-91136-z\u003c/li\u003e\n\u003cli\u003eXu, Haiming, and Lanzhu Zhang. \u0026quot;A software and hardware design scheme of intelligent valve positioner.\u0026quot; E3S Web of Conferences. Vol. 268. EDP Sciences, 2021. https://doi.org/10.1051/e3sconf/202126801067\u003c/li\u003e\n\u003cli\u003eOguntosin, Victoria, Slawomir J. Nasuto, and Yoshikatsu Hayashi. \u0026quot;Embedded fuzzy logic controller for positive and negative pressure control in pneumatic soft robots.\u0026quot; 2017 UKSim-AMSS 19th International Conference on Computer Modelling \u0026amp; Simulation (UKSim). IEEE, 2017. DOI 10.1109/UKSim.2017.41\u003c/li\u003e\n\u003cli\u003eBlagojević, Vladislav, et al. \u0026quot;Automatic Generation of the PLC programs for the sequential control of pneumatic actuators.\u0026quot; Facta Universitatis, Series: Mechanical Engineering 17.3 (2019): 405-414. https://doi.org/10.22190/FUME190123033B\u003c/li\u003e\n\u003cli\u003eQi, Haitao, Gary M. Bone, and Yile Zhang. \u0026quot;Position control of pneumatic actuators using three-mode discrete-valued model predictive control.\u0026quot; Actuators. Vol. 8. No. 3. Multidisciplinary Digital Publishing Institute, 2019. https://doi.org/10.3390/act8030056\u003c/li\u003e\n\u003cli\u003eAli, Hazem I., et al. \u0026quot;A review of pneumatic actuators (modeling and control).\u0026quot; Australian Journal of Basic and Applied Sciences 3.2 (2009): 440-454.\u003c/li\u003e\n\u003cli\u003eLee, Han Koo, Gi Sang Choi, and Gi Heung Choi. \u0026quot;A study on tracking position control of pneumatic actuators.\u0026quot; Mechatronics 12.6 (2002): 813-831. https://doi.org/10.1016/S0957-4158(01)00024-1\u003c/li\u003e\n\u003cli\u003eAndrikopoulos, George, George Nikolakopoulos, and Stamatis Manesis. \u0026quot;Advanced nonlinear PID-based antagonistic control for pneumatic muscle actuators.\u0026quot; IEEE Transactions on Industrial Electronics 61.12 (2014): 6926-6937. DOI: 10.1109/TIE.2014.2316255\u003c/li\u003e\n\u003cli\u003eRenn, J-C., and C-M. Liao. \u0026quot;A study on the speed control performance of a servo-pneumatic motor and the application to pneumatic tools.\u0026quot; The International Journal of Advanced Manufacturing Technology 23.7-8 (2004): 572-576. DOI 10.1007/s00170-003-1757-0\u003c/li\u003e\n\u003cli\u003eChen, Yue, et al. \u0026quot;Characterization and control of a pneumatic motor for MR-conditional robotic applications.\u0026quot; IEEE/ASME Transactions on Mechatronics 22.6 (2017): 2780-2789. DOI: 10.1109/TMECH.2017.2767906\u003c/li\u003e\n\u003cli\u003eTakemura, Fumiaki, et al. \u0026quot;Control of a hybrid pneumatic/electric motor.\u0026quot; Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000)(Cat. No. 00CH37113). Vol. 1. IEEE, 2000. DOI: 10.1109/IROS.2000.894606\u003c/li\u003e\n\u003cli\u003eBone, Gary M., and Xing Chen. \u0026quot;Position control of hybrid pneumatic-electric actuators.\u0026quot; In 2012 American Control Conference (ACC), pp. 1793-1799. IEEE, 2012. DOI: 10.1109/ACC.2012.6315400\u003c/li\u003e\n\u003cli\u003eRouzbeh, Behrad, et al. \u0026quot;Design, implementation and control of an improved hybrid pneumatic-electric actuator for robot arms.\u0026quot; IEEE Access 7 (2019): 14699-14713. DOI: 10.1109/ACCESS.2019.2891532\u003c/li\u003e\n\u003cli\u003eStoianovici, Dan, et al. \u0026quot;A new type of motor: pneumatic step motor.\u0026quot; IEEE/ASME Transactions On Mechatronics 12.1 (2007): 98-106. DOI: 10.1109/TMECH.2006.886258\u003c/li\u003e\n\u003cli\u003eChen, Syuan-Yi, and Sheng-Sian Gong. \u0026quot;Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control.\u0026quot; Mechanical Systems and Signal Processing 94 (2017): 111-128. https://doi.org/10.1016/j.ymssp.2017.02.025\u003c/li\u003e\n\u003cli\u003eXu, Yonghong, et al. \u0026quot;Experimental investigation of pneumatic motor for transport application.\u0026quot; Renewable Energy (2021). https://doi.org/10.1016/j.renene.2021.07.072\u003c/li\u003e\n\u003cli\u003eXu, Yonghong, et al. \u0026quot;Experimental study on small power generation energy storage device based on pneumatic motor and compressed air.