Real-Time Security Exercises on a Realistic Interdomain Routing Experiment Platform

2009 ◽  
Author(s):  
Yue Li ◽  
Michael Liljenstam ◽  
Jason Liu
Keyword(s):  
Real Time ◽  
Interdomain Routing ◽  
Experiment Platform

scholarly journals Research and Ground Verification of the Force Compliance Control Method for Space Station Manipulator

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Bingshan Hu ◽  
Huanlong Chen ◽  
Liangliang Han ◽  
Hongliu Yu
Keyword(s):  
Real Time ◽  
Contact Force ◽  
Control Algorithm ◽  
Control Method ◽  
Impedance Control ◽  
Space Station ◽  
Gravity Compensation ◽  
Compliance Control ◽  
Experiment Platform ◽  
Dual Arm

The space station manipulator does lots of tasks with contact force/torque on orbit. To ensure the safety of the space station and the manipulator, the contact force/torque of manipulator must be controlled. Based on analyzing typical tasks’ working flows and force control requirements, such as ORU (orbit replacement unit) changeout and dual arm collaborative payload transport, an impedance control method based on wrist 6 axis force/torque feedback is designed. For engineering implementation of the impedance control algorithm, the discretization method and impedance control parameters selection principle are also studied. To verify the compliance control algorithm, a ground experiment platform adopting industrial manipulators is developed. In order to eliminate the influence of gravity, a real-time gravity compensation algorithm is proposed. Then, the correctness of real-time gravity compensation and force compliance control algorithm is verified on the experiment platform. Finally, the ORU replacement and dual arm collaborative payload transport experiments are done. Experimental results show that the force compliance control method proposed in this paper can control the contact force and torque at the end of the manipulator when executing typical tasks.

Development of a Powertrain Real-Time Model Based on the Assembly Characteristic

2014 ◽  
Vol 988 ◽  
pp. 559-563
Author(s):  
Liang Xu ◽  
Di Wang ◽  
Rui Guo ◽  
Hsin Guan
Keyword(s):  
Real Time ◽  
Torque Converter ◽  
Degree Of Freedom ◽  
Test Environment ◽  
Time Model ◽  
Experiment Platform ◽  
Virtual Test ◽  
Powertrain System ◽  
Finite State ◽  
Automotive Powertrain

With consideration of changing in the powertrain degree of freedom at the actual conditions in all possible conditions, the automotive powertrain system is divided into four phases with application of the finite state machine phase concepts. The torque converter lockup clutch friction state judgment method is given, and the degree of freedom of each phase with the changing of system is analyzed. The powertrain system real-time model and integrated virtual test environment considering the dynamic response of shifting are built. Simulation test is conducted and compared with the CarSim vehicle model. The simulation results show that this model meet the modeling accuracy requirements, and the use of virtual experiment platform can effectively reduce the time and cost of validation testing.

Research of Embedded Control System of DFIG Wind Generation

2012 ◽  
Vol 608-609 ◽  
pp. 738-741
Author(s):  
Jin Liu
Keyword(s):  
Power Generation ◽  
Control System ◽  
Real Time ◽  
Wind Power ◽  
Control Function ◽  
Wind Power Generation ◽  
Embedded Control ◽  
Embedded Control System ◽  
Experiment Platform ◽  
Time Operation

This paper presents an embedded control system for wind power generation based on DFIG (Doubly-fed Induction Generator). DSP was used as the core of the control system, which can meet the requirement of high precision and real time. An embedded real-time operation system (RTOS) was transplanted into the hardware platform and some function blocks in common use were added into the RTOS. The control system software in the computer was programmed with LabVIEW, which perform the control function and can process the data came from the A/D in the platform. By using this experiment platform, many control arithmetic of wind power generation can be tested in the laboratory.

scholarly journals A Smart High-Throughput Experiment Platform for Materials Corrosion Study

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Peng Shi ◽  
Bin Li ◽  
Jindong Huo ◽  
Lei Wen
Keyword(s):  
Data Processing ◽  
Data Acquisition ◽  
Real Time ◽  
High Throughput ◽  
Processing System ◽  
Data Acquisition System ◽  
Data Processing System ◽  
Corrosion Study ◽  
Experiment Platform ◽  
Corrosion Reaction

