MULTI-AXIS CONTROL SYSTEM FOR WALKING MACHINES

2012 ◽  
pp. 789-796
Author(s):  
KRZYSZTOF KOZŁOWSKI ◽  
MATEUSZ MICHALSKI ◽  
PAWEŁ PARULSKI
Keyword(s):  
Control System ◽  
Walking Machines

scholarly journals Finite state automaton based control system for walking machines

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985318 ◽  
Author(s):  
Razeen Hussain ◽  
Teresa Zielinska ◽  
Rene Hexel
Keyword(s):  
Control System ◽  
Systematic Approach ◽  
Control Structure ◽  
Finite State Automaton ◽  
Hexapod Robot ◽  
General Control ◽  
Walking Machines ◽  
Finite State ◽  
Functional Control

Walking machines have proved to be an important invention as they do not require any prepared surface, making them ideal for applications involving unexplored environments. They are equipped with a large number of actuators and sensors to achieve a robust locomotion; thus, a systematic approach to designing their control system is required. This article presents a functional control structure based on the logic-labelled finite state automaton approach developed for walking machines. A general control structure is presented and a hexapod robot is used to verify the practicability of the design.

A controller for safe, convenient operation of LaB6 emitters on electron-beam instruments

1983 ◽  
Vol 41 ◽  
pp. 408-409
Author(s):  
W. J. Abramson ◽  
H. W. Estry ◽  
L. F. Allard
Keyword(s):  
Electron Beam ◽  
Control System ◽  
Thermal Shock ◽  
Appropriate Care ◽  
Electron Guns ◽  
Tungsten Filaments ◽  
Order Of Magnitude ◽  
Main Components

LaB6 emitters are becoming increasingly popular as direct replacements for tungsten filaments in the electron guns of modern electron-beam instruments. These emitters offer order of magnitude increases in beam brightness, and, with appropriate care in operation, a corresponding increase in source lifetime. They are, however, an order of magnitude more expensive, and may be easily damaged (by improper vacuum conditions and thermal shock) during saturation/desaturation operations. These operations typically require several minutes of an operator's attention, which becomes tedious and subject to error, particularly since the emitter must be cooled during sample exchanges to minimize damage from random vacuum excursions. We have designed a control system for LaBg emitters which relieves the operator of the necessity for manually controlling the emitter power, minimizes the danger of accidental improper operation, and makes the use of these emitters routine on multi-user instruments.Figure 1 is a block schematic of the main components of the control system, and Figure 2 shows the control box.

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