Experimental Verification of Real-Time Control for Flexible Systems With On-Off Actuators

2005 ◽  
Vol 128 (2) ◽  
pp. 287-296 ◽  
Author(s):  
William Singhose ◽  
Erika Biediger ◽  
Hideto Okada ◽  
Saburo Matunaga
Keyword(s):  
Closed Form ◽  
Real Time ◽  
Numerical Optimization ◽  
Damping Ratio ◽  
Real Time Control ◽  
Flexible System ◽  
Time Control ◽  
Speed Of Response ◽  
Modeling Errors ◽  
Move Distance

A technique for driving a flexible system with on-off actuators is presented and experimentally verified. The control system is designed to move the rigid body of a structure a desired distance without causing residual vibration in the flexible modes. The on-off control actions are described by closed-form functions of the system’s natural frequency, damping ratio, actuator force-to-mass ratio, and the desired move distance. Given the closed-form equations, the control sequence can be determined in real time without the need for numerical optimization. Performance measures of the proposed controller such as speed of response, actuator effort, peak transient deflection, and robustness to modeling errors are examined. Experiments performed on a flexible satellite testbed verify the utility of the proposed method.

scholarly journals Automated programming robot component transfer system utilizing machine vision as detection interface

2018 ◽  
Vol 221 ◽  
pp. 03004
Author(s):  
H J Vermaak ◽  
L Rogers
Keyword(s):  
Machine Vision ◽  
Real Time ◽  
New Product Introduction ◽  
Real Time Control ◽  
Product Introduction ◽  
Real Time System ◽  
Flexible System ◽  
Time Control ◽  
Automation Systems ◽  
Automated Programming

Modern day automation systems rely on fixed programming routines to carry out their operations. If an automated flexible system is introduced onto such a production line, the complete reprogramming process required for new products needs could be automated with limited loss in production time. Therefore, instead of reprogramming each new position for the robot system the system takes over real-time control of the robot and carries out the required steps autonomously. The benefit with such a system would be that the robot would not need to be reprogrammed for every new routines but is controlled in a real-time environment to carry out new procedures based on external vision sensors. Using a real-time system could remove the need for a fixed programming environment and replace it with an automated changing programming setup. This could result in a system automatically adapting to a new product introduction through real-time machine vision processing techniques.

A Real Time Control Architecture for Continuously Managing Patients in a Care Unit

1995 ◽  
Vol 34 (05) ◽  
pp. 475-488
Author(s):  
B. Seroussi ◽  
J. F. Boisvieux ◽  
V. Morice
Keyword(s):  
Real Time ◽  
Linear Time ◽  
Treatment Plan ◽  
Control Architecture ◽  
Real Time Control ◽  
Time Representation ◽  
Time Control ◽  
Continuous Support ◽  
Definition Of ◽  
Computerized System

Abstract:The monitoring and treatment of patients in a care unit is a complex task in which even the most experienced clinicians can make errors. A hemato-oncology department in which patients undergo chemotherapy asked for a computerized system able to provide intelligent and continuous support in this task. One issue in building such a system is the definition of a control architecture able to manage, in real time, a treatment plan containing prescriptions and protocols in which temporal constraints are expressed in various ways, that is, which supervises the treatment, including controlling the timely execution of prescriptions and suggesting modifications to the plan according to the patient’s evolving condition. The system to solve these issues, called SEPIA, has to manage the dynamic, processes involved in patient care. Its role is to generate, in real time, commands for the patient’s care (execution of tests, administration of drugs) from a plan, and to monitor the patient’s state so that it may propose actions updating the plan. The necessity of an explicit time representation is shown. We propose using a linear time structure towards the past, with precise and absolute dates, open towards the future, and with imprecise and relative dates. Temporal relative scales are introduced to facilitate knowledge representation and access.

Real-time Control for Mobile Robot Considering Environmental Changes

2007 ◽  
Vol 73 (12) ◽  
pp. 1369-1374
Author(s):  
Hiromi SATO ◽  
Yuichiro MORIKUNI ◽  
Kiyotaka KATO
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Environmental Changes ◽  
Real Time Control ◽  
Time Control

Using graphs to construct a math model of a microcontroller-based system for preset rate control of a flywheel motor to be used in high-dynamics spacecraft

2020 ◽  
pp. 126-134
Author(s):  
Vladimir V. NEKRASOV
Keyword(s):  
Real Time ◽  
Rotation Rate ◽  
Control Function ◽  
Real Time Control ◽  
Math Model ◽  
The Real ◽  
Time Control ◽  
Power Matrix ◽  
High Dynamics ◽  
Stated Problem

Developing a microcontroller-based system for controlling the flywheel motor of high-dynamics spacecraft using Russian-made parts and components made it possible to make statement of the problem of searching control function for a preset rotation rate of the flywheel rotor. This paper discusses one of the possible options for mathematical study of the stated problem, namely, application of structural analysis based on graph theory. Within the framework of the stated problem a graph was constructed for generating the new required rate, while in order to consider the stochastic case option the incidence and adjacency matrices were constructed. The stated problem was solved using a power matrix which transforms a set of contiguous matrices of the graph of admissible solution edge sequences, the real-time control function was found. Based on the results of this work, operational trials were run for the developed control function of the flywheel motor rotor rotation rate, a math model was constructed for the real-time control function, and conclusions were drawn about the feasibility of implementing the results of this study. Key words: Control function, graph, incidence matrix, adjacency matrix, power matrix, microcontroller control of the flywheel motor, highly dynamic spacecraft.

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