This paper describes a robotic workstation for the development of new robot-assisted surgical procedures. This work is motivated by the difficulties and cost associated to the development of surgical robots, often req...
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This paper describes a robotic workstation for the development of new robot-assisted surgical procedures. This work is motivated by the difficulties and cost associated to the development of surgical robots, often requiring large investments and several re-designs which limit wider use of this technology. The approach presented here consists of using a general purpose robotic workcell to develop the hardware and the surgical aspects of new robot-based surgical systems, before committing to a completely new system design. The workcell is based on a clean room PUMA 260 manipulator, suitably enhanced to expand and improve its capabilities, and on a vision-based operator interface. Two new robot-assisted surgical procedures have been developed and tested using this set-up: percutaneous discectomy and knee osteoctomy. By using the robotic workcell, engineers and surgeons are able to define many aspects of the two procedures, such as surgical gestures, workspace of the robot, and calibration procedures, without incurring a large, up-front investment. First, the article describes the configuration of the workcell, the enhancements to the PUMA manipulator and the surgical procedures developed with this setup. Then the results of the tests and the lessons learned using the workcell are discussed in some detail.
This paper presents a practical investigation of load angle oscillations in a test rig consisting of a grid connected synchronous generator. An embedded real-time pc connected to various sensors and actuators manages ...
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ISBN:
(数字)9781728110783
ISBN:
(纸本)9781728110783
This paper presents a practical investigation of load angle oscillations in a test rig consisting of a grid connected synchronous generator. An embedded real-time pc connected to various sensors and actuators manages both the active power control and the excitation system control. Different control schemes, including Matlab/Simulink controllers, can be implemented and tested. The generator is connected to the European power grid via a variable inductance. Two different kinds of load angle oscillations are investigated. One is caused by a weak electrical connection of the synchronous machine to the grid because of a large inductance and the other is caused by the active power control of the generator. The practical results are compared to analytic and simulated results. The test rig can be used for practical tests of various control schemes to damp load angle oscillations in order to demonstrate if a certain control scheme can be practically implemented in a state of the art programmable logic controller.
作者：
Xing, JCYang, QLWang, PPLA
Engn Inst Engineer Corps Res Inst Control & Measurement Nanjing 210007 Peoples R China
This paper, using the new technologies and control solutions recently emerging in the area of industrial automation, brings forward a new design of distributed control system based on pc and fieldbus. In the hardware ...
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ISBN:
(纸本)0780374908
This paper, using the new technologies and control solutions recently emerging in the area of industrial automation, brings forward a new design of distributed control system based on pc and fieldbus. In the hardware design, the system is more distributed using tile field-installed I/O modules which replace the I/O cards in the traditional DCS. And a kind of redundant Profibus-DP fieldbus is used as the reliable communication path between the I/O modules and the CPUs in the DPU. While for the software system of DPU we realize the control engine compatible with the standard IEC61131.
Hewlett Packard developed a new `fully open' controller for computer numerical control. The HP controller has a programmable graphical user interface (GUI), networking, program storage and file managing capabiliti...
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Hewlett Packard developed a new `fully open' controller for computer numerical control. The HP controller has a programmable graphical user interface (GUI), networking, program storage and file managing capabilities. It also allows machine tool builders and users access to the motion control software to modify and customize motion control programs. The HP Open Architecture controller consists of a Pentium based industrial computer running Windows version 4.0 operator console and the motion chassis connected by a dedicated Ethernet link. The motion chassis contains an identical Pentium based industrial computer running LynxOS version 2.3, a fully documented, commercially available real time POSIX compliant Unix operating system.
The National Industrial Automation, Integration & control Show, a part of National Manufacturing Week to be held on March 10 to 13, 1997 in Chicago, Illinois, is featured. Products to be exhibited during the show ...
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The National Industrial Automation, Integration & control Show, a part of National Manufacturing Week to be held on March 10 to 13, 1997 in Chicago, Illinois, is featured. Products to be exhibited during the show are outlined. Some of the key conference topics include implementation of Java, device network technology, open device networks and pc-based control, graphic workstations as control panel replacements, pc-based human-machine interface software strategies, application of IEC 1131, and client/server implementation.
Various aspects of pc-based control systems are discussed. The pc-based control preached the values of leveraging commercial technologies to drive down costs and increase application reach and flexibility. control eng...
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Various aspects of pc-based control systems are discussed. The pc-based control preached the values of leveraging commercial technologies to drive down costs and increase application reach and flexibility. control engines are increasingly defined in software with programming toolsets, which enables targeting control code to any one of many different hardware plateforms. It has been observed that the embedded platforms combine best of pc-based control and PLC through open programming tools;open architecture;fast imbedded CPUs and robust operating systems.
The benefits of reinvestment in control and automation projects are presented. New systems provide better problem solving methods and improve the applications of a firm. Software and pc-based control solutions are bet...
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The benefits of reinvestment in control and automation projects are presented. New systems provide better problem solving methods and improve the applications of a firm. Software and pc-based control solutions are better than the hardware replacement. They are less expensive and can easily be upgraded in the future. The lifecycle of a product can be increased by preventive maintenance. This saves the cost which may be incurred if the whole control system has to be changed.
Network protocols save time and money on installation and maintenance, and improve monitoring, diagnostics, and data, but true open systems, plug-and-play, and Ethernet's takeover have not arrived, yet. Though som...
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Network protocols save time and money on installation and maintenance, and improve monitoring, diagnostics, and data, but true open systems, plug-and-play, and Ethernet's takeover have not arrived, yet. Though some initial Ethernet application and solutions are underway, most users and manufacturers still seem like they are too busy enjoying the savings and efficiencies gained from adopting more established networking protocols. Updates on several established network protocols and users' experiences using them in applications are discussed.
In this paper, a pc-based off-line programming (OLP) method using the virtual reality modeling language is proposed. The developed OLP system consists of simulation programs, a block-arrangement algorithm, an optimal ...
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In this paper, a pc-based off-line programming (OLP) method using the virtual reality modeling language is proposed. The developed OLP system consists of simulation programs, a block-arrangement algorithm, an optimal traveling-path generation algorithm, an automatic robot program generator and the TRIBON CAD interface. The strength of the developed pc-based OLP system lies in its flexibility in handling the changes in the robot's target objects. The operator can generate robot programs very easily and quickly. Possible applications of the developed OLP can be extended to port automation, container loading/unloading processes as well as painting and grinding processes in the shipbuilding industry.
control design and programming in discrete control used to be laborious, full of duplication, and prone to tedious errors leading to prolonged commissioning. At present, this is no longer the case as process simulatio...
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control design and programming in discrete control used to be laborious, full of duplication, and prone to tedious errors leading to prolonged commissioning. At present, this is no longer the case as process simulation generates code.
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