Control of a Haptic Interface and a Micromachining Setup With an Open Source Real-Time System

2007 ◽  
Author(s):  
Evren Samur ◽  
Ulrich Spaelter ◽  
Lionel Flaction ◽  
Pascal Maillard ◽  
Hannes Bleuler ◽  
...  
Keyword(s):  
Data Acquisition ◽  
Open Source ◽  
Real Time ◽  
Haptic Interface ◽  
Real Time Control ◽  
Mechatronic Systems ◽  
Time System ◽  
Real Time System ◽  
Ongoing Research ◽  
Time Control

Open source software have evolved into powerful tools for real-time control of mechatronic systems. They are of interest for academic purposes, as they promise high flexibility at low cost. In this paper, we investigate the performance of an open source control architecture based on the Linux Real-Time Application Interface (RTAI) through two applications, a haptic interface for surgery simulation and a setup for the micromachining of glass. Both applications demand a compact real-time system with sufficient precision (i.e. low jitter) for online process control and data acquisition. The real-time control has been realized on a laptop with a USB-port data acquisition card. Performance measurement results show that high quality real-time control can be performed up to 2kHz via USB communication, which is sufficient for a large range of robotic or mechatronic applications. Drawbacks like the need for considerable knowledge of Linux internals for successful installation as well as the current limitations are discussed and strategies are proposed to overcome these. Both setups are currently being used for ongoing research as well as for educational purposes.

scholarly journals Model-Checking Real-Time Control Programs. Verifying LEGO Mindstorms Systems Using UPPAAL

1999 ◽  
Vol 6 (53) ◽  
Author(s):  
Torsten K. Iversen ◽  
Kåre J. Kristoffersen ◽  
Kim G. Larsen ◽  
Morten Laursen ◽  
Rune G. Madsen ◽  
...  
Keyword(s):  
Real Time ◽  
Timed Automata ◽  
Scheduling Algorithm ◽  
Automatic Verification ◽  
Real Time Control ◽  
Time System ◽  
Real Time System ◽  
Control Programs ◽  
Time Control ◽  
Verification Tool

In this paper, we present a method for automatic verification<br />of real-time control programs running on LEGO <br />RCX bricks using the verification tool UPPAAL. The control<br />programs, consisting of a number of tasks running concurrently,<br />are automatically translated into the timed automata<br />model of UPPAAL. The fixed scheduling algorithm<br />used by the LEGO RCX processor is modeled in UPPAAL,<br />and supply of similar (sufficient) timed automata<br />models for the environment allows analysis of the overall<br />real-time system using the tools of UPPAAL. To illustrate<br />our techniques we have constructed, modeled and verified<br />a machine for sorting LEGO bricks by color.

A General Instrument for Real-Time Control and Data Acquisition

1995 ◽  
Vol 28 (5) ◽  
pp. 299-303
Author(s):  
Friedhelm Altpeter ◽  
Christrophe Salzmann ◽  
Denis Gillet ◽  
Roland Longchamp
Keyword(s):  
Data Acquisition ◽  
Real Time ◽  
Real Time Control ◽  
Time Control ◽  
General Instrument

scholarly journals Adaptive Balancing of Robots and Mechatronic Systems

2018 ◽  
Author(s):  
Liviu Ciupitu
Keyword(s):  
Exact Solutions ◽  
Real Time ◽  
Solid Mechanics ◽  
Vertical Plane ◽  
Approximate Solutions ◽  
Real Time Control ◽  
Mechatronic Systems ◽  
Static Loads ◽  
Time Control ◽  
Romanian Academy

Present paper is dealing with the adaptive static balancing of robot or other mechatronic arms that are moving in vertical plane and whose static loads are variable, by using counterweights and springs. Some simple passive and approximate solutions are proposed and an example is shown. The active and exact solutions by using adaptive real time control in the case of unknown variation of static loads are simulated on VIPRO platform developed at Institute of Solid Mechanics of Romanian Academy.

scholarly journals Haptic Interfacing for Virtual Prototyping of Mechanical CAD Designs

1997 ◽  
Author(s):  
John M. Hollerbach ◽  
Elaine Cohen ◽  
William Thompson ◽  
Rodney Freier ◽  
David Johnson ◽  
...  
Keyword(s):  
Real Time ◽  
Virtual Prototyping ◽  
Haptic Interface ◽  
Control Architecture ◽  
Real Time Control ◽  
Cad Modeling ◽  
Time Control ◽  
Smooth Transitions ◽  
New Algorithms ◽  
Surface Proximity

