Abstract In this paper a data-driven methodology based on the Virtual Reference Feedback Tuning is presented for the tuning of Internal Model controllers. A data based test is presented to check the robust stability o...
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Abstract In this paper a data-driven methodology based on the Virtual Reference Feedback Tuning is presented for the tuning of Internal Model controllers. A data based test is presented to check the robust stability of the controller in the loop, taking advantage of the control structure. Two different examples are shown where the presented method successfully controls a non-minimum phase discrete time plant and a non-linear continuous time process.
Tato bakalářské práce řeší návrh, konstrukční řešení a následnou výrobu karosérie experimentálního mobilního robotu Car4. Cílem je navržení ne...
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Tato bakalářské práce řeší návrh, konstrukční řešení a následnou výrobu karosérie experimentálního mobilního robotu Car4. Cílem je navržení nevšední a nadčasové karosérie, s dodržením všech technických a technologických požadavků. Důraz je kladen na netradiční vzhled, funkčnost, odolnost a vyrobitelnost.
There is also a foil aimed at addressing the problem of baked-on food that keeps the foil clean and permits re-use, and another that features a black coating on one side to transfer radiant heat more efficiently and i...
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There is also a foil aimed at addressing the problem of baked-on food that keeps the foil clean and permits re-use, and another that features a black coating on one side to transfer radiant heat more efficiently and improve roasting performance. Performance and production Throughout the rolling mill, in combination with the mechanical equipment, a range of automation features have been specifically developed and implemented into the Siroll ALU solution to facilitate faster operation and minimise non-productive time.
In this paper, a state-of-the-art literature review is presented emphasising on the development of control variants for mass damper schemes on building-like structures. Additionally, a systematic literature review is ...
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In this paper, a state-of-the-art literature review is presented emphasising on the development of control variants for mass damper schemes on building-like structures. Additionally, a systematic literature review is conducted addressing three relevant questions: What type of mass damper is preferable by the associated industry? How are mass dampers distributed around the world? Is industry following research? Through the systematic literature review, updated lists of mass damper implementations and control algorithm applications in real-life structures were compiled. 208 case-studies are discussed in total. It is found that, 63% of them refer to passive tuned mass dampers, 31% to hybrid mass dampers, 4.0% to active mass dampers and only 2% to semi-active mass dampers. Regarding control algorithms, controllers of 24 structures driving semi-active, active or hybrid mass dampers are presented. It is concluded that the industry considerably lags behind latest structural control research both regarding implementations and overall management.
This article discusses four generations of digital vibration exciter control systems developed by U.S. companies over a period of 40 years. The controllers are categorized as standalone, PC-based, PC-tethered, and ful...
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This article discusses four generations of digital vibration exciter control systems developed by U.S. companies over a period of 40 years. The controllers are categorized as standalone, PC-based, PC-tethered, and fully networked.
This paper discusses the design of remedial measures that can be taken to achieve reasonable nutation damping of the Galileo spacecraft in the event of failure of its boom damper in flight. One shceme exploits the eff...
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This paper discusses the design of remedial measures that can be taken to achieve reasonable nutation damping of the Galileo spacecraft in the event of failure of its boom damper in flight. One shceme exploits the effects of payload motion on the nutational stability of a spinning spacecraft. This scheme demands that the spacecraft motion compensation algorithm be enabled with the scan platform bore sight pointed in a well chosen direction to produce rapid damping of spacecraft nutation. A second method suggested for nutation damping is a thruster-based open loop control algorithm, utilizing a pair of thrusters as actuators.
Premature infants often require respiratory support with a varying concentration of the fraction of inspired oxygen FiO(2) to keep the arterial oxygen saturation typically measured using a peripheral sensor (SpO(2)) w...
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Premature infants often require respiratory support with a varying concentration of the fraction of inspired oxygen FiO(2) to keep the arterial oxygen saturation typically measured using a peripheral sensor (SpO(2)) within the desired range to avoid both hypoxia and hyperoxia. The widespread practice for controlling the fraction of inspired oxygen is by manual adjustment. Automatic control of the oxygen to assist care providers is desired. A novel closed-loop respiratory support device with dynamic adaptability is evaluated nonclinically by using a neonatal respiratory response model. The device demonstrated the ability to improve oxygen saturation control over manual control by increasing the proportion of time where SpO(2) is within the desired range while minimizing the episodes and periods where SpO(2) of the neonatal respiratory model is out of the target range.
Cílem práce byl návrh a implementace řídicích algoritmů pro optimalizaci spotřeby energie elektrického vozidla. Hlavním úkolem byla optimalizace rozložení energie mezi hlav...
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Cílem práce byl návrh a implementace řídicích algoritmů pro optimalizaci spotřeby energie elektrického vozidla. Hlavním úkolem byla optimalizace rozložení energie mezi hlavním zdrojem energie (bateriemi) a super-kapacitory v průběhu jízdního cyklu. Jízdní výkonový profil je odhadován a předpovězen na základě 3D geografických souřadnic a matematického modelu vozidla. V první části jsou uvedeny komponenty vozidla a jejich modely. Poté jsou představeny algoritmy na základě klouzavého průměru a dynamického programování. Byly provedeny simulace a analýzy pro demostraci přínosů algoritmů. V poslední části je popsána Java implementace algoritmů a také aplikace pro operační systém Android.
The paper intends to present goals and preliminary results of the ARFLEX Project (Adaptive Robots for Flexible Manufacturing Systems), a three-year project funded by the European Commission aiming at applying the most...
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The paper intends to present goals and preliminary results of the ARFLEX Project (Adaptive Robots for Flexible Manufacturing Systems), a three-year project funded by the European Commission aiming at applying the most advanced control technologies to radically innovate a class of products – industrial robots – where these technologies did not yet find full application. The system concept, the optical system and of the new superior level of tool pose control are presented. Calibration issues are discussed in details as well as the development of an embedded solution to be standardized and flexible enough for exploitation and adoption in different robotic applications.
The aim of this research is to improve the isolation performance and energy dissipation characteristics of the widely used passive isolation (PI) system with wire-rope isolators (WRIs) under the excitation of various ...
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The aim of this research is to improve the isolation performance and energy dissipation characteristics of the widely used passive isolation (PI) system with wire-rope isolators (WRIs) under the excitation of various blast-induced vibration loads through the use of a semi-active control system. A hybrid isolation (HI) system composed of WRIs and an innovative magnetorheological (MR) damper equipped with a motion controller is proposed, which can protect sensitive equipment and nonstructural elements by attenuating their dynamic response. The designs of the MR damper's magnetic circuit and control system were validated by establishing an electromagnetic field finite element model and a motion controller simulation model, respectively. A series of quasi-static and shock table tests were conducted on models using three types of isolation: (1) a PI with WRIs, (2) an HI without a motion controller, and (3) an HI alone. The results show that the proposed MR damper can effectively restrain the tensile vibration of WRIs, significantly increase the isolation rate, and provide greater energy dissipation in HI systems with different weights of static loading subjected to various blast-induced vibration loads.
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