Planetary exploration rovers are often redundantly actuated, for mechanical robustness and reliability purposes. This paper describes the Integral Redistribution Traction control Architecture (IR-TCA) applied to this ...
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Planetary exploration rovers are often redundantly actuated, for mechanical robustness and reliability purposes. This paper describes the Integral Redistribution Traction control Architecture (IR-TCA) applied to this category of robots. The Traction control Architecture of mobile robots is typically composed by independent decoupled PID speed controllers, one for each motor. In this paper it will be demonstrated that this solution is not suitable in redundantly actuated robots. The IR-TCA is a hierarchical cross-coupled controller, a simple variation to the PID architecture, easily scalable for more complex systems. The stability of this Traction control Architecture will also be demonstrated. Some comparative tests both with a simulator and a real platform will be presented to show the validity of this control architecture.
District Heating Systems (DHS) are being developed in large cities in accordance with their growth. The DHS are formed by enlarging networks of heat distribution to consumers and at the same time they interconnect the...
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District Heating Systems (DHS) are being developed in large cities in accordance with their growth. The DHS are formed by enlarging networks of heat distribution to consumers and at the same time they interconnect the heat sources gradually built. DHS is used in larger cities of some European countries e.g. in Germany, France, Denmark, Finland, Sweden, Austria, Czech Republic, Poland and others. Production technology of heat by means of combined production of power and heat (CHP) is an important way to increasing of thermal efficiency of closed thermal loop. The paper shows the system access to the control of extensive DHS -controlled plant. It concerns automatic control of technological string :production, transport + distribution, consumption” of extensive district heating and that is the contribution of this paper. control by means of advanced control algorithms is a tool (up to now neglect) for decreasing consumption of energy and increasing the level of environment protection. The paper deals with brief description of three modifications of the way of control of hot-water piping heat output at simultaneous operation of qualitative and also quantitative parts of control.
This paper studies the performance of a Fractional Order PD α controller in a hexapod robot with three dof legs and leg joint actuators having saturation. For that objective the robot prescribed motion is characteriz...
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This paper studies the performance of a Fractional Order PD α controller in a hexapod robot with three dof legs and leg joint actuators having saturation. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, two indices measure the walking performance based on the mean absolute density of energy per travelled distance and on the hip trajectory errors. A set of simulation experiments reveals the influence of the different controller tuning upon the proposed indices.
In this contribution a modification of the ALINEA local on-ramp control strategy is presented. In this modification, as in ALINEA, the metering rate is determined by a feedback mechanism where the occupancy rate downs...
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The approach to monitoring and limitation of personnel operations of is considered at control of manufacturing processes on the active scripts basis. Scripts provide separation of roles of persons controlling the proc...
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The approach to monitoring and limitation of personnel operations of is considered at control of manufacturing processes on the active scripts basis. Scripts provide separation of roles of persons controlling the process to according a decision making levels, it guides of choice of control, coordinates staff interaction and monitoring of fulfilment of task. The development of the scheme controls with application of active technological scripts is presented.
This paper studies the performance of different order Padé Fractional Order (FO) PD 0.5 controllers applied to the leg joint control of a hexapod robot with two dof legs and joint actuators with saturation. For s...
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This paper studies the performance of different order Padé Fractional Order (FO) PD 0.5 controllers applied to the leg joint control of a hexapod robot with two dof legs and joint actuators with saturation. For simulation purposes the robot prescribed motion is characterized through several locomotion variables and for the walking performance evaluation are used two indices, one based on the mean absolute density of energy per travelled distance and the other on the hip trajectory errors. A set of simulation experiments reveals the influence of the different order Padé PD 0.5 controllers tuning upon the proposed indices.
The paper presents some problems of autonomic control of multidimensional systems for coal blend production plants. There have been reviewed some static properties of these systems and there has been proposed a new co...
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The paper presents some problems of autonomic control of multidimensional systems for coal blend production plants. There have been reviewed some static properties of these systems and there has been proposed a new control algorithm based on adaptive MCS algorithm including relative gain coefficients. Simulation results prove very good static and dynamic properties of the proposed system.
A new insulin and nutrition control method for tight glycaemic control in critical care is presented from concept to clinical trials to clinical practice change. The primary results show that the method can provide ve...
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A new insulin and nutrition control method for tight glycaemic control in critical care is presented from concept to clinical trials to clinical practice change. The primary results show that the method can provide very tight glycaemic control in critical care for a very critically ill cohort. More specifically, the final clinical practice change protocol provided 2100 hours of control with average blood glucose of .8 +/- 0.9 mmol/L for an initial 10 patient pilot study. It also used less insulin, while providing the same or greater nutritional input, as compared to retrospective hospital control for a relatively very critically ill cohort with high insulin resistance.
The paper covers main design principles and description of optimization algorithms for cutting steel at continuous casting plant. The aim is to produce maximum amount of customer bars from liquid steel. The static cut...
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The paper covers main design principles and description of optimization algorithms for cutting steel at continuous casting plant. The aim is to produce maximum amount of customer bars from liquid steel. The static cutting plan from production planning is dynamically updated taking into account unexpected deviations in steel quality. The optimizing problem type is mixed integer non-linear programming (MINLP).
This work analyzes various configurations for the control of a recently developed compact oil-water separation process for offshore production platforms consisting of a gravity separator and a sequence of three module...
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This work analyzes various configurations for the control of a recently developed compact oil-water separation process for offshore production platforms consisting of a gravity separator and a sequence of three modules of hydrocyclones. Three different control algorithms were compared for interface level control in the separator: proportional and integral, band and linear model predictive control. These algorithms were combined with a classical differential pressure ratio (DPR) control for the modules of hydrocyclones. Results have shown that band control is a promising approach for the interface level and that the DPR control is better if only used in the last module of the sequence of hydrocyclones.
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