Model-Based Flow Rate Control with Online Model Parameters Identification in Automatic Pouring Machine

Round 1

Reviewer 1 Report

In this paper, the authors have presented an automatic pouring robot with model-based flow control with online model parameters identification. The proposed work includes a tilting-ladle-type automatic poring robot, mathematical modeling of the pouring process, and pouring flow rate control system using the feedforward control method. The authors developed in situ parameter identification model, which identifies the pouring parameter automatically. The proposed work is well organized and well written, but it is highly applied and has narrow research interests. 

Here are my comments, 

1) Please add more quantitative results in abstract 

2) It would be nice to add a different control model in the introduction,

3) Why is the feedforward control method selected but not adaptive, optimal, or any other control architecture.

4) Please add a video of the pouring the robot 

Author Response

We would like to thank the reviewer for spending his/her time to assess the paper, and making some very constructive and detailed informative comments provided in the review. Our responses are given in the attached file. 

Author Response File: Author Response.pdf

Reviewer 2 Report

In this paper, an advanced control system for tilting-ladle-type automatic pouring robots is studied. A feedforward pouring flow rate control system, constructed by the pouring process’ inverse model with the online model parameters identification is studied. The pouring process’ mathematical model is analyzed. The model parameters in the pouring process’ inverse model are updated online via the model parameters identification. The proposed pouring control system’s efficacy was experimented using an experimental model.

I have the following remarks:

• I appreciate the mathematical model developed by the authors.
• I do not appreciate the control solution proposed for the following reasons:

·   Feedback based on the inverse model is extremely sensitive to inaccuracies in model evaluation. No reference is made to the stability of the control system.·   There is no feedback for engine rotation control either. Why?·   Maybe a video camera feedback system would allow a safer and more efficient control system.-        I think the title should be changed as the proposed system does not contain any features associated with a robot.

Author Response

We would like to thank the reviewer for spending his/her time to assess the paper, and making some very constructive and detailed informative comments provided in the review. Our responses are given in the attached file. 

Author Response File: Author Response.pdf

Reviewer 3 Report

The paper describes a 1 dof tilting mechanism for the automatic pouring process in casting processes. The paper is very interesting, well structured, with adequate number of figures and references. I don’t have any major remark about the paper. I would like to address only two minor issues:

• Rephrase sentences 100-107 because it needs several times to read it in order to understand the meaning of this paragraph.
• I understand the mathematical reasoning for selecting the model of flow in eq(14). Is this flow similar to the one used in real casting processes?

Author Response

We would like to thank the reviewer for spending his/her time to assess the paper, and making some very constructive and detailed informative comments provided in the review. Our responses are given in the attached file. 

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

Thanks for adding videos. It looks great. The reviewer suggests accepting in the current form.