Materials corrosion study is based on plenty of contrast experiments. Traditional corrosion experiments are time-consuming and require manual corrosion grade evaluating during the experiment. To improve the efficiency of experiment, a high-throughput experiment platform is designed and accomplished. The platform mainly consists of high-throughput corrosion reaction facility, data acquisition system, and data processing system. The corrosion reaction facility supports high-throughput materials corrosion reactions under various conditions. The data acquisition system is mainly responsible for capturing the images of samples’ surface, collecting electrochemical signals, and storing them into the computer in real time. The data processing system treats the acquired data and evaluates the degree of materials corrosion in real time by program automatically. The platform not only reduces the occupation of the equipment but also improves the efficiency of sample preparation and experiment occurrence. The experimental data shows that the platform can accomplish high-throughput corrosion contrast experiment easily and reduce the time cost obviously.

scholarly journals Real-time and on-line parallel detection of key fermentation process parameters by near-infrared spectroscopy in different environments

2021 ◽  
Author(s):  
Yang Chen ◽  
Lingli Chen ◽  
Meijin Guo ◽  
Xu Li ◽  
Jinsong Liu ◽  
...  
Keyword(s):  
Real Time ◽  
Fermentation Process ◽  
Near Infrared ◽  
Prediction Models ◽  
Nir Spectroscopy ◽  
Environmental Parameters ◽  
Inhomogeneous System ◽  
Least Squares Regression ◽  
Experiment Platform ◽  
On Line

Abstract The fermentation process is dynamically changing, and the metabolic status can be grasped through real-time monitoring of environmental parameters. In this study, a real-time and on-line monitoring experiment platform for substrates and products detection was developed based on non-contact type near-infrared (NIR) spectroscopy technology. The prediction models for monitoring the fermentation process of lactic acid, sophorolipids and sodium gluconate were established based on partial least-squares regression and internal cross-validation methods. Through fermentation verification, the accuracy and precision of the NIR model for the complex fermentation environments, different rheological properties (uniform system and multi-phase inhomogeneous system) and different parameter types (substrate, product and nutrients) have good applicability, and R2 is greater than 0.90, exhibiting a good linear relationship. The root mean square error shows that the model has high credibility. This research provides a basis for the application of NIR spectroscopy in complex fermentation systems.

Development of Integrated Innovation Experiment Platform Based on 3-PRS Parallel Mechanism

2020 ◽  
Vol 13 ◽  
Author(s):  
Guoqiang Chen ◽  
Hongpeng Zhou ◽  
Junjie Huang ◽  
Feng Jiao ◽  
Hanchao Li ◽  
...  
Keyword(s):  
Neural Network ◽  
Deep Learning ◽  
Real Time ◽  
Parallel Mechanism ◽  
Position Control ◽  
Plantar Flexion ◽  
Measurement Technology ◽  
Typical Application ◽  
Rehabilitation Training ◽  
Experiment Platform

Background:: The parallel mechanism plays an important role in various fields. The multi-functional integrated innovation experiment platform can improve the utilization rate of the mechanism and be applied in many fields. Objective:: The main objective of the study is to establish an integrated innovation experiment platform based on the 3-PRS parallel mechanism, which can be used in typical application and related technology development. Methods:: The integrated innovation experiment platform is established and analyzed based on the 3-PRS parallel mechanism. According to the 3D model of the experiment platform, the kinematics and dynamics are analyzed. The force/position control strategy of the system is adopted. According to the function of the experiment platform, two kinds of application and the position and pose measurement technology are developed. The experiment platform is developed by the following methods: (1) The XY table is set up on the fixing platform of the 3-PRS parallel mechanism, so that the mechanism has five degrees of freedom, and the many kinds of workpiece can be easily processed. (2) By selecting the impedance parameter, the experiment platform can realize the compliant control of plantar flexion/dorsiflexion and varus/eversion simultaneously. (3) The binocular vision position and pose measurement method is used to obtain the marked images of the experiment platform through dual cameras, and the position and pose is obtained through image processing, 3D reconstruction and stereo matching, etc. (4) The position and pose detection based on deep learning is divided into two parts: one is to detect the slider height using the regression Convolutional Neural Network (CNN); the other is to compute the position and pose using the Back Propagation Neural Network (BPNN). Results:: The experiment results show that the function of the 3-PRS parallel mechanism integrated innovation experiment platform can be effectively realized. The position and pose can be accurately measured in real time using the proposed two measurement methods. The impedance parameters are selected to achieve the rehabilitation training function of the 3-PRS ankle rehabilitation robot and the characters are processed to verify the function of the 3-PRS-XY series-parallel machine tool. Conclusion:: The integrated innovation experiment platform based on the 3-PRS parallel mechanism can achieve the function of mechanical processing and rehabilitation training, and can also measure the state of motion in real time through machine vision and deep learning.

