In this paper, a method is proposed to perform control using INTEL(R) basedpcs operated by Windows NT(TM) directly. The software package that was developed is called WinRec v.1 (Windows Real-time control). This low c...
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In this paper, a method is proposed to perform control using INTEL(R) basedpcs operated by Windows NT(TM) directly. The software package that was developed is called WinRec v.1 (Windows Real-time control). This low cost method keeps all the advantages of Windows NT without attaching any other kernels and avoids switching different operating systems between experimentation and control design/analysis. A thorough description of the method to set up the multimedia timer provided by Microsoft Development Network (MSDN) Library is presented. Self-customized algorithms based on advanced control techniques can be implemented with the standard protocol that is established here. The proposed protocol is evaluated using two different systems in control experiments. In the first, an industrial robot manipulator is controlled by applying an independent joint PID control scheme. Results are also shown from experiments where LQR and H-2 controllers are applied to suppress vibrations of a flexible payload carried by the robot manipulator. In the second system, position, force, temperature, voltage and current data are simultaneously recorded in order to evaluate the performance of a Shape-Memory-Alloy (SMA) mire bundle actuator in open loop control experiments.
Multicore platforms are such that have one physical processor chip with multiple cores interconnected via a chip level bus. Because they deliver a greater computing power through concurrency, offer greater system dens...
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ISBN:
(纸本)9781934272442
Multicore platforms are such that have one physical processor chip with multiple cores interconnected via a chip level bus. Because they deliver a greater computing power through concurrency, offer greater system density multicore platforms provide best qualifications to address the performance bottleneck encountered in pc-based control systems for parallel kinematic robots with heavy CPU-load. Heavy load control tasks are generated by new control approaches that include features like singularity prediction, structure control algorithms, vision data integration and similar tasks. In this paper we introduce the parallel task scheduling extension of a communication architecture specially tailored for the development of pc-based control of parallel kinematics. The Scheduling is special designed for the processing on a multicore platform. It breaks down the serial task processing of the robot control cycle and extends it with parallel task processing paths in order to enhance the overall control performance.
This article addresses the development of a control system design methodology to make control courses easier to understand. The methodology can be handled in four stages: Modeling, controller design and tuning of the ...
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This article addresses the development of a control system design methodology to make control courses easier to understand. The methodology can be handled in four stages: Modeling, controller design and tuning of the controller gains, simulation, and experimental studies. A pc-based control system environment is chosen to help students/researchers understand the control system both theoretically and experimentally. An electro-hydraulic system is used for training. Such fluid power systems are widely used in the industrial area and combine different engineering system properties. First, a system is defined by a mathematical model and simulated using the MATLAB/Simulink environment. An easy to use toolbox, Simscape/Simhydraulics, is used to facilitate the modeling phase in simulation of the hydraulic system. Next, the design of the feedback controller is proposed. Basic controllers in control education, such as proportional+derivative+integral (PID) and a Fuzzy Logic controller (FLC), are utilized, and the gains of the controllers are tuned with a simplified method according to the given design criteria. The proposed tuning method can also be useful for overdamped or first-order systems. Time and frequency responses of the system are obtained and evaluated. The experimental studies are conducted on a hydraulic control system at the Automatic control Laboratory of the Mechanical Engineering Department of Uluda University. This work aims to train engineering students/researchers both theoretically and practically regarding pc-based control system design and fluid power systems.
Two sets of optical sources with different laser beam diameter are integrated into a rapid prototyping system for increased machining speed in this research. The smaller laser beam is used to scan the object contour t...
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Two sets of optical sources with different laser beam diameter are integrated into a rapid prototyping system for increased machining speed in this research. The smaller laser beam is used to scan the object contour to obtain an accurate machining surface and the larger laser beam is used to quickly scan the inner part of the contour without precision control limitation to save machining time. The fabrication parameters of this system are investigated based on product quality and accuracy of practical implementations. The path planning of the inner part and the outer contour are discussed. The user-friendly man-machine interface is developed using the Visual Basic program .
The effective integration of robotics together with magnetic resonance (MR) technology is expected to facilitate the real-time guidance of various diagnostic and therapeutic interventions. Specially designed robotic m...
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The effective integration of robotics together with magnetic resonance (MR) technology is expected to facilitate the real-time guidance of various diagnostic and therapeutic interventions. Specially designed robotic manipulators are required for this purpose, the development of which is a challenging task given the strong magnetic fields and the space limitations that characterize the MR scanning environment. A prototype MR-compatible manipulator is presented, designed to operate inside cylindrical MR scanners. It was developed for the study of minimally invasive diagnostic and therapeutic interventions in the abdominal and thoracic area with real-time MR image guidance. Initial tests were performed inside a high-field clinical MR scanner and included MR-compatibility tests and phantom studies on image-guided targeting.
Various solutions are discussed to provide Ethernet and other network security from external, internal, and accidental sources. Misconfigured routers and other technical faults cause disability of ethernet and other r...
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Various solutions are discussed to provide Ethernet and other network security from external, internal, and accidental sources. Misconfigured routers and other technical faults cause disability of ethernet and other related equipments. Switches are preferred over hubs and repeaters to check the validity of messages. Bringing a facility's IT and factory-floor personnel together is considered as the best way to increase ethernet and network security.
Integrating enterprise information is the key to staying competitive. A software technology based on Microsoft standards has paved the way to general acceptance of standards and interoperability. The technology, refer...
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Integrating enterprise information is the key to staying competitive. A software technology based on Microsoft standards has paved the way to general acceptance of standards and interoperability. The technology, referred to as Opc, is being pushed by web technologies such as XML to any operating system.
Today, new hardware options are appearing with increasing frequency. Whether pc or PLC, the important thing is for the control engineer to implement real-time control well. Since distributed control is already accepte...
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Today, new hardware options are appearing with increasing frequency. Whether pc or PLC, the important thing is for the control engineer to implement real-time control well. Since distributed control is already accepted with a continued emphasis on smaller platforms with higher performance, networks will become even more important.
Computer numeric control (CNC) handle high-speed, high-precision, multi-axis coordinated motion control. These specially designed controllers are at the core of large machining centers that manufacture complex metal p...
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Computer numeric control (CNC) handle high-speed, high-precision, multi-axis coordinated motion control. These specially designed controllers are at the core of large machining centers that manufacture complex metal parts for automotive, aerospace, and many other products. On the other hand CNCs are found controlling transfer lines for automobile engine manufacturing and similar processes.
This paper investigates the field of manufacturing system control. The addressed subject is indeed very fascinating, due to the importance that it has reached in the last decades both at research and industrial level....
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This paper investigates the field of manufacturing system control. The addressed subject is indeed very fascinating, due to the importance that it has reached in the last decades both at research and industrial level. On the other hand, it seems to the author that most of the complexity intrinsic to the subject itself relies on the different meanings or levels of abstraction that both the terms "manufacturing system" and "control" may symbolize. The presented research aims to face the topic in a concrete fashion, i.e., by developing a control software system for a specific, although easy to be generalized, robotized manufacturing cell. Two different development methodologies, from the conceptual design to the actual implementation, of a cell control system are presented and compared. The former, based on ladder logic diagrams, for a PLC controlled manufacturing cell;the latter, based on object-oriented modeling and programming techniques, for a pccontrolled manufacturing cell. The analysis has been conducted considering the internal and external requirements of the manufacturing system, mostly driven by the contemporary industrial need of reconfigurable control systems, largely acknowledged as the critical key to succeed in the new era of mass customization. (c) 2005 Elsevier Ltd. All rights reserved.
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