\u0026quot; Energy Conversion and Management 234 (2021): 113949. https://doi.org/10.1016/j.enconman.2021.113949\u003c/li\u003e\n\u003c/ol\u003e"}],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":true,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":false,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":true,"isPdf":false,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"the-international-journal-of-advanced-manufacturing-technology","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"jamt","sideBox":"Learn more about [The International Journal of Advanced Manufacturing Technology](https://www.springer.com/journal/170)","snPcode":"170","submissionUrl":"https://submission.nature.com/new-submission/170/3","title":"The International Journal of Advanced Manufacturing Technology","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"Pneumatic motor, Pneumatic actuator control, Output performance, High-speed directional control valve, Pulsating flow, speed control, Torque control","lastPublishedDoi":"10.21203/rs.3.rs-2268477/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-2268477/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003ePneumatic motors have several advantages over electric motors and have many robotics and automation applications. However, the performance control of pneumatic motors is not satisfactory mainly due to air compressibility and the high cost of conventional control methods using proportional control valves. This paper presents an unprecedented application of pneumatic motor control using a pulsating compressed air technique. The study also included validated simulations using the Automation Studio program to control the pneumatic motor\u0026rsquo;s speed and torque. The results showed a clear and noticeable improvement in controlling the pneumatic motor outputs and demonstrated that the improvements are frequency functions of the compressed air source pulses and pressure. In addition, the results showed remarkable success in controlling the pneumatic motor outputs depending on the frequency of the compressed air-source pulses and pressure. Pulsating air frequencies of 1.5, 3, and 4.5 Hz were considered as inlet source pressure changed from 1.72, 3.45, and 5.17 bar. Furthermore, empirical correlations have been developed for advanced use in automatic control circuits at an error of 6.3\u0026ndash;9.5% in predicting the motor speed and torque outputs.\u003c/p\u003e","manuscriptTitle":"Speed and Torque Control of Pneumatic Motors Using Controlled Pulsating Flow","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2022-11-21 21:49:23","doi":"10.21203/rs.3.rs-2268477/v1","editorialEvents":[{"type":"communityComments","content":0},{"type":"decision","content":"Major Revisions Needed","date":"2023-03-11T11:27:26+00:00","index":"","fulltext":""},{"type":"reviewerAgreed","content":"","date":"2022-12-09T08:25:48+00:00","index":0,"fulltext":""},{"type":"reviewersInvited","content":"","date":"2022-11-16T19:59:24+00:00","index":"","fulltext":""},{"type":"editorAssigned","content":"","date":"2022-11-16T03:45:40+00:00","index":"","fulltext":""},{"type":"submitted","content":"The International Journal of Advanced Manufacturing Technology","date":"2022-11-15T07:08:39+00:00","index":"","fulltext":""}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"the-international-journal-of-advanced-manufacturing-technology","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"jamt","sideBox":"Learn more about [The International Journal of Advanced Manufacturing Technology](https://www.springer.com/journal/170)","snPcode":"170","submissionUrl":"https://submission.nature.com/new-submission/170/3","title":"The International Journal of Advanced Manufacturing Technology","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false}}],"origin":"","ownerIdentity":"0d37fd0b-428d-4671-a227-8b1a327b971e","owner":[],"postedDate":"November 21st, 2022","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"published-in-journal","subjectAreas":[],"tags":[],"updatedAt":"2023-10-16T20:59:15+00:00","versionOfRecord":{"articleIdentity":"rs-2268477","link":"https://doi.org/10.1007/s00170-023-11562-3","journal":{"identity":"the-international-journal-of-advanced-manufacturing-technology","isVorOnly":false,"title":"The International Journal of Advanced Manufacturing Technology"},"publishedOn":"2023-05-16 20:51:12","publishedOnDateReadable":"May 16th, 2023"},"versionCreatedAt":"2022-11-21 21:49:23","video":"","vorDoi":"10.1007/s00170-023-11562-3","vorDoiUrl":"https://doi.org/10.1007/s00170-023-11562-3","workflowStages":[]},"version":"v1","identity":"rs-2268477","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-2268477","identity":"rs-2268477","version":["v1"]},"buildId":"cBFmMYwuxLRRLfASyISRj","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}