Experiment Platform Design cSPACE-Based for a Permanent Magnet Linear Synchronous Motor Driven Inverted Pendulum

2011 ◽  
Vol 84-85 ◽  
pp. 452-456 ◽  
Author(s):  
Rong Min Cao ◽  
Hui Xing Zhou ◽  
Rong Hua Ma
Keyword(s):  
Permanent Magnet ◽  
Real Time ◽  
Inverted Pendulum ◽  
Synchronous Motor ◽  
Linear Motor ◽  
Real Time Control ◽  
Pendulum System ◽  
Experiment Platform ◽  
Inverted Pendulum System ◽  
Linear Synchronous Motor

Permanent magnet linear synchronous motor (PMLSM) driven inverted pendulum is a new member of present similar devices, various unexpected disturbances such as lag effect of a belt attached to a cart and errors caused by a rotary encoder while detecting the position of a cart can be eliminated or reduced to a small range.In this paper, ironless permanent magnet synchronous linear motor driven inverted pendulum experiment platform is developed. The plant is hardware in the loop real time simulation control development system (Hardware-in-Loop, HIL)based on TMS320F2812DSP and MATLAB, it can use simple and efficient way to achieve linear motor driven inverted pendulum real-time control. Long design time for programming and debugging difficulty are avoided for traditional programming language. Control algorithm can be investigated directly on MATLAB/Simulink, and can be generated automatically control code to control single and double -stage inverted pendulum system. The real performance of the driven inverted pendulum is researched in this paper, the results showed that the controllability of the driven inverted pendulum is fine.

Design and Implementation of Web Based Mobile Robot Control Platform for Robotics Education

2014 ◽  
Vol 704 ◽  
pp. 283-287
Author(s):  
Gokhan Erdemir ◽  
Ahmet Emin Kuzucuoglu ◽  
Erkan Kaplanoglu ◽  
Yasser El-Kahlout
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
User Interfaces ◽  
Experimental Studies ◽  
Robot Vision ◽  
Security Measures ◽  
Web Based ◽  
Web Interfaces ◽  
Experiment Platform ◽  
Localization And Mapping

In this paper, we present a particular case of a dynamic, real-time and efficient web-based mobile robot experiment platform (WEB.MREP) design for mobile robotic applications. The design and construction of a multipurpose and WEB.MREP for the application of different path planning and tracking, simultaneous localization and mapping (SLAM) and robot vision techniques for mobile robotic system is the main purpose of this study. The designed and constructed experiment platform consists of five main components: Festo Robotino mobile robot sets, a designed experimental area, a server software, web interfaces (user interfaces) and security measures. The designed platform provides monitoring, real-time controlling and programming of mobile robots for experimental studies and, it helps the users to achieve these studies through a standard web browser without any additional supportive software.

Monitoring System of CAN Bus Based on OPC Technology

2013 ◽  
Vol 662 ◽  
pp. 713-716 ◽  
Author(s):  
Yu Qin Song ◽  
Chun Li Li
Keyword(s):  
Process Control ◽  
Real Time ◽  
Monitoring System ◽  
Control Experiment ◽  
Can Bus ◽  
Graphical Interface ◽  
Real Time Monitoring ◽  
Interface Card ◽  
Experiment Platform ◽  
Opc Technology

Through the comparison of many monitoring system’s schemes, the bus way of monitoring system was select which is based on CAN bus, using the PCI-5110 CAN interface card which is produced by ZHOU Li-gong company as the CAN node, selecting the CAN485MB intelligent protocol converters as their communication bridge between the CAN interface card and AI instrument. The system adopts the OPC technology to realize the communication between Kingview and CAN bus and builds a monitoring system based on CAN bus network to realize the function of the process control experiment platform of the real-time monitoring and graphical interface. Having friendly MMI, good flexibility, the whole system is worth to popularize and publicity.

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