In this paper, a scheme to identification and control is proposed for main-steam temperature raising in a super heater system of thermal power plant. When modeling the system, a quasi-ARMAX model is effectively used b...
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In this paper, a scheme to identification and control is proposed for main-steam temperature raising in a super heater system of thermal power plant. When modeling the system, a quasi-ARMAX model is effectively used by considering an appropriate treatment of external inputs in the super heater system. Then the validity of constructed model is verified through identification tests. In particular, it is found that the model validity becomes more evident for the high nonlinear case. Finally, an adaptive control system for main-steam temperature raising is designed based on a nonlinear predictor model in the framework of linear stochastic control theory.
The master-slave control is a technique often used when controlling a remote robot. In this technique, the operator can work while noticing the force which is added to the robot. However, when the taken time in the co...
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The master-slave control is a technique often used when controlling a remote robot. In this technique, the operator can work while noticing the force which is added to the robot. However, when the taken time in the communication between the robot (the slave) and the operator (the master) is long, accurate control becomes difficult. This research aims to generate the force environment using the posture of the robot and the value detected with the sensor. With this, even if the communication time is long, the operator can operate the robot appropriately while he senses the force added to the robot.
How to construct a tele-manipulation system of a robot arm with both visual and haptic sensation is shown together with the experimental result. To move a robot arm at a slave system as an operator intends, he manipul...
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How to construct a tele-manipulation system of a robot arm with both visual and haptic sensation is shown together with the experimental result. To move a robot arm at a slave system as an operator intends, he manipulates a force feedback device (PHANTOM) at a master system while watching a television image of the robot arm taken at the slave system. A force torque sensor (FTS: a force torque sensor and FT data: the output data of FTS) is mounted on a robot hand, and the output is conveyed to the PHANToM. This system gives a user the feeling as if he were directly operating the remote robot arm. However the following problems occur in operation. (1) The difference between the state of a robot and that indicated in a television (2) The delay caused the output of FTS to the PHANToM (3) It is difficult to synchronize the TV image with the force returned with a PHANToM. We propose two techniques to solve these problems, and show their effects in detail.
Most of the mathematical methods to decide the time interval of inspection are established by reliability theory, but most of them are difficult to apply to practical plant machinery. In this paper, we propose a decis...
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ISBN:
(纸本)0769512666
Most of the mathematical methods to decide the time interval of inspection are established by reliability theory, but most of them are difficult to apply to practical plant machinery. In this paper, we propose a decision-making method for the inspection time interval for plant machinery maintenance by a genetic algorithm (GA) when the plant machines are preserved by time-based maintenance (TBM).
The master slave control is a technique often used when controlling a remote robot. In this technique, the operator can work while he notices the force which is added to the robot. However, when the taken time in the ...
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ISBN:
(纸本)078037004X
The master slave control is a technique often used when controlling a remote robot. In this technique, the operator can work while he notices the force which is added to the robot. However, when the taken time in the communication between the robot (the slave) and the operator (the master) is long, accurate control becomes difficult. This research aims to generate the force environment using the posture of the robot and the value detected with the sensor. With this, even if the communication time was long, the operator could operate a robot appropriately while he sensed the force added to the robot.
The purpose of this research is to develop a computer-aided tool for diagnostic and educational support of the living-body circulatory system using the Human model devised by Coleman. The Human model is a dynamic mode...
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Understanding mechanical instruction manual is one of the difficult tasks for computer. In many cases, we cannot understand mechanical instruction manual without other knowledge on environment, instruction, picture, a...
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ISBN:
(纸本)078037004X
Understanding mechanical instruction manual is one of the difficult tasks for computer. In many cases, we cannot understand mechanical instruction manual without other knowledge on environment, instruction, picture, and figure. In this paper, we propose the automatic assembling system of a virtual machine based on the understanding of mechanical assembly manual. Mechanical assembly manual generally consists of two parts, text and illustration. So we can get the correct way of assembling as the result of simulating assembly operations by manipulating virtual parts referring to the texts and illustration.
A Robot vision system was designed using a silicon retina, which has been developed to mimick the parallel circuit structure of the vertebrate retina. The silicon retina used here is an analog CMOS very large-scale in...
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