Subsea Processing and Control System in the GASP Project: Testing of the Prototype System

Abstract The international competition demands a continuous improvement of the process in quality and productivity and at the same time a reduction of costs of the product. An important step to reach this target is to increase the degree of automation. Changing into highly automated and simple-operated production processes, requires a secure process-controlling. With a reproducible use of measuring devices the certainty of a high workpiece quality lasts. For realising this reliable process controlling, a qualified system for process monitoring which uses adapted sensors and control strategies is necessary. To acquire automatically all the quality parameters relevant for ground parts as exact and fast as possible and non-destructive as well, a so-called flexible measurement cell was developed. All parameters measured by the flexible measurement cell are used to build up a control system for the grinding process of rotational symmetrical workpieces. For the first time the possibility to control a grinding process by using the subsurface characteristic as a command variable is offered. This system is independent of the grinding wheel specification. Tests have proven the efficiency by the application of CBN as well as corundum. The demand for a quality control and documentation beside the development of tough processes will be very important to process monitoring. For this reason a prototype system acting with an automatic control has been developed.

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Configuration Design of Modular 3-PRS Parallel Robot and Dynamic Simulation Analysis

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.130-134.347 ◽

2011 ◽

Vol 130-134 ◽

pp. 347-352

Author(s):

Jing Tao Lei

Keyword(s):

Control System ◽

Screw Theory ◽

Simulation Analysis ◽

Integrated Design ◽

Parallel Robot ◽

Configuration Design ◽

Prototype System ◽

Three Dimension ◽

End Effector ◽

And Control

This paper presented model-based integrated design technology for configuration design of modular 3-PRS parallel robot. The kinematics screws matrix and constraint screws matrix of the end effector were obtained based on screw theory, the constraints of the end effector were analyzed and the degree of freedom of the robot can be determined. The forward kinematics of the parallel robot was analyzed according to the geometric relationship of a kinematics chain. Three-dimension solid model of the parallel robot was designed. Afterwards, the co-simulation of the mechanical and control system of the parallel robot was studied by applying virtual prototype technology to optimize the parameters of mechanical structure and control system. The simulation results of kinematics and dynamics can be obtained, which will offer basis for developing the prototype system.

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Cellular Robotic Architecture

International Journal of Architectural Computing ◽

10.1260/1478-0771.10.3.319 ◽

2012 ◽

Vol 10 (3) ◽

pp. 319-339 ◽

Cited By ~ 4

Author(s):

Cheng-An Pan ◽

Taysheng Jeng

Keyword(s):

Control System ◽

Architectural Design ◽

Physical Space ◽

Critical Issue ◽

Prototype System ◽

Automated Control ◽

Seamless Integration ◽

Saving Effect ◽

And Control ◽

Robotic Architecture

An emerging need for interactive architecture is currently making buildings mutable, flexible in use, and adaptable to changes in climate by introducing robotic systems. However, the feasibility of the seamless integration of building construction details and kinetic robotics has become a critical issue for developing robotic architecture. The objective of this work is to develop a robotic architecture with an emphasis on the integration of cellular robotics with a distributed kinetic building surface. The kinetic building surface integrates an actuating system, a localization and remote control system, which become part of the kinetic building system. This paper presents a systematic framework by reviewing theories and related work of robotic architecture and automated control. An architectural design scheme is proposed to simulate a scenario of application in a physical space. The functionality of the electrical and control system and the integration of the effects of actual construction were examined by a prototype of a kinetic surface. Our prototype presents a feasible construction method, and a prominent energy-saving effect. The potential strength and restrictions of the cellular robotic approach to architectural applications are discussed. The applicability of the prototype system and issues about controlling the behavior of spatial robots are demonstrated in this paper.

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Development of a Jacobian Module for Advanced Pulp and Paper Simulation and Control

TAPPI Journal ◽

10.32964/tj8.1.4 ◽

2009 ◽

Vol 8 (1) ◽

pp. 4-11

Author(s):

MOHAMED CHBEL ◽

LUC LAPERRIÈRE

Keyword(s):

Control System ◽

Nonlinear Behavior ◽

Simulation Software ◽

Pulp And Paper ◽

Pid Controllers ◽

Tuning Parameters ◽

Pid Tuning ◽

Fixed Set ◽

And Control ◽

Operating Points

Pulp and paper processes frequently present nonlinear behavior, which means that process dynam-ics change with the operating points. These nonlinearities can challenge process control. PID controllers are the most popular controllers because they are simple and robust. However, a fixed set of PID tuning parameters is gen-erally not sufficient to optimize control of the process. Problems related to nonlinearities such as sluggish or oscilla-tory response can arise in different operating regions. Gain scheduling is a potential solution. In processes with mul-tiple control objectives, the control strategy must further evaluate loop interactions to decide on the pairing of manipulated and controlled variables that minimize the effect of such interactions and hence, optimize controller’s performance and stability. Using the CADSIM Plus™ commercial simulation software, we developed a Jacobian sim-ulation module that enables automatic bumps on the manipulated variables to calculate process gains at different operating points. These gains can be used in controller tuning. The module also enables the control system designer to evaluate loop interactions in a multivariable control system by calculating the Relative Gain Array (RGA) matrix, of which the Jacobian is an essential part.

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