Abstract A network-based real-time control architecture has been developed which integrates a haptic interface (the Sarcos Dextrous Arm Master) with an advanced CAD modeling system (Utah’s Alpha_1). New algorithms have been developed and tested for surface proximity testing, fast updates to local closest point on a surface, and smooth transitions between surfaces. The combination of these new algorithms with the haptic interface and CAD modeling system permits a user to actively touch and manipulate virtual parts as well as passively view them on a CRT screen.

scholarly journals On the Use of a Real-Time Control Approach for Urban Stormwater Management

Water ◽  
2020 ◽  
Vol 12 (10) ◽  
pp. 2842
Author(s):  
Mario Maiolo ◽  
Stefania Anna Palermo ◽  
Anna Chiara Brusco ◽  
Behrouz Pirouz ◽  
Michele Turco ◽  
...  
Keyword(s):  
Real Time ◽  
Stormwater Management ◽  
Risk Mitigation ◽  
Real Time Control ◽  
Urban Stormwater ◽  
Real Time System ◽  
Control Approach ◽  
Urban Stormwater Management ◽  
Time Control ◽  
Control Configuration

The real-time control (RTC) system is a valid and cost-effective solution for urban stormwater management. This paper aims to evaluate the beneficial effect on urban flooding risk mitigation produced by applying RTC techniques to an urban drainage network by considering different control configuration scenarios. To achieve the aim, a distributed real-time system, validated in previous studies, was considered. This approach uses a smart moveable gates system, controlled by software agents, managed by a swarm intelligence algorithm. By running the different scenarios by a customized version of the Storm Water Management Model (SWMM), the findings obtained show a redistribution of conduits filling degrees, exploiting the whole system storage capacity, with a significant reduction of node flooding and total flood volume.

Design, development and testing of real time control and data acquisition system for R&D IC H&CD source

2016 ◽  
Vol 112 ◽  
pp. 752-756
Author(s):  
Kumar Rajnish ◽  
Dipal Soni ◽  
Sriprakash Verma ◽  
Hriday Patel ◽  
Rajesh Trivedi ◽  
...  
Keyword(s):  
Data Acquisition ◽  
Real Time ◽  
Data Acquisition System ◽  
Acquisition System ◽  
Design Development ◽  
Real Time Control ◽  
Time Control

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.

scholarly journals COTS-Based Real-Time System Development: An Effective Application in Pump Motor Control

Computers ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 97
Author(s):  
George K. Adam ◽  
Nikos Petrellis ◽  
Panagiotis A. Kontaxis ◽  
Tilemachos Stylianos
Keyword(s):  
Control System ◽  
Control Systems ◽  
Real Time ◽  
Sufficient Evidence ◽  
Real Time Control ◽  
Embedded Control ◽  
Real Time System ◽  
Suction Pump ◽  
Embedded Control Systems ◽  
Time Control

The progress of embedded control systems in the last several years has made possible the realization of highly-effective controllers in many domains. It is essential for such systems to provide effective performance at an affordable cost. Furthermore, real-time embedded control systems must have low energy consumption, as well as be reliable and timely. This research investigates primarily the feasibility of implementing an embedded real-time control system, based on a low-cost, commercially off-the-shelf (COTS) microcontroller platform. It explores real-time issues, such as the reliability and timely response, of such a system implementation. This work presents the development and performance evaluation of a novel real-time control architecture, based upon a BeagleBoard microcontroller, and applied into the PWM (pulse width modulation) control of a three-phase induction motor in a suction pump. The approach followed makes minimal use of general-purpose hardware (BeagleBone Black microcontroller board) and open-source software components (including Linux Operating System with PREEMPT_RT real-time support) for building a reliable real-time control system. The applicability of the proposed control system architecture is validated and evaluated in a real case study in manufacturing. The results provide sufficient evidence of the efficiency and reliability of the proposed approach into the development of a real-time control system based upon COTS components.

Technical and Software Equipment for the Real Time Positioning Control System in Mechatronic Systems with Pneumatic Artificial Muscles

2015 ◽  
Vol 669 ◽  
pp. 361-369 ◽  
Author(s):  
Miroslav Rimár ◽  
Peter Šmeringai ◽  
Marcel Fedák ◽  
Štefan Kuna
Keyword(s):  
Control System ◽  
Real Time ◽  
Artificial Muscles ◽  
Experimental Measurements ◽  
Real Time Control ◽  
Mechatronic Systems ◽  
Positioning Control ◽  
The Real ◽  
Time Control ◽  
Pneumatic Artificial Muscles

This paper explains the design of real-time control system for control of drives containing the artificial muscles. Described is the design of devices hardware and software, as well as design of their involvement in the experimental device. In this paper are referred experimental measurements on the device, aimed at monitoring the change in observed characteristics caused by position changes in artificial muscles during their operation.

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