The design and analysis of time-invariant linear controlsystems give rise to a variety of interesting linear algebra problems. Numerically effective methods now exist for several of these problems. However, algorithm...
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The design and analysis of time-invariant linear controlsystems give rise to a variety of interesting linear algebra problems. Numerically effective methods now exist for several of these problems. However, algorithms for large scale computations and efficient parallel algorithms for these problems are virtually nonexistent. In this paper, we propose several efficient general-purpose parallel algorithms for single-input and multi-input eigenvalue assignment problems. A desirable feature of these algorithms is that they are composed of simple linear algebraic operations such as matrix-vector multiplication, solution of a linear system, and computations of eigensystem and singular values of a symmetric matrix, for which efficient parallel algorithms have already been developed and parallel software libraries are being built based on these algorithms. The proposed algorithms thus have potential for implementations on some existing and future parallel processors. We also propose numerical method for Sylvester matrix equation arising in the construction of Luenberger observer. The method does not need reduction to 'condensed' forms and is thus suitable for large and sparse matrices. The method also exhibits certain parallelism.
A stand-alone control and data-acquisition system has been designed and installed along with the Oak Ridge National Laboratory (ORNL) multiple-pellet injector operating as part of the joint European Torus (JET). This ...
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A stand-alone control and data-acquisition system has been designed and installed along with the Oak Ridge National Laboratory (ORNL) multiple-pellet injector operating as part of the joint European Torus (JET). This system, which is based on a MicroVAX II computer and a programmable logic controller (PLC), is an upgrade of previous systems designed for ORNL pellet injectors installed on other fusion experiments. The primary control-system upgrades are in the user interface, in the automation of sequential injector operation, and in the analysis of the transient data acquired for each pellet fired. The system is integrated into the JET CODAS environment through CAMAC communications modules with customized communications software. Routine operation of the injector is automated and requires no operator intervention. Details of the hardware and software design and of the operation of the system are presented.
The authors present the design of a joint-space adaptive control scheme for controlling the slave arm motion of a dual-arm telerobot system developed to study the telerobotic operations in space. Each slave arm of the...
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ISBN:
(纸本)0818689870
The authors present the design of a joint-space adaptive control scheme for controlling the slave arm motion of a dual-arm telerobot system developed to study the telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with 7 degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and the Lyapunov direct method, the authors derive an adaptation algorithm which adjusts the PD (proportional and derivative) controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is noncompliant and slowly varying. The implementation of the derived control scheme does not require the computation of manipulator dynamics, which makes the control scheme sufficiently fast for real-time applications. A computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payloads while tracking various test trajectories such as ramps or sinusoids with negligible position errors.
An experience is presented with an automated test design tool for functional analysis and test derivation of distributed systems formally specified using Estelle, a description technique based on an extended finite-st...
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An experience is presented with an automated test design tool for functional analysis and test derivation of distributed systems formally specified using Estelle, a description technique based on an extended finite-state machine model. The tool accepts a formal specification of the system and generates control, data flow graphs, and unparameterised test sequences. The tool has been used, on an experimental basis, for conformance test design of ISO File, Transfer, access and Management protocols.< >
An automation system has been developed for the design and analysis of SAW (surface acoustic wave) bidirectional transducers and filters and has been implemented on a personal-computer-class workstation. All dominant ...
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An automation system has been developed for the design and analysis of SAW (surface acoustic wave) bidirectional transducers and filters and has been implemented on a personal-computer-class workstation. All dominant SAW acoustic and electrical effects have been modeled for nonreflecting transducers in a modular architecture. These synthesis and analysis tools form the core of the design-automation system. An automation shell used with the design tools forms the basis of a SAW compiler that is capable of noninteractive filter design. The first-generation set of SAW-filter design rules is implemented in a declarative language that provides logical-decision control of the automation system. The highest level of design choices, such as synthesis technique, transducer weighting, and substrate material, has been implemented in the design-rule system. The design-automation systemcontrols the execution and iteratively evaluates options, corrects errors, and decides on an optimum design choice within the set of design rules. The system accepts user input of a frequency-domain specification and noninteractively outputs a filter meeting these specifications. A design automation system example is shown and experimental results using the CAD (computer-aideddesign) tools are presented.< >
This volume covers the developments and uses of software systems for computercontrol, an area which is fundamental to the successful and profitable operation of virtually all modern industrial processes and manufactu...
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ISBN:
(纸本)9780080357249
This volume covers the developments and uses of software systems for computercontrol, an area which is fundamental to the successful and profitable operation of virtually all modern industrial processes and manufacturing operations. The proceedings cover large real-time software projects, software engineering, distributed computercontrolsystems, expert systems for control and several application-orientated sessions, including electrical power systems, control algorithms, computeraidedcontrolsystemdesign, robot programming and computer vision and CIM. Contains 19 papers.
The design of a joint-space adaptive control-scheme for controlling the slave arm motion of a dual-arm telerobot system developed to study the telerobotic operations in space is presented. Each slave arm of the dual-a...
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The design of a joint-space adaptive control-scheme for controlling the slave arm motion of a dual-arm telerobot system developed to study the telerobotic operations in space is presented. Each slave arm of the dual-arm system is a kinematically redundant manipulator with 7 degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and the Lyapunov direct method, the authors derive an adaptation algorithm which adjusts the PD (proportional and derivative) controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is noncompliant and slowly varying. The implementation of the derived control scheme does not require the computation of manipulator dynamics which makes the control scheme sufficiently fast for real-time applications. A computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payloads while tracking various test trajectories such as ramps or sinusoids with negligible position errors.< >
The authors describe an implemented task planning system for the placement of electronic components on a printed circuit board (PCB). The task planner assumes an assembly workstation which is similar to V. Scheinman&#...
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The authors describe an implemented task planning system for the placement of electronic components on a printed circuit board (PCB). The task planner assumes an assembly workstation which is similar to V. Scheinman's Robotworld (1987), in which a number of small two-degrees-of-freedom robots slide on a horizontal platten above the PCB. After obtaining a PCB specification, the task planner generates a feeder layout, a feeder setup, a component assembly sequence, and a motion program for each of the robots. To test the task planner, the output is simulated graphically. For relatively small PCBs, all of this occurs within minutes, enabling quick turnaround from design to manufacture.< >
The authors present some models, design methods and analysis techniques used in SAW-CAD (surface-acoustic-wave computer-aideddesign). They provide an introduction to CAD system options, implementation, and philosophy...
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The authors present some models, design methods and analysis techniques used in SAW-CAD (surface-acoustic-wave computer-aideddesign). They provide an introduction to CAD system options, implementation, and philosophy;including computer hardware considerations. The basic elements for a SAW-filter CAD system are presented which include both design and analysis. Examples of simulations and results are shown. Finally, a brief description of structural layout considerations for SAW components, and individual die and wafer layout are presented.
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