This work presents a soccer robot for the FIRA MiroSot league based on a DSP design instead of the more common microcontroller design to provide more flexibility in the use of the robot. The robot's mechanical and...
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This work presents a soccer robot for the FIRA MiroSot league based on a DSP design instead of the more common microcontroller design to provide more flexibility in the use of the robot. The robot's mechanical and electronical design will be presented along with an overview on its control methods and software. Two additions to the robot – an on-board camera module and a 2.4 GHz radio module –will also be reviewed.
This paper describes approach based on active scripts models that controls and restrict personnel activities on controlling technological processes. Script provides sharing personnel control roles by their decision ma...
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This paper describes approach based on active scripts models that controls and restrict personnel activities on controlling technological processes. Script provides sharing personnel control roles by their decision making level, it makes selection of control cases, coordinates different executors and controls task achievement. The development of the scheme controls with application of active technological scripts is presented. A description of HEPS (Human Error Protection System) application package is given, that is developed on the basis of suggested approach and traditional SCAD A.
In this paper a PC-based programmable controller is presented. A new assembler-like programming language is also presented, but since the controller is a SoftPLC it is possible to implement even very complicated contr...
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In this paper a PC-based programmable controller is presented. A new assembler-like programming language is also presented, but since the controller is a SoftPLC it is possible to implement even very complicated control algorithms and functions. Moreover, plugins are introduced that allow the dynamical loading of needed control algorithms and assure that the control loops will be executed independently of the program execution. In addition TCP/IP protocol is used by the controller to communicate with the plant. A general architecture is presented along with examples of simple instructions. The controller is realised as an application realised in a LabView environment for running on a PC computer. An example program is presented for time-optimal control of clearing process in batch sedimentation.
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).
The following contribution describes the design and validation of an active seat suspension with two translational degrees of freedom. This seat suspension system is designed to be integrated in various military vehic...
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The following contribution describes the design and validation of an active seat suspension with two translational degrees of freedom. This seat suspension system is designed to be integrated in various military vehicles to reduce the mechanical vibrations caused by test runs on synthetic test tracks, which affect the human health and condition confidence. The proposed active seat suspension is specially designed to support the drivers during the test drives. In a first step the model of the seat and the driver are derived considering the motions in vertical and lateral direction. To suppress the vibrations a control strategy is presented in a further step. The vibration controller is designed for a 1 DOF model based on a hybrid Skyhook- and Groundhook-Principle and in alternative as a feedforward control using an ideal model for the seat and driver. Finally, the realized active seat suspension is integrated in a military vehicle to prove the amount of vibration suppression in comparison to a common passive seat by road test on synthetic tracks emphasing an improvement of the drivers well-being.
Dynamic programming achieves optimum control for known deterministic and stochastic systems. There is a need, however, to apply dynamic programming ideas to real-world uncertain systems. The standard dynamic programmi...
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Dynamic programming achieves optimum control for known deterministic and stochastic systems. There is a need, however, to apply dynamic programming ideas to real-world uncertain systems. The standard dynamic programming algorithm is ineffective in the case of shedding an optimal decision path due to uncertainty in modelling. A robust variation on dynamic programming in which a minimization operation is replaced by an averaging operation is proposed in this paper. A simple example to illustrate the effectiveness of the algorithm is presented.
The problem of determining an oral dose, or schedule of oral doses, that gives rise to an arbitrary area-under-curve or to points on the time-series for a variable of interest in a drug kinetics model is considered. T...
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The problem of determining an oral dose, or schedule of oral doses, that gives rise to an arbitrary area-under-curve or to points on the time-series for a variable of interest in a drug kinetics model is considered. These two measures are considered as surrogates for the particular drug response to the dose. The approach taken is to formulate the problem as a fixed point one to which a version of the Contraction Mapping Theorem can be applied. The results, illustrated for a model for the anti-cancer agent topotecan, demonstrate the applicability of the approach.
The paper presents a comprehensive review of the problem of designing discrete-time adaptive controllers for systems with arbitrary zeros (minimum or non-minimum phase systems being particular cases). The authors have...
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The paper presents a comprehensive review of the problem of designing discrete-time adaptive controllers for systems with arbitrary zeros (minimum or non-minimum phase systems being particular cases). The authors have attempted to give an unified presentation of the various existing schemes by stripping away the technical details and highlighting their close interrelation through the use of common framework. Both algorithmic and theoretical aspects are discussed.
In this paper an extension of the Newton - Euler models to the case of flexible robots is achieved. Today, such models are mainly used for rigid manipulators. In this case they give the best results to solve the simul...
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In this paper an extension of the Newton - Euler models to the case of flexible robots is achieved. Today, such models are mainly used for rigid manipulators. In this case they give the best results to solve the simulation and control problems, as far as time consumption and programming simplicity are concerned. Here, the extension proposed is based on the theoretical notion of description formalism of a motion and on the use of the D'Alembert principle.
Three different algorithms that can be used to estimate the available power of a wind turbine are investigated and validated in this study. The first method is the simplest and using the power curve with the measured ...
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Three different algorithms that can be used to estimate the available power of a wind turbine are investigated and validated in this study. The first method is the simplest and using the power curve with the measured nacelle wind speed. The other two are to estimate the equivalent wind speed first without using the measured Nacelle wind speed and to estimate the available power from the rotor power equation. The two methods are different in that the second method is to use the drive-train model to estimate the rotor torque but the third method is to use a simplified equation to avoid sharp peaks in the wind speed estimation. Simulations were performed to validate the constructed available power estimation algorithms with the measured data of a 2 MW target wind turbine. It was found from the validation that the third available power estimation algorithm works properly and is closer to the power actually generated from the wind turbine than the other methods considered. In addition, the third algorithm that showed the best performance was further validated with the DPPT (demanded power point tracking) operation with Matlab/Simulink environment. It was found from the simulation that the third algorithm works well in the DPPT operation to estimate the available power of the wind turbine.
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