Different micromanipulation applications based on common modular control architecture

2010 ◽  
Author(s):  
Risto Sipola ◽  
Tero Vallius ◽  
Marko Pudas ◽  
Juha Röning
Keyword(s):  
Control Architecture ◽  
Modular Control

A Modular Control Architecture for a Small Electric Vehicle

2006 ◽  
Author(s):  
F. Santos ◽  
J. Trovao ◽  
A. Marques ◽  
P. Pedreiras ◽  
J. Ferreira ◽  
...  
Keyword(s):  
Electric Vehicle ◽  
Control Architecture ◽  
Modular Control

Performance Evaluation of a Distributed Reconfigurable Controller Architecture for Robotic Applications

2005 ◽  
Author(s):  
Rodney Atta-Konadu ◽  
Sherman Y. T. Lang ◽  
Peter Orban ◽  
Chris Zhang
Keyword(s):  
Real Time ◽  
Service Discovery ◽  
Real Life ◽  
Performance Criteria ◽  
Control Architecture ◽  
Robotic Control ◽  
Modular Control ◽  
Network Delays ◽  
Performance Challenges ◽  
Performance Results

Recent research in controller architecture has had some focus on reconfigurability and associated concepts such as modularity and openness. These paradigms advocate non-proprietary components such as commercial off-the-shelves (COTS) with standard interconnection interfaces. The tradeoffs of such a controller architecture are performance challenges such as network-induced delays and synchronization problems, especially where non-real time entities such as Ethernet are involved. In our quest to address some of these challenges we have developed a modular control architecture for machine and robotic control as a test platform. The advantage of this architecture is cost-effectiveness and openness, achieved through the use of COTS components. Each machine axis is controlled by a real-time Java micro-controller and all the controllers communicate through a switched-Ethernet communication network. The architecture is designed to support reconfiguration of both hardware and software resources by the use of modularity and service-discovery protocols in the software and hardware design. Therefore devices such as axes and sensors may be reorganized, removed or added easily. Our research presents performance results and applications typical of industrial or real life for our control architecture. The performance criteria analyzed include network delays, synchronization resolutions and error analyses.

HyperReal: A modular control architecture for HRT systems

1996 ◽  
Vol 42 (6-7) ◽  
pp. 477-487 ◽  
Author(s):  
Flavio De Paoli ◽  
Francesco Tisato ◽  
Carlo Bellettini
Keyword(s):  
Control Architecture ◽  
Modular Control

Towards multipurpose autonomous manipulation with the UJI service robot

Robotica ◽  
2007 ◽  
Vol 25 (2) ◽  
pp. 245-256 ◽  
Author(s):  
M. Prats ◽  
P. J. Sanz ◽  
A. P. del Pobil ◽  
E. Martínez ◽  
R. Marín
Keyword(s):  
Service Robot ◽  
Mobile Manipulator ◽  
Control Architecture ◽  
Perceptual State ◽  
Modular Control ◽  
Autonomous Manipulation ◽  
Daily Task ◽  
Great Step ◽  
The Way

SUMMARYThis paper presents a modular control architecture that enables a mobile manipulator to be compliant and perform manipulation tasks in partially known everyday human environments. An impedance velocity/force controller that allows the execution of a great variety of tasks under the Task Frame Formalism (TFF) is implemented.Tasks are represented as a net of basic abilities which are performed by the robot using the impedance controller. Mechanisms for switching between abilities according to the robot's perceptual state are defined.We show the validity of our approach on the UJI Service Robot, making it to perform a common daily task such as opening a door. Finally, we apply this framework to make progress on the new version of the UJI Librarian Robot, making a great step forward in the way the robot manipulates books.

scholarly journals A feedback control architecture for bioelectronic devices with applications to wound healing

2021 ◽  
Vol 18 (185) ◽  
Author(s):  
Bashir Hosseini Jafari ◽  
Ksenia Zlobina ◽  
Giovanny Marquez ◽  
Mohammad Jafari ◽  
John Selberg ◽  
...  
Keyword(s):  
Wound Healing ◽  
Feedback Control ◽  
Sliding Mode ◽  
Biological Response ◽  
Control Architecture ◽  
Target Area ◽  
Modular Control ◽  
Accelerate Wound Healing ◽  
Information Tracking ◽  
Bioelectronic Device

Bioelectronic devices can provide an interface for feedback control of biological processes in real-time based on sensor information tracking biological response. The main control challenges are guaranteeing system convergence in the presence of saturating inputs into the bioelectronic device and complexities from indirect control of biological systems. In this paper, we first derive a saturated-based robust sliding mode control design for a partially unknown nonlinear system with disturbance. Next, we develop a data informed model of a bioelectronic device for in silico simulations. Our controller is then applied to the model to demonstrate controlled pH of a target area. A modular control architecture is chosen to interface the bioelectronic device and controller with a bistable phenomenological model of wound healing to demonstrate closed-loop biological treatment. External pH is regulated by the bioelectronic device to accelerate wound healing, while avoiding chronic inflammation. Our novel control algorithm for bioelectronic devices is robust and requires minimum information about the device for broad applicability. The control architecture makes it adaptable to any biological system and can be used to enhance automation in bioengineering to improve treatments and patient outcomes.

A Reinforcement Learning Modular Control Architecture for Fully Automated Vehicles

2012 ◽  
pp. 390-397 ◽  
Author(s):  
Jorge Villagrá ◽  
Vicente Milanés ◽  
Joshué Pérez ◽  
Jorge Godoy ◽  
Enrique Onieva ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Control Architecture ◽  
Automated Vehicles ◽  
Modular Control

scholarly journals A Modular Control Architecture for Airborne Wind Energy Systems

2019 ◽  
Author(s):  
Sebastian Rapp ◽  
Roland Schmehl ◽  
Espen Oland ◽  
Sture Smidt ◽  
Thomas Haas ◽  
...  
Keyword(s):  
Wind Energy ◽  
Energy Systems ◽  
Control Architecture ◽  
Modular Control ◽  
Wind Energy Systems
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