In the weaving industry a variety of meshes are manufactured, using both metallic and nonmetallic materials, for a wide variety of filtration applications. At present the quality of the mesh is monitored at several st...
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In the weaving industry a variety of meshes are manufactured, using both metallic and nonmetallic materials, for a wide variety of filtration applications. At present the quality of the mesh is monitored at several stages of the manufacturing process to keep selected parameters within specified limits. This involves stopping the process approximately every half hour, manually assessing the mesh quality, and taking remedial action as necessary. There is a need to replace these manual checks with an automatic system that can continually monitor the mesh as it is being manufactured and, with appropriate actuators, control the loom on-line. This paper presents initial results of research being conducted at Sheffield University to develop such a system for wire mesh. Early experiments proved that a contact measurement technique is inappropriate due to the severe vibrations and backlash nonlinearities present in most looms. The approach adopted here therefore, is to use image processing techniques. The instrument is transputer based so that the image processing can be performed on several processors to achieve the real-time performance necessary for on-line monitoring and control purposes.
Work at Bath has developed from optimal control studies for a single generator, to the simulation of complex multi-machine power systems. Early work showed that power system simulation could be divided into several co...
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Work at Bath has developed from optimal control studies for a single generator, to the simulation of complex multi-machine power systems. Early work showed that power system simulation could be divided into several concurrent processes. At the highest level, user interaction and graphical output can run concurrently with the main calculation model. The model itself has inherent concurrency between the individual generators. This can be exploited by a computer system using a number of processing units. Using multiple microprocessors, a power system simulator can be built with dedicated hardware giving reasonable performance at low cost.
Robots, like humans, must gather extensive information about their environment in order to function effectively. This information is gathered and fed to the robot via sensors. Sensors may be categorised by their chara...
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Robots, like humans, must gather extensive information about their environment in order to function effectively. This information is gathered and fed to the robot via sensors. Sensors may be categorised by their characteristics, by the types of physical phenomena or by application. In the majority of robotic systems currently available, a change in the type of sensors employed will require significant change to other parts of the system. The knock on effect caused by changes to sensors arises from the lack of independence between the different functions of current robotic systems. In this paper, a transputer based system is described where the sensors and the software that control them are separate from the processors that use the information they provide. This separation of data provider from data user enables the software that controls the sensors (and even the sensors themselves) to be upgraded with no corresponding changes to the data user software. Additional sensors can easily be added to the system while obsolete sensors can simply be removed. The nature of the task under consideration suggests that an extendible parallel architecture would be better suited to providing the processing requirements of such a system, than a traditional Von Neumann architecture. In general, one of the difficulties in using parallelarchitectures is that it is difficult to recognise inherent parallelism in problems. However, in the present task the parallel operation of modules is self evident.
control of a robot in any environment requires a range of complicated processing tasks. Cooperation with another robot introduces greater flexibility with further complication of the existing tasks and addition of new...
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control of a robot in any environment requires a range of complicated processing tasks. Cooperation with another robot introduces greater flexibility with further complication of the existing tasks and addition of new tasks required for cooperation. The author examines the software and hardware architecture for such a system.< >
Techniques for implementing an aircraft simulation and control system on a network of transputers are described. Different parallelisation approaches are shown to be appropriate within each of the major constituent pr...
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Techniques for implementing an aircraft simulation and control system on a network of transputers are described. Different parallelisation approaches are shown to be appropriate within each of the major constituent processes. The task of atmospheric turbulence simulation is used to illustrate the procedure.< >
Describes research into the specification, design and implementation of real-time synchronisation and control software for a transputer-controlled, modular, multi-axis, independently driven, high-speed, packaging mach...
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Describes research into the specification, design and implementation of real-time synchronisation and control software for a transputer-controlled, modular, multi-axis, independently driven, high-speed, packaging machine under normal and abnormal conditions. The research has already demonstrated the feasibility of using independent drives and software-based controllers for the synchronisation of both intermittent and continuous motions in applications at the boundary of existing technology.< >
Describes how the authors have integrated the control system design package, MATLAB, with TDS (transputer Development System) in a PC environment and developed new tools to automate the implementation of control laws ...
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Describes how the authors have integrated the control system design package, MATLAB, with TDS (transputer Development System) in a PC environment and developed new tools to automate the implementation of control laws on transputer systems of different sizes and topologies, and to simulate and evaluate strategies, by displaying, on-line, task allocation, processor activity and performance data. Both static and dynamic task allocation strategies are studied.< >
Alliant FX/Series systems offer a unique architecture which is particularly well suited for real time simulation and control applications. Examples of applications which have been developed on the system include the B...
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Alliant FX/Series systems offer a unique architecture which is particularly well suited for real time simulation and control applications. Examples of applications which have been developed on the system include the Boeing Commercial Future Airplane simulator, NCAR Doppler Radar system for detecting wind shear and the Hughes Aircraft F/A-18 weapons Training System. Mazda have recently completed a full vehicle simulator for the new Miata Model in which the vehicle dynamics, out of the window views and instruments are all controlled by a central Alliant system.< >
The functions of a robot controller can consist of planning, organisation, coordination and decision making at the top of control hierarchy and, joint angle control at the bottom end. The computational needs for proce...
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The functions of a robot controller can consist of planning, organisation, coordination and decision making at the top of control hierarchy and, joint angle control at the bottom end. The computational needs for processing of the external data and implementation of complex control strategies for tasks involving precision path following at high speeds, high band-width compliance and adaptive control, are quite intensive. Partition of the computational tasks between various independent processors, which can operate in parallel and communicate with each other when necessary, can help alleviate the burden and allow real-time implementation of a desired control algorithm. The transputer, being general purpose, capable of high speed processing with extensive capabilities is a relatively low cost processor which suitably fulfils the robot control computational requirements stated above.< >
Work at Bath has developed from optimal control studies for a single generator, to the simulation of complex multi-machine power systems. Early work showed that power system simulation could be divided into several co...
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Work at Bath has developed from optimal control studies for a single generator, to the simulation of complex multi-machine power systems. Early work showed that power system simulation could be divided into several concurrent processes. At the highest level user interaction and graphical output can run concurrently with the main calculation model. The model itself has inherent concurrency between the individual generators. This can be exploited by a computer system using a number of processing units. Using multiple microprocessors, a power system simulator can be built with dedicated hardware giving reasonable performance at low cost.< >
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